INNOVATION & TECHNOLOGY
REV 1
18
AGILITY:
Agility determines at what speed (yaw rate) a new position is occupied.
ONLY FOR RATE MODE:
R/N RATE I:
Sets the I component of the rotation in rate mode. At too low values
the Multicopter may swing slowly. However, it it stops after a roll or
RATE:
Sets the maximum rate of rotation in Rate mode.
Yaw PID settings
Yaw P - Factor
Standard setting: +45
The P factor is responsible for a harder snap to yaw. Higher values
result in a faster engagement. At too high P values the Multicopter
the value must be reduced.
Yaw I - Factor
Standard setting: +15
The I-factor ensures constant rotations. Start with low values and
increase only as long as the rotations are constant. A too high value
can cause an oscillation when stopped and the motors may run at
higher RPM. This can lead to an undesirable climb.
Yaw D - Factor
Standard setting: MIN
The D-factor affects the stopping behaviour in yaw. In most
Multicopters a hard D response is desired. The D component must be
set as low as possible, since it affects the whole system.
