User Manual

USER GUIDE
89
stick movement. Once you start to see ringing, reduce the Integrator value back until the behavior is no longer
present.
Multishot Note: With high frequency Multishot, you are looking less for visible ringing, but instead for any sort
of bounce or wobble at all as the stick is centered after a sharp control assertion.
Step 4: Make It Sporty (All Modes)
Now that you've got your multirotor tuned for maximum precision, a couple of additional changes can be made
to let you really take advantage of this boosted capability.
 Increase your 3D Direct Rates: 1.5 to 2.0Hz for Pitch/Roll is good for aggressive acrobatics. 1Hz for
Yaw allows for a snappy turning response. This is generally a user preference, so these values are only
guidelines. Start lower, and work up.
 Pitch/Roll Rate Expo: Even higher 3D Direct Rates settings can be combined with some expo (increase
in stick sensitivity as the stick is moved from the center position), found under the Advanced Flight
Controller Setup tab to provide smooth and accurate control near the stick center while still allowing
full rates at maximum stick deflection. The expo chart in the software lets you visualize the Expo
transfer functions as you change their settings.
 Yaw Rate Expo: Same as Pitch/Roll Expo.
 Maximum Pitch and Roll Limits: If you prefer to fly in 2D Mode, increasing these settings will give you
far more authority than the default 35 degrees. 45 degrees is a good starting point for high
performance quadcopters and can be boosted to 60 degrees on well tuned systems.
This setting can be found in the “Flight Controller Setup” tab.
Note: Alt-Hold modes are not recommended for use with strong command angles.
 Throttle Expo: This feature remaps your Throttle input with an “expo” curve in order to give you finer
resolution in whatever range you normally find yourself hovering. Depending on how you configure it,
this feature can give you lots of room to finesse your throttle while in a hover, but provides easy access
to the full power of the multirotor with a flick of your thumb.
 Reduce your Min Idle Throttle: The default Min Idle Throttle was chosen to minimize the chance of a
motor stall during aggressive maneuvering. To this end, it was intentionally set a little high. If you are
comfortable with increasing the risk of a possible motor stall, you can lower this value so that your
motors spin slower at zero throttle. This can improve performance and “feel” during inverted zero
throttle maneuvers.
Note: Never adjust your Min Idle Throttle low enough that any of your motors fail to spin when the
model sits armed and stationary at zero throttle! Doing so significantly increases the chances of a crash
due to stalled motors!