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Code Issues Wiki Activity

Merge pull request #908 from datamafia/master

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Doc edits I found and fixed while setting up some boards.
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Dominic Clifton 2015-05-18 09:08:30 +01:00
commit 3037a91b06
2 changed files with 9 additions and 4 deletions
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7
docs/Modes.md
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@ -34,7 +34,7 @@ auxillary receiver channels and other events such as failsafe detection.
In this mode, the "head" of the multicopter is always pointing to the same direction as when the feature was activated. This means that when the multicopter rotates around the Z axis (yaw), the controls will always respond according the same "head" direction.
With this mode is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction.
With this mode it is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction.
## GPS Return To Home
@ -62,8 +62,9 @@ Requires a 3D GPS fix and minimum of 5 satellites in view.
Spare auxillary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way.
Configure your transmitter so that switches or dial (pots) send channel data on channels 5 and upwards.
e.g. You can configure a 3 position switch to send 1000 when the switch is low, 1500 when the switch is in the middle and 2000 when the switch is high.
Configure your transmitter so that switches or dials (potentiometers) send channel data on channels 5 and upwards (the first 4 channels are usually occupied by the throttle, aileron, rudder, and elevator channels).
_e.g. You can configure a 3 position switch to send 1000 when the switch is low, 1500 when the switch is in the middle and 2000 when the switch is high._
Configure your tx/rx channel limits to use values between 1000 and 2000.

6
docs/PID tuning.md
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@ -31,9 +31,13 @@ set too high, the craft will oscillate (but with slower oscillations than with P
##TPA and TPA Breakpoint
TPA stands for Throttle PID Attenuation and according to [AlexYork.net](http://blog.alexyorke.net/what-is-tpa/):
> "TPA basically allows an aggressively tuned multi-rotor (one that feels very locked in) to reduce its PID gains when throttle is applied beyond the TPA threshold/breakpoint in order to eliminate fast oscillations.."
Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI
Also note that TPA and tpa_breakpoint may not be used in certain PID Contorllers. Check the description on the individual controller.
Also note that TPA and tpa_breakpoint may not be used in certain PID Controllers. Check the description on the individual controller.
TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached.