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Pre-Flight Checkout List

This page is a chapter in 'Setup and Calibration'

Warning!
The propellers should be taken off to prevent injury. Be careful! Spinning propellers can cause serious injury!

Note:
If you leave the quad in Rate Mode when looking at the Vehicle Status page, you may notice what looks like strange behavior. By default, the Rate Mode gyro PID I term is set to 100.0. When the Rate Mode gyro PID I term is non-zero (set to anything other than 0), you will see that after you've armed the quad, one or more motors will appear to "climb" or continuously increase its speed. This is normal! Let's break down what's happening here:
  1. You've armed the motors. However, your quad has no props on. Thus, when the quad attempts to correct for small errors in its current angular movements, nothing actually happens. The changes in motor speeds do not result in a change in angular rate. Thus, the error never goes to 0.
  2. When PID I term is non-zero, the flight controller integrates the error over time. This "integral of the error over time" builds up because the error doesn't change (you've removed the props so the response to the error in fact does nothing). Because the error never goes to 0, the integral of the error over time will just pile up.
  3. Eventually the integrated error gets large enough to start affecting the motor commands. You will see one or two motors increase, and possibly one or two motors decrease. Eventually you'll have one or two motors at max throttle and one or two at min throttle.
Again, this is perfectly normal. If you want to eliminate this behavior while you're doing your pre-flight checkout, either set the Rate Mode gyro PID I terms to 0 for both pitch and roll or switch to Attitude Mode. Please remember to set them back to 100 before you go flying or you'll find Rate Mode flies terribly.

Before your first flight, it is very important that you follow this pre-flight checkout! Use the Configurator plots located under the "Vehicle Status" tab to visually view the AeroQuad response graphically.




(+) - ConfigurationX - Configuration

The examples below reference to a Quad in (+) - Configuration respectively in X- Configuration, but can be transferred to Hexa/Octo configurations in the same manner!
  1. Make sure that "Attitude Mode" is active by looking at the indicator labeled "Flight Mode". If "Rate Mode" is displayed instead move the "Mode" switch to the correct position to activate "Attitude Mode". Otherwise you'll see the effect explained in the note at top of this page.
  2. Arm the motors by moving the transmitter sticks in the correct position. Then increase the throttle to about 50 percent.
  3. By hand, roll the AeroQuad to the left. The motor commands of all motors located to the left of the roll axis should increase (here: No. 4 respectively No. 1 and 4). The motor commands of all motors located to the right of the roll axis should decrease (here: No. 2 respectively No. 2 and 3).
  4. By hand, roll the AeroQuad to the right. The motor commands of all motors located to the right of the roll axis should increase (here: No. 2 respectively No. 2 and 3). The motor commands of all motors located to the left of the roll axis should decrease (here: No. 4 respectively No. 1 and 4).
  5. By hand, pitch the AeroQuad down (the front motor(s) should be lower in position than the rear motor(s)). The motor commands of all motors located above the pitch axis should increase (here: No. 1 respectively No. 1 and 2). The motor commands of all motors located below the pitch axis should decrease (here: No. 3 respectively No. 3 and 4).
  6. By hand, pitch the AeroQuad up (the front motor(s) should be higher than the rear motor(s)). The motor commands of all motors located below the pitch axis should increase (here: No. 3 respectively No. 3 and 4). The motor commands of all motors located above the pitch axis should decrease (here: No. 1 respectively No. 1 and 2).
  7. By hand, rotate the AeroQuad clockwise. The motor commands of all clockwise turning motors should increase (here: No. 1 and 3).
  8. By hand, rotate the AeroQuad counter-clockwise. The motor commands of all counter-clockwise turning motors should increase (here: No. 2 and 4).
  9. Using the transmitter, move the roll stick to the left. The motor commands of all motors located to the right of the roll axis should increase (here: No. 2 respectively No. 2 and 3). The motor commands of all motors located to the left of the roll axis should decrease(here: No. 4 respectively No. 1 and 4).
  10. Using the transmitter, move the roll stick to the right. The motor commands of all motors located to the left of the roll axis should increase (here: No. 4 respectively No. 1 and 4). The motor commands of all motors located to the right of the roll axis should decrease(here: No. 2 respectively No. 2 and 3).
  11. Using the transmitter, move the pitch stick forward. The motor commands of all motors located below the pitch axis should increase (here: No. 3 respectively No. 3 and 4). The motor commands of all motors located above the pitch axis should decrease (here: No. 1 respectively No. 1 and 2).
  12. Using the transmitter, move the pitch stick back. The motor commands of all motors located above the pitch axis should increase (here: No. 1 respectively No. 1 and 2). The motor commands of all motors located below the pitch axis should decrease (here: No. 3 respectively No. 3 and 4).
  13. Using the transmitter, move the yaw stick to the left. The motor commands of all clockwise turning motors should increase (here: No. 1 and 3).
  14. Using the transmitter, move the yaw stick to the right. The motor commands of all counter-clockwise turning motors should increase (here: No. 2 and 4).

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