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| 21 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
21 | Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
| 22 | as exactly as possible. |
22 | as exactly as possible. |
| Line 23... | Line 23... | ||
| 23 | 23 | ||
| 24 | Parameters: |
24 | Parameters: |
| 25 | The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
25 | The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
| 26 | UserParameter3 = D(ifferential). Standardvalues for P,I and D are 90,24,130. |
26 | UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,0,80. |
| 27 | The i-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid |
27 | The i-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid |
| 28 | oscillating. |
28 | oscillating. |
| 29 | Please find out the best values yourself. |
29 | Please find out the best values yourself. |