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This is a list of parameters you can set in the TriGUI and their descriptions.

Parameter

Effect

ACC influence How much the angle estimation from the gyros is affected by the accelerometer. Shouldn't be changed unless you use a different acc/ gyro.

X/Y acc scale

The gain of the acc's. ACC reaction to tilting the tricopter should be similar to gyro reaction. Shouldn't be changed unless you use a different acc/ gyro.

X/Y acc offset

This is a pretty important parameter: You'll have to find the correct values in order to make the copter level correctly in hover mode. If your copter flies to the left/right/front/back, you'll have to adjust these values in small steps. Once you found the right offset, your copter will exactly know when it is leveled and only then it can hover in place. You will also not need to trim the tricopter anymore.

Hover mode P

Control loop reaction to errors in angle. This parameter has to be adapted to your setup.

Hover mode I

Reaction to a prolonged error in angle. This parameter has to be adapted to your setup.

Hover mode D

Reaction to errors in angular velocity. This parameter has the most noticeable effect. Too high and the copter will swing up (deadly for the copter…), too low and it will be imprecise. This parameter has to be adapted to your setup.

Hover mode D²

Reactions to angular acceleration. This parameters makes it possible to increase Hover mode D further without oscillation. If D² is too high, the tricopter will be very “noisy” in the air. This parameter has to be adapted to your setup.

Acro mode P

Reaction to errors in angular velocity

Acro mode I

Reaction to errors in angle. This parameter has to be adapted to your setup.

Acro mode D

Reactions to angular acceleration. This parameters makes it possible to increase Acro mode P further without oscillation. If D is too high, the tricopter will be very “noisy” in the air. This parameter has to be adapted to your setup.

Yaw P

Reaction to errors in angular velocity. If too high, the servo will be very noisy. This parameter has to be adapted to your setup.

Yaw I

Reaction to errors in angle. If too high, the servo will be very noisy. This parameter has to be adapted to your setup.

Voltage warning

If the voltage drops below this value, all three LEDs will begin to flash fast. It's time to land…! This value depends very much on the battery you are using. I recommend anyway to use a timer in your transmitter.

Nr. of receiver problems

Counts the number of "errors" that were detected.


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