Eagle Tree Guardian Stabilization Expander - Manual (Page 5)

Copyright © 2011 Eagle Tree Systems, LLC
With this information, it is able to determine the error between your requested flight attitude and your plane’s true orientation. By passing this error through a controller
algorithm and sending it as servo commands through the elevator and aileron outputs on your OSD Pro, the Guardian
flying wing on rails!
Each axis has a separate control gain used to tune stabilization. These are defined by, “Stabilizer Pitch Gain,” “Stabilizer
The Pitch and Roll Gains are scaled by the Overall Gain to provide individual axis tuning while also providing On
aerodynamic performance.
In general, the higher the gain, the more responsive and resilient your plane will be to disturbances such as
however may result in oscillations of the airframe. It is recommended that the Overall Gain be used to tune the airframe unt
down. This will ensure the best performance while preventing
Warning: Be careful while tuning the Overall Gain. Some airframes may oscillate very strongly
strong oscillations, increase the Overall Gain slowly and reduce it as soon as oscillations are noticed.
Stabilization “Master Gain” Knob
When the OSD Pro’s “Choose Menu Receiver Inputs” option is set to “3
Guardian. This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used durin
multiplies the individual Pitch/Roll gains and serves as a way to easily tune both. If you have an RC c
channel to allow for On-The-Fly stabilization gain adjustment.
This knob gives the ability to transition smoothly from stabilized flight to un
characteristics, it is often helpful to be able to tune the controller in flight. Increasing its value will turn on stabili
fly-by-wire behavior is achieved.
When this feature is used, the stabilizer’s control characteristics given the Master Gain Knob’s position are as follows:
•
-100%: Stabilization is OFF. You can fly normally.
•
-100%-~0% (depending on Pitch/Roll gain values): Medium Stabilization. Your ai
still be rolled by strong stick movements or turbulence.
Note: The Max Stabilized Pitch/Roll angles specified in the “Configure Guardian Stabilizer” menu may be exceeded in this
knob’s position, flight behavior of your model and type of maneuvers attempted.
•
~0% - 100%: Maximum stabilization. The model should not roll over when in
the plane and true Fly-By-Wire functionality.
Note that if you don’t have a knob available on your radio, you can also use the
connecting a spare switch channel to the Aux 2 input. Then, depending on the endpoints programmed for your switch
stabilization levels and turn off stabilization by flipping the switch.
If no connection is made to the OSD Pro Aux 2 input, or you have not configured your OSD switch mode to “3
Gain” setting is always used. The “Stabilizer Overall Gain” setting is also always u
Note: The described behavior assumes a standard deflection controller, with
Warning: When RTH is enabled, the Guardian Overall Gain from the “Configure Guardian Stabi
provide the Overall Gain as well. If the menu value of Overall Gain in this menu is set too low,
Displaying the Master Gain Onscreen
To display the Master Gain on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled
parameter on that line represents the Overall Gain.
Oscillations
Sometimes, when the controller gains are set very high or if there is a very high airspeed, oscillations can develop. If osc
knob, change the inputs of your master gain switch, or adjust
Additional Features
Center-Stick Only Stabilization
Some people looking for more aerobatic capabilities from their airplane prefer to disable the sta
they need it for crash avoidance or just to take a short break without needing to land. Center
Stabilization allows for a quick return to stabilized flight at any time by letting go of the control stick. It can
be enabled in the “Configure Guardian Stabilizer” menu.
After turning on this feature, choose the size of the Center-Stick Box by adjusting the “Center Stick Box
Size”. Choosing “1” will size the box to 10% of your control stick movement range
while “10” will cover the entire physical range of your control stick
stick away from its centered position will decrease your Overall Gain until it reaches zero at the edge of the
Center Stick Box as illustrated in Figure 1.
Moving the control stick outside the Center-Stick Box will accomplish the same as turning your Overall
5 http://www.eagletreesystems.com
F igure 1: Overall Gain vs. Stick Position
etween your requested flight attitude and your plane’s true orientation. By passing this error through a controller
algorithm and sending it as servo commands through the elevator and aileron outputs on your OSD Pro, the Guardian can turn your squirrely m
Each axis has a separate control gain used to tune stabilization. These are defined by, “Stabilizer Pitch Gain,” “Stabilizer Roll Gain” and “Stabilizer Overall Gain.”
erall Gain to provide individual axis tuning while also providing On-The-Fly adjustment depending on conditions and
In general, the higher the gain, the more responsive and resilient your plane will be to disturbances such as wind, balance and trim issues. Tuning the gains too high
however may result in oscillations of the airframe. It is recommended that the Overall Gain be used to tune the airframe until it oscillates and then be turned back
performance while preventing future oscillations.
