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103 lines
5.2 KiB
Markdown
103 lines
5.2 KiB
Markdown
# Controls
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## Arming
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When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will
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spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons,
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that is not recommended).
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By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a
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switch to arm.)
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## Stick Positions
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The three stick positions are:
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|Position | Approx. Channel Input|
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|----------------|----------------------|
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|LOW | 1000 |
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|CENTER | 1500 |
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|HIGH | 2000 |
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The stick positions are combined to activate different functions:
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| Function | Throttle | Yaw | Pitch | Roll |
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| ----------------------------- | -------- | ------- | ------ | ------ |
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| Profile 1 | LOW | LOW | CENTER | LOW |
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| Profile 2 | LOW | LOW | HIGH | CENTER |
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| Profile 3 | LOW | LOW | CENTER | HIGH |
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| Battery profile 1 | HIGH | LOW | CENTER | LOW |
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| Battery profile 2 | HIGH | LOW | HIGH | CENTER |
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| Battery profile 3 | HIGH | LOW | CENTER | HIGH |
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| Calibrate Gyro | LOW | LOW | LOW | CENTER |
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| Calibrate Acc | HIGH | LOW | LOW | CENTER |
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| Calibrate Mag/Compass | HIGH | HIGH | LOW | CENTER |
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| Trim Acc Left | HIGH | CENTER | CENTER | LOW |
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| Trim Acc Right | HIGH | CENTER | CENTER | HIGH |
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| Trim Acc Forwards | HIGH | CENTER | HIGH | CENTER |
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| Trim Acc Backwards | HIGH | CENTER | LOW | CENTER |
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| Save current waypoint mission | LOW | CENTER | HIGH | LOW |
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| Load current waypoint mission | LOW | CENTER | HIGH | HIGH |
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| Save setting | LOW | LOW | LOW | HIGH |
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| Enter OSD Menu (CMS) | CENTER | LOW | HIGH | CENTER |
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## Yaw control
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While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft
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from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the
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throttle is LOW (i.e. below the `min_check` setting).
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For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tail
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servo is working correctly before takeoff. You can do this by setting `tri_unarmed_servo` to `1` on the CLI (this is the
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default). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to
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`0` instead. Check this table to decide which setting will suit you:
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<table>
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<tr>
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<th colspan="5">Is yaw control of the tricopter allowed?</th>
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</tr>
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<tr>
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<th></th><th colspan="2">Disarmed</th><th colspan="2">Armed</th>
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</tr>
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<tr>
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<th></th><th>Throttle low</th><th>Throttle normal</th><th>Throttle low</th><th>Throttle normal</th>
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</tr>
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<tr>
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<td rowspan="2">tri_unarmed_servo = 0</td><td>No</td><td>No</td><td>No</td><td>Yes</td>
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</tr>
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<tr>
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<td>No</td><td>No</td><td>No</td><td>Yes</td>
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</tr>
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<tr>
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<td rowspan="2">tri_unarmed_servo = 1</td><td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
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</tr>
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<tr>
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<td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
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</tr>
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</table>
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## Throttle settings and their interaction
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`min_command` -
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With motor stop enabled this is the command sent to the esc's when the throttle is below min_check or disarmed. With motor stop disabled, this is the command sent only when the copter is disarmed. This must be set well below motors spinning for safety.
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`min_check` -
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With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's
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`min_throttle` -
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Typically set to just above reliable spin up of all motors. Sometimes this is set slightly higher for prop stall prevention during advanced maneuvers or sometimes considerably higher to produce a desired result. When armed with motor stop off, your motors will spin at this command so keep that in mind from a safety stand point.
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`max_check` -
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Throttle positions above this level will send max_command to the esc's.
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`max_throttle` -
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This is the max command to the esc's from the flight controller.
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In depth videos explaining these terms are available from Joshua Bardwell here:
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https://www.youtube.com/watch?v=WFU3VewGbbA
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https://www.youtube.com/watch?v=YNRl0OTKRGA
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