Fliegen mit AttitudeControl (optional)

Bitte beachten Sie, dass AttitudeControl ein optionales Feature ist. Die nachfolgend beschriebenen Funktionen stehen nur zur Verfügung, wenn auf dem MICROBEAST PLUS die ProEdition Firmware installiert ist.

Wenn die AttitudeControl durch Auswahl einer der fünf Betriebsmodi bei Parametermenü Einstellpunkt L aktiviert wurde, kann sie im Flug über einen Schalter oder Taster am Fernsteuersender ein- und ausgeschaltet werden. Der Schalter/Taster steuert dabei den Steuerkanal an, der im Empfängereinstellmenü für die AttitudeControl zugewiesen wurde. Prüfen Sie, ob das ein- und ausschalten der AttitudeControl wie erwartet funktioniert, sobald MICROBEAST PLUS betriebsbereit ist:

Ähnlich wie bei der Einstellung der Wirkstärke des Heckkreisels kann der Status der AttitudeControl anhand der Menü LEDs nachvollzogen werden. Diese leuchten immer dann auf, wenn eine Änderung auf dem Steuerkanal für die AttitudeControl stattfindet, z.B. wenn diese ein- oder ausgeschaltet wird oder sich die Höhe des Steuerausschlags ändert. Zur Unterscheidung von der Heckgyro-Empfindlichkeit leuchtet während der Anzeige des aktuellen AttitudeControl-Status die Status LED rot. Wenn die AttitudeControl aus ist bzw. ausgeschaltet wird, so blinkt die Menü LED A. Falls eine der LEDs B – N aufleuchtet, dann ist die AttitudeControl eingeschaltet. Die einzelnen LEDs signalisieren dabei die Wirkstärke der AttitudeControl. Je größer der Ausschlag des Schaltgebers/Kanals für die AttitudeControl ist, umso weiter wird die Menü LED beim Verstellen in Richtung Punkt N wandern und desto stärker wird die Wirkung der AttitudeControl. Dabei beeinflusst die Stärke wie schnell und heftig der Heli beim Einschalten der AttitudeControl in die stabile horizontale Lage gedreht wird. Für den Erstflug drehen Sie den Servoweg für den Schaltgeber im Sender soweit auf, bis die Menü LED G beim Einschalten der AttitudeControl aufleuchtet. Bei Helis der 450er Größe können sie üblicherweise höher aufdrehen (auf Menü LED I).

Wenn sich der Status der AttitudeControl länger als 8 Sekunden nicht ändert, wechselt die Anzeige zurück zur Anzeige des Heckkreiselmodus und die Status LED leuchtet blau oder violett.

AttitudeControl mit separatem Schaltkanal

Wurde bei Einstellpunkt J im Empfängereinstellmenü ein Schaltkanal für die AttitudeControl zugewiesen bzw. wenn die Standardkanalbelegung geladen wurde, so bestimmen Steuerausschlag und Richtung des zugewiesenen Kanals für die AttitudeControl, ob die AttitudeControl ein- oder ausgeschaltet ist und wie stark diese wirkt. Bei Ausschlag in die eine Richtung wird die AttitudeControl eingeschaltet. Dabei wird bei der Ersteinrichtung die LED neben Punkt N aufleuchten, weil der Steuerausschlag auf diesem Kanal im Sender 100% betragen wird. Justieren Sie (z.B. über die Servowegeinstellung für diesen Kanal) im Sender die Höhe des Steuerausschlags entsprechend, so dass die Menü LED wie oben beschrieben neben Punkt G (oder Punkt I bei kleinen Helis) aufleuchtet. Wenn Sie den Schaltgeber in die andere Richtung betätigen wird die LED neben Punkt A aufleuchten und blinken. Die AttitudeControl ist dann ausgeschaltet. Hier ist es egal, wie groß der Steuerausschlag ist, da nur das Vorzeichen des Ausschlags dafür entscheidend ist, ob die AttitudeControl an oder aus sein soll.

Menü LED	A (flashing)														B	C	D	E	F	G	H	I	J	K	L	M	N
AttitudeControl Wirkstärke	-														8%	16%	24%	32%	40%	48%	56%	64%	72%	80%	88%	96%	100%
Steuerkanal	-100	-96	-88	-80	-72	-64	-56	-48	-40	-32	-24	-16	-8	0	8	16	24	32	40	48	56	64	72	80	88	96	100
AttitudeControl Status	aus														an

AttitudeControl with combined switch channel

If the tail gyro gain channel is also used for AttitudeControl (see chapter 4), then there is the following difference to the operation mode with separate channel as described above: In the switch position where AttitudeControl is off, the channel deflection determines the amount of tail gyro gain as usual. Increase or decrease the (servo) throw of this channel to adjust the tail gyro gain. The amount of tail gyro gain is indicated by the yellow Menu-LEDs each time after initialization procedure and always when the gain changes. Here the Status LED lights up in blue color. When you flip the switch and the channel is deflected to the other direction, MICROBEAST PLUS will keep the current tail gyro gain and activate AttitudeControl. When adjusting the height of deflection of the channel into this direction you can specify the AttitudeControl gain like described above. So here one channel is used for two functions. Depending on the direction you can either adjust tail gyro gain or AttitudeControl gain and by switching between directions AttitudeControl is activated or deactivated.

