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# Ace R/C GT5 3-Axis Flybarless System

Notes and setup information by Team Thunder Tiger America member Gary Wright

and if an error is calculated the controller will input a correction. For example, you are tumbling, hence commanding a rate of X degrees per second rotation. The controller senses the rotation, compares it to what you are commanding, and adjusts the servo positions to reduce the error to zero. Of course this all happens very very quickly. You tune its inputs with various "gains" which are the amplitude of corrective action it can use. Proportional gain is simply how much it inputs,.. Integral has a time value so it will vary the movement based not only on what it measures but what has been measured over time, and derivative is somewhat the predicted future needs which is generally used to damp out deceleration when approaching zero error. If you look at a correction via the PID algorithm, it looks like this:

amount of correction

I D

time
An error is detected in which the motion, or lack thereof is not what is being commanded, so an input is given (P gain), then as it's evaluated repeatedly over time, the I gain adjusts that, then as it nears steady state again the Derivative gain adjusts the amplitude to "smooth out the stop" so to speak. In helicopter terms; P is the amount of correction, I is the adjustment over time, and D is how hard or soft it stops and/or if it oscillates at stop. The above diagram shows what would be a sharp input, quick return to neutral, and oscillation upon stopping. I like smooth flying so I attempt to achieve what is shown below. Smooth precise corrections and most importantly smooth deceleration to stop rather than oscillations, or hard stopping, i.e. "pop and lock" type flying.

amount of correction

time
We want to tune a flybarless system for maximum stability without any oscillations during stops. This means we want a lot of proportional gain, just enough Integral gain to make rotational rates constant , and fairly low Derivative gain (to smooth out the stops). Pilot feel When we get the flybarless system to the point where it works very well, is stable, and deceleration from rotations is smooth, then we need to assess the overall feel which is basically three things, the total rotational rate on each axis, the smoothness or harshness of the starts and the smoothness/harshness of the stops. Many of the flybarless units can tailor the feel in literally dozens of ways, but I personally prefer to do as much as possible within the transmitter rather than the flybarless controller, simply because it's quicker and easier to make transmitter adjustments than to make adjustments on the units themselves. For this reason, I like to get the PID loop parameters done, then tailor the feel with transmitter AFR, EXPO, and control delays all in the transmitter.

## Travel Limit Servo

exit Sensor Aileron Elevator Rudder Pirouette optimization Sensor deadband Filter intensity exit Stick Expo-rudder Expo-swashplate Swashplate stick dynamic d-tail-stick tail stick dynamic tail stick deadband swash stick deadband stick calibration tool exit Tools Ail sensor calibration Tail sensor calibration Elevator sensor calibration Time delay for auto exit Rx type Transmitter setting Binding Reset to default Data transfer exit Exit

Tail type Tail servo speed Tail servo frequency Swash type Swash servo speed Swash frequency exit