![]() Keep the main power cable (to the battery) on the bottom plate as short as possible to minimize any tangling, damage to the cable or unexpected disconnects. To limit the amount of scratches on the bottom plate, put a few soft foam pads along the bottom cage. Use either TBS or Scorpion large battery straps to fasten the batter pack. Improper handling will fairly quickly puff and reduce the life-time of the pack. It's also worth mentioning that cheaper Lipo packs (Nano-tech, Zippy) will not necessarily deliver the claimed specs (C-rating). To get the Center of Gravity right, the battery weight should be within 320 to 460 grams, which corresponds to 33 mAh respectively. The largest battery that fits battery cage is W55xH37xL173 mm, but a typical 4500 mAh pack is 44x31x147 mm which fits just barely. 4x DJI OPTO 30A ESC with on-board 3.5 mm bullet sockets.OpenPilot Stabilization Tuning for Multirotor.WKM Detailed Descriptions on Autopilot parameter setting.Trappy's DJI NASA 900KV 9x5 4S4500mAh settings - 166/135/131/179 and 188/176 Ī note about the airframe, since it is asymmetrical and the weight is distributed rectangularly from back to front along the center line, the pitch will always be higher than the roll gain (more mass to move results in delayed reaction thus requiring steeper correction ramp).high value for acrobatics (130-180), low for areal photography (100-120)īelow is a list of gains published by Team BlackSheep: Find a suitable value for the kind of flight characteristics you prefer, i.e. Lastly, the attitude gains reigns the time it takes to transition between stable to desired angle (degrees/s), increasing them will move the quadrotor into position faster. ![]() ![]() The last in basic gains, vertical controls the height when the throttle stick is in altitude hold position a.k.a.The quardrotor should gently stop rotating without wobbling. Rudder (yaw) gain is easier, increase by 10% and turn fast, if the flight controller overcorrects in a violent fashion, decrease by 5%.Do the same for aileron (roll) by pulling full left and right stick and watch for wavy corrections on the tail end of the quadcopter.A too low value will result in a sloppy flight experience Once the twitchy overshoot reaction appears it means that the correction is too reactive, start to lower in 10% steps until the correction behavior is smooth again and settles fast, but still responsive, look at the figure to the right for an idea (you want the pink line).On a well balanced setup (motor, props, quad itself) the end value will be quite high because it can handle the precise correction maneuvers (which increases with percentage) to keep the quadrotor positioned. Pluck the elevator (pitch) stick back and forth to give full input and release it to center immediately to simulate a sudden squarish change of input, the important part here is to watch for overshoot or wobbly over-correction, if not seen increase by another 20%.Start by focusing on roll (aileron) and pitch (elevator), start by increasing one value (either ail or elev) at a time by 20% and perform a test flight.In NAZA Assistant set the default values of 130% for all the basic rate gains and 100% for attitude gains.Reset any aileron, elevator or rudder expo and dual rates programming, same for throttle curve.Pitch 150% - Note: pitch will always be higher than roll, inherent to the asymmetric frame and weight distributionįollow the steps below to tune and get a smooth but responsive vehicle.The NAZA flight controller gains in the Autopilot section will dominate how well and stable the quadcopter will behave in the air.
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