From f3f12ecdb369b81ac29e37be2118b0d09638b298 Mon Sep 17 00:00:00 2001 From: gg1bbs <54209181+gg1bbs@users.noreply.github.com> Date: Thu, 21 Apr 2022 15:29:29 +1000 Subject: [PATCH] Minor spelling, grammar, and formatting changes to documentation --- docs/Modes.md | 41 +++++++++++++++++------------------------ 1 file changed, 17 insertions(+), 24 deletions(-) diff --git a/docs/Modes.md b/docs/Modes.md index 560e063db..dd485d4a5 100644 --- a/docs/Modes.md +++ b/docs/Modes.md @@ -1,6 +1,6 @@ # Modes -There are various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions, auxillary receiver channels and other events such as failsafe detection. +There are various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions, auxiliary receiver channels and other events such as failsafe detection. | ID | Short Name | Function | | -- | ------------------------ | ------------------------------------------------------------------------------------ | @@ -65,31 +65,24 @@ This hybrid mode works exactly like the previous ANGLE mode with centered roll a In this mode, the "head" of the multicopter is always pointing to the same direction as when the feature was activated. This means that when the multicopter rotates around the Z axis (yaw), the controls will always respond according the same "head" direction. -With this mode it is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction. +With this mode it is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction. ### Airmode -In the standard mixer / mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors -will be reduced equally. When motor goes below minimum it gets clipped off. -Say you had your throttle just above minimum and tried to pull a quick roll - since two motors can't go -any lower, you essentially get half the power (half of your PID gain). -If your inputs would asked for more than 100% difference between the high and low motors, the low motors -would get clipped, breaking the symmetry of the motor balance by unevenly reducing the gain. -Airmode will enable full PID correction during zero throttle and give you ability for nice zero throttle -gliding and actobatics. But also the cornering / turns will be much tighter now as there is always maximum -possible correction performed. Airmode can also be enabled to work at all times by always putting it on the -same switch like your arm switch or you can enable/disable it in air. Additional things and benefits: Airmode -will additionally fully enable Iterm at zero throttle. Note that there is still some protection on the ground -when throttle zeroed (below min\check) and roll/pitch sticks centered. This is a basic protection to limit -motors spooling up on the ground. Also the Iterm will be reset above 70% of stick input in acro mode to prevent -quick Iterm windups during finishes of rolls and flips, which will provide much cleaner and more natural stops -of flips and rolls what again opens the ability to have higher I gains for some. -Note that AIRMODE will also overrule motor stop function! It will basically also act as an idle up switch. +In the standard mixer / mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors will be reduced equally. When a motor goes below minimum it gets clipped off. Say you had your throttle just above minimum and tried to pull a quick roll - since two motors can't go any lower, you essentially get half the power (half of your PID gain). If your inputs would have asked for more than a 100% difference between the high and low motors, the low motors would get clipped, breaking the symmetry of the motor balance by unevenly reducing the gain. + +Airmode will enable full PID correction during zero throttle and give you ability for nice zero throttle gliding and acrobatics. In addition, the cornering / turns will be much tighter now as there is always maximum possible correction performed. + +Airmode can also be enabled to work at all times by always putting it on the same switch such as your arm switch, alternatively you can enable/disable it in air. + +Additional points and benefits: +* Airmode will additionally fully enable Iterm at zero throttle. Note that there is still some protection on the ground when throttle zeroed (below min\check) and roll/pitch sticks centered. This is a basic protection to limit motors spooling up on the ground. +* Also the Iterm will be reset above 70% of stick input in acro mode to prevent quick Iterm windups during finishes of rolls and flips, which will provide much cleaner and more natural stops of flips and rolls what again opens the ability to have higher I gains for some. Note that AIRMODE will also overrule motor stop function! It will basically also act as an idle up switch. ## Auxiliary Configuration -Spare auxillary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way. +Spare auxiliary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way. Configure your transmitter so that switches or dials (potentiometers) send channel data on channels 5 and upwards (the first 4 channels are usually occupied by the throttle, aileron, rudder, and elevator channels). @@ -97,13 +90,13 @@ _e.g. You can configure a 3 position switch to send 1000 when the switch is low, Configure your tx/rx channel limits to use values between 1000 and 2000. The range used by mode ranges is fixed to 900 to 2100. -When a channel is within a specifed range the corresponding mode is enabled. +When a channel is within a specified range the corresponding mode is enabled. Use the GUI configuration tool to allow easy configuration when channel. -### CLI +### CLI -There is a CLI command, `aux` that allows auxillary configuration. It takes 5 arguments as follows: +There is a CLI command, `aux` that allows auxiliary configuration. It takes 5 arguments as follows: * AUX range slot number (0 - 39) * mode id (see mode list above) @@ -115,8 +108,8 @@ If the low and high position are the same then the values are ignored. e.g. -Configure AUX range slot 0 to enable ARM when AUX1 is withing 1700 and 2100. - +Configure AUX range slot 0 to enable ARM when AUX1 is within 1700 and 2100. + ``` aux 0 0 0 1700 2100 ``` -- 2.11.4.GIT