User Manual

106| USER MANUAL
Roll Rate
Command
deg/s
The roll rate control loop set
point where positive values
are for rolling rightwards
Pitch Rate
Command
deg/s
The pitch rate control loop set
point where positive values
are for pitching upwards
Yaw Rate
Command
deg/s
The yaw rate control loop setpoint
where positive values are rotating
clockwise looking from the machine top
Radio Roll us
RC pulse width 1000-2000us where
increasing values are for roll right
Radio Pitch us
RC pulse width 1000-2000us where
increasing values are for pitch up
Radio Yaw us
RC pulse width 1000-2000us
where increasing values are
for yaw to the right
Radio Throttle us
RC pulse width 1000-2000us
where increasing values are
for increased throttle
Radio Mode us
RC pulse width 1000-2000us
where values near:
1000us = Open Loop
1500us = Closed Loop - height hold
2000us = Closed Loop - height
and position hold
Roll Control a.u. Control loop calculation for roll axis
Pitch Control a.u. Control loop calculation for pitch axis
Yaw Control a.u. Control loop calculation for yaw axis
Climb Control a.u. Control loop calculation for lifting thrust
Motor Command
1-6
Unitless
Scaled 0-1 representing
demanded thrust from motor
Motor speed 1-6 RPM Propeller speed at last telemetry update
Motor Voltage 1-6 Volts
Bus voltage measured at ESC
from last telemetry update
Motor Current 1-6 Amps
Motor field current measured at
ESC from last telemetry update
Motor Power 1-6 Watts Measured ESC power consumption