Eagle Tree OSD Pro - Manual (Page 23)

Copyright © 2009-2012 Eagle Tree Systems, LLC
http://www.eagletreesystems.com
Page 23
Safety Mode Menu
NOTE: carefully read the Safety Mode Overview section before changing these settings!
•
Select Desired Safety Mode: Selects one of the safety mode options. None: no safety mode enabled. Failsafe: selects the failsafe mode. Rtrn
Home: selects the Return to Home safety mode.
•
Max Airspeed/VNE(0 disable): This parameter sets the maximum cruise speed (VNE) of your model (or set it “0” to disable this feature).
IMPORTANT: The primary use of this setting is to attempt to avoid throttling up in a dive, since during a dive the model’s speed would presumably
exceed the Maximum Cruise Speed setting. If you set this to a non-zero value, RTH will not throttle up to your “Climb” throttle setting if the
present speed of your model is greater than the value you set here for Max Cruise Speed. It’s recommended to set this parameter to 0 if you don’t
know your maximum cruise speed, or to, or to make sure you set this parameter well above the normal cruise speed of your model, or to set it to 0.
•
Minimum Ground Spd(0 disable): If the plane's ground speed (as reported by the GPS) is below this speed, and you are at or below the specified
cruise altitude window, the "climb" throttle setting will be used. You'd normally set this to a fairly low speed, since your battery will be depleted
much more quickly when this mode is triggered and you'd only want it to trigger if you're not making headway due to headwind.
•
Cruise Altitude (300/120): Set this parameter to the desired altitude which the Return to Home feature should attempt to maintain. If there are
obstacles between your model and home that have higher elevation than this setting, the model may crash into them, so consider this in your setting.
Of course, never set this value above the legal flying limit for your area. This setting is in Feet if you have configured your system for English units,
or in meters if you are configured for Metric units. The default values for (English, Metric) are show in the menu item in parentheses.
•
Home RTH Altitude Mode: This menu item lets you enable the dual altitude RTH feature. There are 3 settings:
o Disable: the second (inner) RTH altitude settings are ignored.
o Normal: when your model comes closer than the distance radius set below and RTH is active, the model will descend or climb to the
"Home RTH Altitude" specified below. Otherwise, it will desend or climb to the "Cruise Altitude" above.
o Throt Off: Same as "Normal" except that the throttle is set to the "descend" setting when closer than the distance radius below, which
would normally cause your model come to the ground. Useful if your plane comes back, but you still can't regain radio contact.
•
Set Home RTH Alt (300/120): this lets you set the inner RTH altitude (the altitude that RTH will target when closer than the distance radius
below).
•
Home Altitude Radius: This lets you set the distance at which the model will target the "home RTH altitude" described above
•
Altitude Error(100/40): This setting has two purposes. First, this setting controls the tolerable window of altitude above and below the Cruise
Altitude setting, referred to as the “Cruise Altitude Window.” For example, if Cruise Altitude is set to 300, and Altitude Error was set to 100, the
Cruise Altitude Window would be between 200 and 400. Never set this value so that this value, when added to “Cruise Altitude” parameter above,
exceeds the legal flying limit for your area. Secondly, this setting is also used as the limit to the input of the pitch PID controller. See below.
The default values for (English, Metric) are show in the menu item in parentheses.
•
Pitch Proportional Gain (50): This setting adjusts the proportional input to the elevator PID controller. The default value is shown in
parentheses. The elevator PID controller examines the difference between the present altitude, and the desired Cruise Altitude. If the difference is
greater than the Altitude Error setting above, the difference is limited to Altitude Error. Then, the elevator controller multiplies this difference by
the Pitch Proportional Gain value. Note: if you are using the Guardian, please see the RTH steps above and the Guardian manual before adjusting
this setting.
•
Pitch Derivative Gain (50): This setting adjusts the derivative input to the elevator PID controller. Higher values of this setting damp (reduce)
the climbrate. The effect of this parameter is increased as the Cruise altitude is approached, which reduces overshoot. Increase this parameter if
the model “porpoises” between too high and too low, during testing. Decrease the value if the model stops climbing too soon or too abruptly.
•
Turn Proportional Limit (20): this setting controls the maximum error that the heading controller will accept as an input. The heading
controller examines the present heading, and the heading for home. If the difference in these headings is greater than Turn Proportional Limit, the
Turn Proportional Limit value is used instead. The default value is shown in parentheses.
•
Turn Proportional Gain (50): This setting amplifies the proportional input to heading controller. The default value is shown in parentheses. The
heading controller determines the present heading, and the desired heading for home. The difference in headings (limited by Turn Proportional
Limit as described above) is then multiplied by Turn Proportional Gain. Note: if you are using the Guardian, please see the RTH steps above and
the Guardian manual before adjusting this setting.
•
Turn Derivative Gain (50): This setting adjusts the derivative input to the heading PID controller. Higher values of this setting damp (reduce)
the rate of turn. The effect of this parameter is increased as the correct home heading is approached, which reduces overshoot. Increase the value
of this parameter if the plane continues to turn after reaching the correct home heading. Decrease the value if the model stops turning too soon, or
stops turning too abruptly.
•
Turn Integral Gain (50): This setting controls the integral input to the heading PID controller. The heading PID controller examines how long it
is taking to turn to the correct home heading. As time passes during the turn, the aileron/rudder is turned more and more, to increase the rate of turn
over time. Normally the impact of the integral gain should be small. But, if a strong wind or other factor is keeping the plane from reaching home
in a reasonable amount of time, integral gain will continue to increase the turn rate.
Configure Guardian Stabilizer Menu
Please see the Guardian Stabilization instruction manual for information on this menu.