Menu-LED	N	M	L	K	J	I	H	G	F	E	D	C	B	A	B	C	D	E	F	G	H	I	J	K	L	M	N
Tail gyro gain	100%	96%	88%	80%	72%	64%	56%	48%	40%	32%	24%	16%	8%	0%	last value
AttitudeControl gain	-														8%	16%	24%	32%	40%	48%	56%	64%	72%	80%	88%	96%	100%
Auxiliary channel	-100	-96	-88	-80	-72	-64	-56	-48	-40	-32	-24	-16	-8	0	8	16	24	32	40	48	56	64	72	80	88	96	100
AttitudeControl Status	off														on

When using AttitudeControl with combined switch channel make sure AttitudeControl is at least deactivated once before take off. Otherwise the tail gyro gain would be minimal as the system would not have been able to determine your tail gain adjustment after initialization.

In this mode it is absolutely necessary to use a switch that changes the control directions directly and without intermediate steps. In particular, do not use a slider on the transmitter! Otherwise, when you activate AttitudeControl the tail gyro sensitivity would be decreased to 0% before the system turns on the AttitudeControl. So you would have 0% of tail gyro gain when AttitudeControl is active.

Note for software versions before 4.1.x: When AttitudeControl is enabled in general the tail gyro can not be used in Normal-Rate mode. If operating AttitudeControl with separate switch channel (see above) the channel for tail gyro gain activates HeadingLock - Mode in both directions. The sign of deflection is not relevant here, just the amount of deflection is important. When you also want to use the tail gyro in Normal-Rate mode (as described here) you must disable AttitudeControl at Parameter menu point I (by setting the Status-LED to „off“ state).

Functional test of AttitudeControl

When activating AttitudeControl you should be able to see an immediate impact on the swashplate control: If the heli is tilted to one side, MICROBEAST PLUS permanently steers the swashplate opposed to the inclination. In the region around horizontal position the swashplate will always stay nearly horizontal to the ground. The system constantly tries to bring the helicopter back to the horizontal position as long as the helicopter is oblique.

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When AttitudeControl is deactivated on the other hand, the swashplate will always be moved back to neutral position (perpendicular to main rotor shaft) as soon as the helicopter is standing still for a few seconds, independant of the current leveling. Here the system only corrects currently occurring rotational movements, but does not regulate the absolute deviation from horizontal position.

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When using an AttitudeControl mode with collective pitch control (see Parameter menu point L) additional to the cyclic movement also the collective pitch is moved in positive or negative direction when AttitudeControl is activated and the helicopter approaches the horizontal position. The pilot can add collective pitch in the same direction by using the thrust stick, but not in the opposite direction. Check to see if this works correctly and whether the control directions are correct. If the helicopter is kept in hovering position, some positive collective pitch must be applied by AttitudeControl and you can use the thrust stick to add more positive pitch, but not less. Analogous this must work when the heli is in inverted hovering position if using the „3D - Mode with collective pitch control“. Here AttitudeControl will apply some negative collective pitch and you can only add more negative pitch, but not positive.

Flying with AttitudeControl

If not done already, for the first flight keep AttitudeControl deactivated and adjust all flight parameters like tail gyro gain, cyclic gain and so on as described under Flying and optimization.

If the heli is setup well you can familiarize yourself with the effect of AttitudeControl. For this we suggest to use the „Bail out rescue mode“ (see Parameter menu point L). Fly the helicopter in a sufficient amount of height in a stable hover and activate the AttitudeControl by using the appropriate switch. The helicopter should continue to hover in approximately the same position. Now give some aileron or elevator stick input and release the stick when the helicopter reached some oblique position. AttitudeControl should bring the helicopter back to the horizontal position more or less rapidly.

Deactivate AttitudeControl and again tilt the helicopter by giving some stick input. Now the helicopter will stay tilted if you release the stick. Only when AttitudeControl is activated by flipping the switch again, the helicopter will be rotated back to horizontal position as before.

If using an AttitudeControl operation mode with collective pitch control (see Parameter menu point L), moving the thrust stick does not have any effect in some area as AttitudeControl takes over collective pitch control as long as the thrust stick is in this area and AttitudeControl is activated. Therefore make sure the thrust stick is in a position that will roughly produce the same amount of collective pitch, before and while deactivating AttitudeControl. Otherwise when deactivating AttitudeControl the helicopter would make a leap down, if the thrust stick controls a smaller pitch angle than AttitudeControl.

For safety reason you should never take off or land with activated AttitudeControl. As AttitudeControl actively gives control commands to the control loop of MICROBEAST PLUS, the swashplate may tilt to one side if the helicopter is not placed perfectly level on the ground. This may cause the helicopter to tilt and crash when trying to take off or when the motor is switched off and the main rotor is running out.

Fine tuning of AttitudeControl

• The amount of deflection of the AttitudeControl switch channel controls the AttitudeControl gain. This determines the speed and roughness of the control input from AttitudeControl. If the effect of AttitudeControl is too low resp. the heli rotates back to horizontal position too slowly, increase the AttitudeControl gain by increasing the deflection of the AttitudeControl channel (i.e. by using the servo throw adjustment for this channel in the transmitter). If on the other hand the heli overshoots after reaching neutral position and bobs briefly, maybe the AttitudeControl gain is set too high. Reduce the gain accordingly. In such case also make sure that cyclic gain (dial1) and cyclic feed forward (dial 2) are well adjusted. It is recommended to adapt the AttitudeControl gain to the preferred application. If you would like to use AttitudeControl as emergency rescue then set the gain as high as possible. On the other hand when using AttitudeControl mainly as a training aid, for example in 3D - mode, then make the effect of AttitudeControl rather weak, so that the system does take over control gently.
• If the helicopter is not aligned horizontally as desired with active AttitudeControl, i.e drifts to one side in hovering, the artificial horizon can be readjusted. This is done at Parameter menu point A.