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'''Please note that AttitudeControl is an optional feature. It is only available on devices with MICROBEAST PLUS ProEdition software installed.'''<br />

'''Please note that AttitudeControl is an optional feature. It is only available on devices with MICROBEAST PLUS ProEdition software installed.'''<br />

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Once AttitudeControl was enabled by choosing one of the five AttitudeControl types at [[Manuals:MB_Plus:Parametermenu_L|Parameter menu point '''L''']], AttitudeControl can be activated and deactivated in flight by using the switch on the transmitter with the channel that was assigned as actuator for AttitudeControl in [[Manuals:MB_Plus:Receiver_setup_menu_B|Receiver setup menu]]. When MICROBEAST PLUS is ready for operation check whether activation of AttitudeControl works as expected:<br />

Once AttitudeControl was enabled by choosing one of the five AttitudeControl types at [[Manuals:MB_Plus:Parametermenu_L|Parameter menu point '''L''']], AttitudeControl can be activated and deactivated in flight by using the switch on the transmitter with the channel that was assigned as actuator for AttitudeControl in [[Manuals:MB_Plus:Receiver_setup_menu_B|Receiver setup menu]]. When MICROBEAST PLUS is ready for operation check whether activation of AttitudeControl works as expected:<br />

|colspan="14" style="color: white; background-color:#FF3300;"|'''off'''

|colspan="14" style="color: white; background-color:#FF3300;"|'''off'''

|colspan="13" style="color: white; background-color:#FF3300;"|'''on'''

|colspan="13" style="color: white; background-color:#FF3300;"|'''on'''

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===AttitudeControl with combined switch channel=== <!--T:3-->

===AttitudeControl with combined switch channel=== <!--T:3-->

[[File:Warning.png|sub|18px]] 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. <br >

[[File:Warning.png|sub|18px]] 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. <br >

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'''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 [[Manuals:MB_Plus:Flying|here]]) you must disable AttitudeControl at [[Manuals:MB_Plus:Parametermenu_I|Parameter menu point '''I''']] (by setting the Status-LED to „off“ state).}}

'''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 [[Manuals:MB_Plus:Flying|here]]) you must disable AttitudeControl at [[Manuals:MB_Plus:Parametermenu_I|Parameter menu point '''I''']] (by setting the Status-LED to „off“ state).}}<br />

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===Functional test of AttitudeControl=== <!--T:4-->

===Functional test of AttitudeControl=== <!--T:4-->

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.<br />

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.<br />

[[File:Attitude_compensation.png|800px|noframe|none]]<br />

[[File:Attitude_compensation_1.png|500px|border]]<br />

[[File:Attitude_compensation_2.png|500px|border]]<br />

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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.<br />

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.<br />

[[File:normal_compensation.png|700px|noframe|none]]<br />

[[File:normal_compensation.png|500px|border]]<br />

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{{QUOTE|When using an AttitudeControl mode with collective pitch control (see [[Manuals:MB_Plus:Parametermenu_L|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.}}

{{QUOTE|When using an AttitudeControl mode with collective pitch control (see [[Manuals:MB_Plus:Parametermenu_L|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.}}<br />

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===Fine tuning of AttitudeControl=== <!--T:7-->

'''Fine tuning of AttitudeControl'''<br />

* 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.

* 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 [[Manuals:MB_Plus:Parametermenu_A|Parameter menu point '''A''']].

* 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 [[Manuals:MB_Plus:Parametermenu_A|Parameter menu point '''A''']].

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