Multiplex WINGSTABI Erweiterte Anleitung Seite 57

A big integrator ensures a very stable regulation, as a great many errors influences can
be detected and corrected. During aerobatics, an integrator that is too large can lead to
problems for maneuvers involving stalls, as the integrator is filled during the stall, but
cannot be controlled. As soon as the rudder effect is restored, the saved error value of
the integrator is processed. This can lead to poor ratcheting or continued rotation of the
model.
If the integrator is selected too small, the I regulator has hardly any influence on the
regulation result. Consequently, the flight direction cannot be maintained under certain
circumstances.
Return
The I regulation is an automatic return of the rudder into the neutral position during
return. Large values lead to a quick return. If the damping is set to 0, there is no return
of the rudder; the axis is now in heading hold mode. The heading hold effect can be
continuously adjusted using the damping parameters. Hard heading hold ensures an
extremely stable attitude control. Wind effects and also trimmed control surfaces are
corrected.
Hint: If a stable knife edge flight is expected in gyro phase 3, the return for the rudder
must be set to "0". However, this must then be actively controlled at all times.
For aerobatics (snap rolls, corkscrews), heading hold might lead to imprecise regulation
if the I input and also the integrator are very large. This effect occurs as soon as the
model stalls. The regulation tries to compensate for this stall, but only intensifies the
stall and overshoots. If these maneuvers are to be flown, the integrator should be set
relatively small. The return should be increased as well.
The return can also be controlled depending on the transmitter. As soon as it is
controlled, the heading hold effect is consequently weakened as desired. This has many
advantages for critical (sluggish) models and for aerobatics with maneuvers which
almost cause the model to stall.
It often makes sense to calculate with a slight time-lag for the return via stick deflection,
because the phase of the stick returning to the center position can also profit from the
return (with more sluggish models/servos..). On the other hand, you should return to
heading hold as quickly as you can after the stick has returned to the center position, in
order to achieve maximum stability. So if the ratchet looks imprecise, the delay value
should be made smaller. If the model rotates away slightly and then holds its attitude
after the stick has returned to the center, the delay time is too long. In this case, the
value can be increased.
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