Changes

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===AttitudeControl with separate switch channel===

===AttitudeControl with separate switch channel=== <!--T:2-->

When a separate channel for AttitudeControl was assigned at [[Manuals:MB_Plus:Receiver_setup_menu_B|Receiver setup menu point J]] (or when the default assignment has been loaded) throw and direction of the AttitudeControl channel determine whether AttitudeControl is active or not and how strong it reacts. A deflection into one direction will activate AttitudeControl. Typically Menu-Led N (maximum gain) will light up when activating AttitudeControl for the first time, as the throw of the channel will be 100%. Adjust the deflection of this channel, i.e. by reducing the servo throw in the transmitter, so that one of the Menu-LEDs lights up next to point G (or point I when using a small helicopter) as described above.

When a separate channel for AttitudeControl was assigned at [[Manuals:MB_Plus:Receiver_setup_menu_B|Receiver setup menu point J]] (or when the default assignment has been loaded) throw and direction of the AttitudeControl channel determine whether AttitudeControl is active or not and how strong it reacts. A deflection into one direction will activate AttitudeControl. Typically Menu-Led N (maximum gain) will light up when activating AttitudeControl for the first time, as the throw of the channel will be 100%. Adjust the deflection of this channel, i.e. by reducing the servo throw in the transmitter, so that one of the Menu-LEDs lights up next to point G (or point I when using a small helicopter) as described above.

When the switch channel is moved into the other direction Menu-LED A will light up and flash. In this case AttitudeControl is deactivated. Here it doesn‘t matter how big the deflection of the channel is as only the sign of the deflection determines whether AttitudeControl is on or off.<br />

When the switch channel is moved into the other direction Menu-LED A will light up and flash. In this case AttitudeControl is deactivated. Here it doesn‘t matter how big the deflection of the channel is as only the sign of the deflection determines whether AttitudeControl is on or off.<br />

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===AttitudeControl with combined switch channel===

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

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.<br />

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.<br />

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===Functional test of AttitudeControl===

===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 />

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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 />

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===Flying with AttitudeControl===

===Flying with AttitudeControl=== <!--T:6-->

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 [[Manuals:MB_Plus:Flying|Flying and optimization]].<br />

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 [[Manuals:MB_Plus:Flying|Flying and optimization]].<br />

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

'''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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