FeiYu Tech FY-41AP - Manual (Page 22)

Guilin Feiyu Electronic Technology Co., Ltd
Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com [email protected]
Page 20
Control P: If the reaction of multi-rotor in this procedure is too soft (large delay), please increase
the basic gain slowly (10%-15% each time) until vibration emerges after you release the stick. Then
decrease the gain a little until vibration just disappears. Now the gain should be perfect.
Control I: This value generally does not need adjustment.
 Course control gain adjustment
The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro. If you want fast
stick reaction speed, increase the gain, otherwise decrease the gain. However, the spin of multi-rotor is
produced by the counter torque force, and the magnitude of which is limited. Therefore, a large gain will
not produce tail vibration like a helicopter, but instead have a severe reaction at the start or stop of motors,
which will affect the stabilization of the other directions.
 Vertical control Gain
Vertical control Gain is used for hovering Mode.
Control P: You use two methods to judge if the Vertical gain is good enough: 1) If the multi-rotor
can lock the altitude when the throttle stick is at center position; 2) If the change of altitude is small
during the flight along a route. You can increase the gain slowly (10% each time) until the vibration
emerges along the vertical direction or the reaction of throttle stick is too sensitive, then decrease
20% of the gain. Now it is a suitable Vertical gain.
Control I: This value generally does not need adjustment.
 Navigation control Gain
Navigation control Gain controls the parameters use for control hovering point.
Control P: please increase the basic gain slowly (2-3 each time)until the vibration emerges in the
hovering point. Then decrease the gain a little until vibration just disappears. Now the gain is
perfect.
Control I: This value generally does not need adjustment.
13.9 GPS Hovering Mode Test
First you should wait until the GPS positioning LED shows that the GPS positioning is
in good condition (Green light double flash each loop or triple flash each loop). As a
result, you can get a good hover effect.
First take off in Attitude Stabilized Mode. During the flight, please control your
aircraft‘s heading to spin three circles. The magnetic field will automatically calibrate
during this procedure.
Rise to a height of about 5 meters, it basically remains in the hover throttle, and then
switch CH5 to hovering mode, put the RC throttle stick into the middle position , then
release other RC sticks. Observe the altitude maintain situation and GPS hover effects; if
improper, you should adjust the control parameters.
Note: The current firmware version does not support the take-off and landing in hovering
mode. To prevent the altitude sudden change caused by the throttle, you have to put
throttle stick back to balance flight position, when switch off hovering mode.