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Old Jan 26, 2012, 01:17 AM
OlliW is offline
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OlliW
Joined Sep 2009
2,925 Posts
GREAT, Sir!

Any questions? Yes, one

Which version of the firmware were you using?

I ask in order to emphasize the relevance of this point for the meaning of the parameters. Since I am still in a learning curve I had to modify the "scaling" of the parameters a couple of times over the versions, in order to allow different helis to be covered. As a result, PID rate = 1.9 doesn't always mean the same for all versions. Hence, one should always give parameter values together with the firmware version (with the latest version this hopefully has been settle, but nevertheless I thinks it's a good practice). I appologize for the inconvenience, but that's how it is with a developping (=improving ) project .

I would also like to add a comment, as a point may be confusing. It's for the records so to say. The working of the gyro in the gyromixer is determined by the four parameters Gyro Mode, Rate Gain, PID Gain and PID I. However, which of these parameters are really relevant/active is dependent on the Gyro Mode setting:

Gyro Mode = rate
Rate Gain: this value determines the gain
PID Gain: this value is IRRELEVANT and ignored
PID I: this value is IRRELEVANT and ignored

Gyro Mode = heading hold
Rate Gain: this value is IRRELEVANT and ignored
PID Gain: this value determines the gain
PID I: this value determines the "heading hold strength"
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