Naze32 Flight Controller - Revision history

Ivc: /* Settings */

2014-08-17T17:04:42Z

Settings

← Older revision		Revision as of 17:04, 17 August 2014
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	* '''RC Expo''' (0.0 to 1.0) - Like TX Expo on stick input vs RC output curve, can be used in addition to or in place of TX Expo (0.65 default)		* '''RC Expo''' (0.0 to 1.0) - Like TX Expo on stick input vs RC output curve, can be used in addition to or in place of TX Expo (0.65 default)
	* '''RC Rate''' (0.0 to 3..) - Increases stick sensitivity of requested axis roll and pitch rates, 1 is normal and increasing it makes any stick input command more gyro roll or pitch rate. Works like increasing TX throws on both channels (0.9 default)		* '''RC Rate''' (0.0 to 3..) - Increases stick sensitivity linearly of requested axis roll and pitch rates, 1 is normal and increasing it makes any stick input command more gyro roll or pitch rate. Works like increasing TX throws on both channels (0.9 default)
	* '''Pitch and Roll Rate''' (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo		* '''Pitch and Roll Rate''' (0.0 to 1.0) - Attenuates the P value for pitch and roll exponentially as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo
	* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)		* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)
	* '''TPA''' - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch PID value above 50% throttle - 0 means same PID over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)		* '''TPA''' - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch PID value above 50% throttle - 0 means same PID over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)

Ivc at 17:01, 17 August 2014

2014-08-17T17:01:41Z

← Older revision		Revision as of 17:01, 17 August 2014
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	== Settings ==		== Settings ==

	* RC Expo (0.0 to 1.0) - Like TX Expo on stick input vs RC output curve, can be used in addition to or in place of TX Expo (0.65 default)		* '''RC Expo''' (0.0 to 1.0) - Like TX Expo on stick input vs RC output curve, can be used in addition to or in place of TX Expo (0.65 default)
	* RC Rate (0.0 to 3..) - Increases stick sensitivity of requested axis roll and pitch rates, 1 is normal and increasing it makes any stick input command more gyro roll or pitch rate. Works like increasing TX throws on both channels (0.9 default)		* '''RC Rate''' (0.0 to 3..) - Increases stick sensitivity of requested axis roll and pitch rates, 1 is normal and increasing it makes any stick input command more gyro roll or pitch rate. Works like increasing TX throws on both channels (0.9 default)
	* Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo		* '''Pitch and Roll Rate''' (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo
	* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)		* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)
	* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch PID value above 50% throttle - 0 means same PID over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)		* '''TPA''' - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch PID value above 50% throttle - 0 means same PID over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)
	* ~~looptime~~ (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.		* '''Looptime''' (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.

	== PIDs ==		== PIDs ==

Ivc at 18:01, 2 August 2014

2014-08-02T18:01:24Z

← Older revision		Revision as of 18:01, 2 August 2014
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	* Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo		* Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo
	* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)		* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)
	* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)		* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch PID value above 50% throttle - 0 means same PID over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)
	* looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.		* looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.

Ivc: /* PIDs */

2014-08-02T13:12:04Z

PIDs

← Older revision		Revision as of 13:12, 2 August 2014
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	The following PIDs are for a QAV250 mini-h quadcopter with 2000kV motors, 5x3-inch nylon propellers and 12A 400 Hz speed controllers.		The following PIDs are for a QAV250 mini-h quadcopter with 2000kV motors, 5x3-inch nylon propellers and 12A 400 Hz speed controllers.

	* ~~Smooth~~ and relatively crisp:		* QAV250 - smooth and relatively crisp:
	** Roll: P 3.4 I 0.020 D 25		** Roll: P 3.4 I 0.020 D 25
	** Pitch: P 4.1 I 0.040 D 35		** Pitch: P 4.1 I 0.040 D 35

Ivc: /* PIDs */

2014-08-02T13:11:51Z

PIDs

← Older revision		Revision as of 13:11, 2 August 2014
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	* Smooth and relatively crisp:		* Smooth and relatively crisp:

	** Roll: P 3.4 I 0.020 D 25		** Roll: P 3.4 I 0.020 D 25
	** Pitch: P 4.1 I 0.040 D 35		** Pitch: P 4.1 I 0.040 D 35

Ivc at 13:11, 2 August 2014

2014-08-02T13:11:42Z

← Older revision		Revision as of 13:11, 2 August 2014
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	* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)		* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)
	* looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.		* looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.