Warning: Be careful while tuning the Overall Gain. Some airframes may oscillate very strongly at higher gains, possibly damaging themselves. To avoid
and reduce it as soon as oscillations are noticed.
When the OSD Pro’s “Choose Menu Receiver Inputs” option is set to “3-Position” or “None”, the OSD Pro’s Aux2 input channel can be used as a Master Gain for the
This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used durin
multiplies the individual Pitch/Roll gains and serves as a way to easily tune both. If you have an RC controller that has an analog knob, this can be mapped
Fly stabilization gain adjustment.
This knob gives the ability to transition smoothly from stabilized flight to un-stabilized flight. Additionally, since your airspeed can change your airframe’s flight
characteristics, it is often helpful to be able to tune the controller in flight. Increasing its value will turn on stabilization, increasing the Guardian’s effect until a full
When this feature is used, the stabilizer’s control characteristics given the Master Gain Knob’s position are as follows:
% (depending on Pitch/Roll gain values): Medium Stabilization. Your airframe is now inherently stable, but depending on your knob selection, may
still be rolled by strong stick movements or turbulence.
The Max Stabilized Pitch/Roll angles specified in the “Configure Guardian Stabilizer” menu may be exceeded in this range, depending on the Master Gain
knob’s position, flight behavior of your model and type of maneuvers attempted. Do not attempt maneuvers that may destabilize your airplane!
100%: Maximum stabilization. The model should not roll over when in this range. Servo commands will become exaggerated, leading to tighter control of
Note that if you don’t have a knob available on your radio, you can also use the OSD Pro Aux 2 input as an “on/off” switch for stabilization. This is done by
. Then, depending on the endpoints programmed for your switch in your radio
switch.
Aux 2 input, or you have not configured your OSD switch mode to “3-position” or “None”
Gain” setting is always used. The “Stabilizer Overall Gain” setting is also always used during RTH.
behavior assumes a standard deflection controller, with -100% being defined by a 1.1ms servo pulse and +100% being a 1.9ms pulse.
When RTH is enabled, the Guardian Overall Gain from the “Configure Guardian Stabilizer” menu is used, even if the Aux2 input is configured to
provide the Overall Gain as well. If the menu value of Overall Gain in this menu is set too low, then RTH will not be stabilized.
on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled
Sometimes, when the controller gains are set very high or if there is a very high airspeed, oscillations can develop. If oscillations occur, turn down the Master Gain
or adjust the Overall Gain menu setting if a knob or switch is not being used, until the oscillations stop.
people looking for more aerobatic capabilities from their airplane prefer to disable the stabilizer until
they need it for crash avoidance or just to take a short break without needing to land. Center-Stick Only
Stabilization allows for a quick return to stabilized flight at any time by letting go of the control stick. It can
Stick Box by adjusting the “Center Stick Box
box to 10% of your control stick movement range (best for 3D flight)
physical range of your control stick (smoother turns). Moving the control
stick away from its centered position will decrease your Overall Gain until it reaches zero at the edge of the
Stick Box will accomplish the same as turning your Overall
http://www.eagletreesystems.com
: Overall Gain vs. Stick Position within
Center Stick Box
etween your requested flight attitude and your plane’s true orientation. By passing this error through a controller
your squirrely model into a smooth-
Roll Gain” and “Stabilizer Overall Gain.”
Fly adjustment depending on conditions and
wind, balance and trim issues. Tuning the gains too high
il it oscillates and then be turned back
, possibly damaging themselves. To avoid
channel can be used as a Master Gain for the
This overrides the OSD Pro’s menu option “Overall Gain” during normal flight (the “Overall Gain” setting is always used during RTH). This Master Gain
ontroller that has an analog knob, this can be mapped to the Aux2
airspeed can change your airframe’s flight
zation, increasing the Guardian’s effect until a full
rframe is now inherently stable, but depending on your knob selection, may
range, depending on the Master Gain
Do not attempt maneuvers that may destabilize your airplane!
this range. Servo commands will become exaggerated, leading to tighter control of
stabilization. This is done by
in your radio, you can set the on and off
or “None”, the on-screen “Stabilizer Overall
100% being defined by a 1.1ms servo pulse and +100% being a 1.9ms pulse.
lizer” menu is used, even if the Aux2 input is configured to
then RTH will not be stabilized.
on all OSD Pages, turn on the “Servo Deflections Display” as described above. With the Servo Deflection Display line enabled, the “G”
illations occur, turn down the Master Gain
the Overall Gain menu setting if a knob or switch is not being used, until the oscillations stop.