User Manual

USER GUIDE
92
8.1.5 Glossary of Other Advanced Features
The MicroVector’s “High Perf Mini Quad” model type activates and exposes several highly advanced settings.
Most of these settings control the many anti-noise filters employed by the MicroVector to help mitigate the
negative effect of onboard vibrations. Note that while the MicroVector works hard to filter out strong
vibrations, reducing mechanical vibrations is still absolutely critical!
A) Gyro Low Pass Filter: Cutoff frequency of the global low pass filter. It processes the raw readings of
the gyros before any other subsystems see the data.
B) Yaw Low Pass Filter: Cutoff frequency of the additional filter on the output of the Yaw control axis.
C) Derivative Low Pass Filter: Cutoff frequency of the low-pass filter on the derivative gyro signal chain.
D) Derivative Notch Filter Center Point: The middle frequency of the notch filter on the derivative gyro
signal chain.
E) Derivative Notch Filter Cutoff Point: The upper cutoff frequency for the filter described in D).
F) Enable Integrator Cutoffs: Activates the Integrator Cutoff functionality in 3D Mode. When active, this
feature inversely scales the Inner Loop Integrator Gain by the commanded angular rate, up to the set
cutoff value. This helps reduce “bounce back” following sharp 3D maneuvers.
G) Pitch/Roll Integrator Cutoff: Commanded angular rate above which the Inner Loop Integrator’s effect
will be “frozen”, holding the Integrator’s bias, but with an effective Integrator Gain of zero.
H) Yaw Integrator Cutoff: Same as G), but for the Yaw axis.
I) Use Stick Derivative in 3D: This feature implements a “feed forward” or “error based derivative”
control scheme for motor output given motion of the stick. When active, the quadcopter will respond in
a more precise way to 3D stick movements. Disabling this feature will result in slightly smoother, but
technically less accurate orientation control. Some people prefer to disable this feature and use the
resulting “measurement based derivative” control scheme.
J) Reboot on USB Disconnect: Convenience feature that causes the MicroVector to reboot after the USB
cable is disconnected. Useful for rapid tuning iteration when using the software. Make sure your
props are removed during initial setup!