			== PIDs ==

			The following PIDs are for a QAV250 mini-h quadcopter with 2000kV motors, 5x3-inch nylon propellers and 12A 400 Hz speed controllers.

			* Smooth and relatively crisp:

			** Roll: P 3.4 I 0.020 D 25
			** Pitch: P 4.1 I 0.040 D 35
			** Yaw: P 9.0 I 0.040 D 7
			** Roll & Pitch rate: 0.65
			** Yaw rate: 0.80
			** TPA: 0.25
			** RC Rate: 0.90
			** RC Expo: 0.40
			** Throttle Mid: 0.50
			** Throttle Expo: 0
			** Looptime: 2500

Ivc at 13:05, 2 August 2014

2014-08-02T13:05:55Z

← Older revision		Revision as of 13:05, 2 August 2014
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	I is the easiest to tune, P is tuned to right before it oscillates fast and D is added for dampening and to get the most out of P.		I is the easiest to tune, P is tuned to right before it oscillates fast and D is added for dampening and to get the most out of P.

			== Setup ==

			* Mount the board in a case or bare to the frame using velcro/hook and loop with self-adhesive sides to get rid of high frequency vibrations.

	== Settings ==		== Settings ==

Ivc at 13:04, 2 August 2014

2014-08-02T13:04:23Z

← Older revision		Revision as of 13:04, 2 August 2014
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	You might need to [http://www.silabs.com/products/mcu/pages/usbtouartbridgevcpdrivers.aspx download the SiLabs CP210x USB to UART Bridge VCP drivers].		You might need to [http://www.silabs.com/products/mcu/pages/usbtouartbridgevcpdrivers.aspx download the SiLabs CP210x USB to UART Bridge VCP drivers].

			== Basics ==
			One of the essential parts in any flight controller is the PID setup.

			In practical terms:

			* P - dictates how much force should be applied to get the desired angle - too much and the platform will oscillate or bump, too little and it will not get to an angle within a reasonable time period
			* I - sets the sampling time period to try to keep the platform at a specific angle - too much and it will not perform well, too little and it will loose the angle very easily, lean back in descent
			* D - puts on a 'break' on the P term to decrease its effect as it approaches the desired angle - too much and stick input will be 'rounded' and slow, not very crisp, too little it will bump or push back fast when the platform reaches its desired angle

			I is the easiest to tune, P is tuned to right before it oscillates fast and D is added for dampening and to get the most out of P.

	== Settings ==		== Settings ==

Ivc: /* Software */

2014-08-02T12:51:15Z

Software

← Older revision		Revision as of 12:51, 2 August 2014
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	== Software ==		== Software ==
	* BaseFlight - Chrome based app for upgrading the firmware and configuration		* [https://chrome.google.com/webstore/detail/baseflight-configurator/mppkgnedeapfejgfimkdoninnofofigk BaseFlight] - Chrome based app for upgrading the firmware and configuration

			You might need to [http://www.silabs.com/products/mcu/pages/usbtouartbridgevcpdrivers.aspx download the SiLabs CP210x USB to UART Bridge VCP drivers].

	== Settings ==		== Settings ==

Ivc at 12:47, 2 August 2014

2014-08-02T12:47:24Z

← Older revision		Revision as of 12:47, 2 August 2014
Line 10:		Line 10:
	* Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo		* Pitch/Roll Rate (0.0 to 1.0) - Attenuates the P value for pitch and roll as stick is moved away from center, making rolls and flips faster - 0 means linear/same P over the stick range, while 1.0 means no P loop corrections at full stick (totally unstable!) - a kind of super expo
	* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)		* Yaw Rate (0.0 to 1.0) Attenuates P value for yaw as stick is moved away from center, making pirouettes faster - 0 means same P over the stick range, 1.0 means no P loop corrections at full stick (totally unstable!)
	* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations		* TPA - Throttle PID Attenuation (0.0 to 1.0) - Decreases roll/pitch P value above 50% throttle - 0 means same P over the throttle range, 1.0 means reduction to zero, not very useful except in planes where faster, sometimes create oscillations due to increased control surface effectiveness, in a quad it will make it unstable as you punch the throttle but a slight (0.2-0.4) TPA could eliminate punch-out oscillations (0.0 default)
			* looptime (750 to 3500) - Sets the sensor sampling time in micro seconds (uS) and dictates the update rate of the PID loop. A low looptime should make the multirotor more sensitive and responsive, but more affected by vibrations. There is a limit, once you go over the limit it will have negative effect. (3500 default) - in BaseFlight use ''set looptime = 3500'' to change the value.