User Manual

USER GUIDE
93
K) Max ESC/Motor Output: This is explained in section 8.1.2 - ‘Initial Tuning’.
L) Throttle Gain Reduction: When set to a non-zero value, this field will scale the Inner Loop PID gains
down by the value provided when at max throttle. When not at max throttle, the gain is reduced
linearly starting at the Throttle Gain Reduction Start Point.
M) Throttle Gain Reduction Start Point: See item L).
N) Throttle Expo Percent: Dictates how much Throttle Expo is provided. 0% disables the feature.
O) Throttle Expo Center Point: Sets the center of the throttle expo curve. If using Throttle Expo, set this
value to the input position of your Throttle when you are commanding stationary hover power.
P) Pitch/Roll Rate Expo: Dictates how much expo is provided in the Pitch and Roll control directions. 0%
disables the feature.
Q) Yaw Rate Expo: Dictates how much expo is provided in the Yaw control direction. 0% disables the
feature.
R) ESC Protocol: Sets the protocol used for communicating with your ESCs
a. Standard: Pulse Width: 1000us to 2000us. 400Hz loop frequency. This is the lowest
performance protocol, but is needed to interface with older ESCs. Do not use this mode if you
want good 3D acrobatic performance.
b. Oneshot125: Pulse Width: 125us to 250us. Up to 2.6kHz loop frequency, depending on model
type. This is the most compatible high performance communications protocol, but has inferior
performance compared to Multishot.
c. Multishot: Pulse Width: 5us to 20us. Up to 8kHz loop frequency. This protocol requires modern
ESCs and provides the best performance.
S) ESC Update Rate: Specifies how often the Vector will update the speed of the motors by sending a
command pulse to the ESCs. Setting this higher reduces latency and increases performance. However,
some older ESCs may not support the higher update rates available with the MicroVector. See item R)
for more details on what frequencies are available depending on the chosen ESC Protocol.