| • Advanced PID Tuning - The PID gains will generally not require adjustment by the end user. Finding the right balance between them requires extensive experience and experimentation. Setting these gains at a wrong balance will have adverse affects in performance and could result to severe oscillations. PID theory states that the P Gain provides rapid corrections to external disturbances, I Gain is responsible for tightness in tail position and D Gain dampens overshoot and bounce back. In reality the correct balance between P and I is very critical to achieve good pirouetting constancy and tail holding power when the collective is punched. In the case of the Vortex, due to special handling of tail stops there is no significant benefit in using any D gain. The Feed-Forward (FF) passes an amount of of the pilot's rudder control direct to the tail servo. This increases the response and sharpness of the tail. |
