Changes

{{TOC_MBPlus}}

{{TOC_MBPlus}}

'''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===

===AttitudeControl with combined switch channel===

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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).}}<br />

'''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===

===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.<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]]

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

{{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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