User Guide

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LynxmotionUAV
QuadrinoNanoUserGuide
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MultiWiiFlightModesExplanation:
● ACRO(Defaultmodeandnotinlist):MadeforAcrobaticflightandisthedefaultsetting(usesgyroonly)Thisisthedefault
modewhentheHORIZONorANGLEmodearenotactivatedandismore“acrobatic”flight
● ARM:Armingisasafetyfeaturewhichisrequiredinorderforthemotorstostartspinning(atbelowtakeoffspeed)orstop
spinning(afterlanding).Ifnoauxchannelisassigned,youarmthemotorsbypositioningtheleftjoysticktothebottom
right,andtherightjoysticktothebottomleft(atthesametime)
● HORIZON:ThiskeepstherolloftheUAVlevelandisamixtureofACROandANGLEmodes.StablewithslowRC
commands/acrobaticswithfastRCcommands.WillbeinANGLEMODEmodewhenPITCH/ROLLsticksarecentered
andinACROMODEmodewhenfullPITCHorROLLsticksareapplied,allowingflips.
● ANGLE:Astablemode(whenthePIDvaluesareadjustedcorrectlyandGyroandACCarecalibratedandtrimmed).Itwill
trytokeepthemodelleveltotheground.Note:AccordingtoMultiWiidevelopers,ANGLEMODEisvirtuallyobsolete,
HORIZONMODEispreferableinmostcases.
● BARO:Thebarometerisusedinordertokeepacertain(fixed)heightwhennoothercommandsfromtheRCtransmitter
arereceived.IfyouactivateBARO(ALTHOLD)andtheGPSmodes,theywillusethesamecalculatedaltitude.
● MAG:UAVwillkeeppointinginthesamedirection(compass/yaw)untilthereisyawinputfromthetransmitter.Canbe
activatedinallflightstabilizationmodes.Withoutthismode,youwillstillhaveslightdeviation(likeatailgyroinheli).
ComparedtonoMAG,thismodeoffersadriftfreetail
● GPSHOME:Activatesreturntohome(RTH)feature.RequiresGPSlockbeforetakeoff.UsescompassandGPSforthe
purposeofreturninghometothestartingpoint.Stabilisationisdoneinaccordancewiththeflightmode(ANGLE/
HORIZON).GPSaltitudeisnotaccurateandthereforenotusableforholdingtheheight.
● GPSHOLD:HoldcurrentpositionusingGPSandbaro(ifavailable).GPSmodescanbeactivatedinANGLEor
HORIZONflightmodes.willbeignoredifthereisnoGPSlockattimeofarming.aregenerallyusedalongwithALT
HOLD,butthisisnotmandatory.ThemagsensorismandatoryforGPScontrol,butMAGmodeisnot.ActivationofMAG
MODEhasnoeffectinGPSMODE.GPSaltitudeisneverusedinacontrolloop(onlyfordisplay).
● BEEPER:Notreallyaflightmode;ifyouhaveabeeperconnected,usefulforlostUAVs
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FlightModeSensorSummary
Mode
Gyroscope
Accelerometer
Barometer
Compass(Mag)
GPS
ACRO/GyroOnly
X
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ANGLE(Stable/Level/Acc)
X
X
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HORIZON
X
X
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BARO(AltitudeHold)
X
X
X
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MAG(HeadingHold)
X
X
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X
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HEADFREE(CareFree)
X
X
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X
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GPSReturntoHome
X
X
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X
X
GPSWaypoint
X
X
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X
X
GPSPositionHold
X
X
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X
X
Failsafe
X
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Flightmodesshowingsensorsrequired(X=RequiredHardwarefortheMode)
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LynxmotionUAV
P.14
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