Bartman
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A few weeks ago I was reading someone's thread about PID tuning in MKtool. It got me thinking about the gyro settings and maybe getting better camera control so I started going through the different pages of the MK wiki and MKtool. After a few hours of tweaking the different settings I thought I had it set up pretty well but with a little wind today it flew very poorly. Not having time to play with it too much I reset everything back to factory settings except for one setting that I think makes a huge difference. That setting is in the Gyro page of MKtool
http://www.mikrokopter.de/ucwiki/en/MK-Parameter/Gyro
and it is the ACC/Gyro Comp. Best as I can tell, it is a translation of lateral movement (as sensed by the accelerometers) into a rotational movement and something the FC will respond to with roll if you want it to. Where you see this in the camera movements is the very dodgy ability of the Mikrokopter FC to hold a camera/horizon level during extended sideways flight. If you hold your helicopter and roll it left or right, the camera will initially stay pretty close to level. If you then make a quick lateral movement, without rolling into or out of the previous position, you'll see the camera mount respond by rolling into the bank the helicopter is already in. In video this apperas as if the mount has insufficient roll compensation and if you try to fix it by increasing compensation it just makes the camera seem nervous and out of control.
The ACC/Gyro Comp factor in MKtool is applied inversely meaning the larger the number, the smaller the response. With a very large number, the FC won't let lateral movements be misinterpreted as rolling motion and the camera mount will settle down and hold level much better. I've got mine set to 110 at the moment and the results are very different from the usual crooked horizon problem we've all experienced. The camera has enough compensation to make the pure roll movements nearly invisible and in lateral movements the camera only adjusts a very small amount.
It says in the wiki "this setting can also effect the performance of the gimbal compensation" but if you're not in that page looking for it you'll never find it.
Bart
http://www.mikrokopter.de/ucwiki/en/MK-Parameter/Gyro
and it is the ACC/Gyro Comp. Best as I can tell, it is a translation of lateral movement (as sensed by the accelerometers) into a rotational movement and something the FC will respond to with roll if you want it to. Where you see this in the camera movements is the very dodgy ability of the Mikrokopter FC to hold a camera/horizon level during extended sideways flight. If you hold your helicopter and roll it left or right, the camera will initially stay pretty close to level. If you then make a quick lateral movement, without rolling into or out of the previous position, you'll see the camera mount respond by rolling into the bank the helicopter is already in. In video this apperas as if the mount has insufficient roll compensation and if you try to fix it by increasing compensation it just makes the camera seem nervous and out of control.
The ACC/Gyro Comp factor in MKtool is applied inversely meaning the larger the number, the smaller the response. With a very large number, the FC won't let lateral movements be misinterpreted as rolling motion and the camera mount will settle down and hold level much better. I've got mine set to 110 at the moment and the results are very different from the usual crooked horizon problem we've all experienced. The camera has enough compensation to make the pure roll movements nearly invisible and in lateral movements the camera only adjusts a very small amount.
It says in the wiki "this setting can also effect the performance of the gimbal compensation" but if you're not in that page looking for it you'll never find it.
Bart
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