User Manual

Tuning P and I settings

P-gain too low:

- Craft is hard to control

- When flying it is easy to over-correct a command and the craft is jittery

- Craft lacks overall stability

- Control inputs feels slow and imprecise when the craft responds

P-gain too high:

- Craft suffers from side to side oscillation

- Craft easily gains or loses height

- It is hard to maintain any given height

P-gain correct:

- Craft is easy to control

- Craft takes off easily and smoothly straight into a stable hover

- Craft is easy to fly and feels stable

I-gain too high:

- Similar flight characteristics to P-gain that is too high

- Craft oscillates with a low frequency, shakes

- Craft flies a ‘toilet-bowel’ circuit

Aerobatic flight PI Settings:

Increase the P setting slightly from its stable flight value

Decrease the I setting from its stable flight value

Gentle smooth flight:

Decrease the P setting slightly from its stable flight value

Increase the I setting a slightly from its stable flight value

Proportional Gain coefficient –is needed for relatively stable flight and is an essential parameter. This coefficient

determines the mix between on-board controls from the gyros and user stick inputs. As the coefficient is increased

the craft will be more sensitive and reactive to angular changes. If too low, the craft will be sluggish and difficult to

keep steady and if too high, may oscillate with a high frequency.

Integral Gain coefficient – is needed to increase the precision of an angular position. For example when the craft is

disturbed by wind and its angular position changes by say 20 degrees, it in theory remembers how much the angle

changed and will attempt to return by 20 degrees. In practice if the craft goes forward and then command a stop,

it will continue for some time to counteract the action. Without this term, the opposition does not last as long. This

term is especially useful with irregular wind, and ground effect (turbulence from motors). If the However, when the

‘I’ value gets too high your craft will begin to have slow reactions and will decrease the effect of the Proportional

gain as consequence, it will also start to oscillate as if it has the P gain set to high, but with a lower frequency.