당신은 주제를 찾고 있습니까 “tpa and tpa breakpoint – Betaflight TPA Test and Adjustment“? 다음 카테고리의 웹사이트 Chewathai27.com/you 에서 귀하의 모든 질문에 답변해 드립니다: Chewathai27.com/you/blog. 바로 아래에서 답을 찾을 수 있습니다. 작성자 LoboQuad 이(가) 작성한 기사에는 조회수 11,486회 및 좋아요 93개 개의 좋아요가 있습니다.
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d여기에서 Betaflight TPA Test and Adjustment – tpa and tpa breakpoint 주제에 대한 세부정보를 참조하세요
JELLO that’s what my video was no doubt. It became clear trying to fly some freestyle and smoother type flights, not nearly as clear in racing footage.
Thanks to people commenting on my videos I know how to fix the problem. I was working to try and secure the GoPro mount, that never would have solved my troubles.
Thanks to all who commented and helped and hopefully you’ll have more to say now.
tpa and tpa breakpoint 주제에 대한 자세한 내용은 여기를 참조하세요.
What is TPA in Cleanflight/Betaflight – IntoFPV Forum
TPA stands for: Throttle PID Attenuation in Betaflight and Cleanflight. TPA basically allows an aggressively tuned multi-rotor (one that feels very locked …
Source: intofpv.com
Date Published: 1/5/2022
View: 8493
What does TPA Breakpoint do? : r/Multicopter – Reddit
TPA (Throttle PID Attenuation) and TPA Breakpoint control how the PID controller’s effect gets reduced when you go higher in the throttle.
Source: www.reddit.com
Date Published: 5/6/2021
View: 2494
betaflight/PID tuning.md at master – GitHub
tpa_breakpoint = the point in the throttle curve at which TPA will begin to be applied. An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 ( …
Source: github.com
Date Published: 2/10/2022
View: 6702
Betaflight TPA / TPA Breakpoint – WordPress.com
Betaflight TPA / TPA Breakpoint … TPA 代表Throttle P Attenuation ，隨著油門加大，PID相對減弱。 TPA 只會影響ROLL 和PITCH的P, D，並不影響YAW。
Source: gooseflightcom.wordpress.com
Date Published: 12/26/2022
View: 3642
TPA (Throttle PID Attenuation)… – Power Whoop Pilots group
TPA (Throttle PID Attenuation) in Betaflight, allows you to reduce PID gains when throttle is applied beyond the threshold/break-point, …
Source: www.facebook.com
Date Published: 6/29/2022
View: 5036
TPA – Emuflight
0.3.X Defaults for TPA are: · TPA P: 0.75 (75%) · TPA I: 1.25 (125%) · TPA D: 0.65 (65%) · TPA Breakpoint 1600 …
Source: emuflight.github.io
Date Published: 7/1/2022
View: 6293
RC Rate, Expo, Super Rate Explained – Oscar Liang
TPA & TPA Breakpoint … TPA lowers PID values by a certain percentage, the more you increase throttle, the lower PID becomes. It helps reduce vibration …
Source: oscarliang.com
Date Published: 2/23/2022
View: 2591
TPA và TPA_Breakpoint – trunglp/PA-Readme Wiki
Khi throttle đạt tới ngưỡng TPA threshold/breakpoint Nhằm loại bỏ các dao động nhanh. TPA =% giảm chấn sẽ xảy ra ở full throttle.
Source: github-wiki-see.page
Date Published: 10/23/2021
View: 5154
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주제와 관련된 더 많은 사진을 참조하십시오 Betaflight TPA Test and Adjustment. 댓글에서 더 많은 관련 이미지를 보거나 필요한 경우 더 많은 관련 기사를 볼 수 있습니다.
주제에 대한 기사 평가 tpa and tpa breakpoint
- Author: LoboQuad
- Views: 조회수 11,486회
- Likes: 좋아요 93개
- Date Published: 2017. 10. 3.
- Video Url link: https://www.youtube.com/watch?v=JiK0EkPGbKc
What is TPA in Cleanflight/Betaflight
indiastar
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TPA basically allows an aggressively tuned multi-rotor (one that feels very locked in) to reduce its PID gains when throttle is applied beyond the TPA threshold/breakpoint in order to eliminate fast oscillations – What a mouthful!!
Take the following example: You’re flying around quite happily but you want to punch out(throttle up quickly) to gain some altitude quickly, as you increase the throttle, you notice that your multi-rotor oscillates rapidly, but it doesn’t in normal conditions. see the video below for an example of what I mean. In this instance, the vibrations are caused by the PIDs being set too high for the amount of power you want to utilize, to resolve this and eliminate the vibrations, you need to apply some TPA.
How do I use TPA?
I am going to assume that you have your throttle endpoints set to 1000 – 2000, with middle stick being 1500. To use TPA, you first will need to assess where your throttle is when you experience the oscillations, mine happened to be just after the mid point, so I set my TPA breakpoint to 1500 (red/blue/green line on the chart below), You may find that you only experience the oscillations later on in your throttle range, e.g. 3/4 throttle. In this instance you can set the TPA breakpoint to 1750 (black dotted line on the graph below).
You can set your TPA breakpoint by going to the CLI and typing:
you can substitute 1500 for whichever value you want, but for a mid point, 1500 will suffice (note: by default, cleanflight and Betaflight have 1650 set as the TPA breakpoint)
Once we are happy with where we have set the breakpoint, we can now concentrate on refining the TPA value. I tend to find my TPA value by incrementing by 0.05 or 0.1, depending on how bad the oscillations are. The trick here is to fly around, and throttle up quickly to see/hear if you still have oscillations, If you do, increment the value and try again.
Lets follow the blue line first. The PIDs of the quad are at 100% of the values you have tuned them to until the throttle is at 50% (1500). As we increase the throttle, the PIDs will decrease until at full throttle they are 50% of the value of which they were initially set.
Now lets follow the green line where we have set our TPA value to 0.75 (This is actually quite high). 0.75 means that at 100% throttle, our PIDs will be reduced by 75% leaving us with 25% of the values initially set. For example: P for roll is tuned to 4.2 – at full throttle with a TPA of 0.75 this will actually be 1.05.
In Cleanflight and Baseflight you can set your TPA value in the PID tuning tab. TPA in Cleanflight and Baseflight only affects P, I and D on ROLL and PITCH, it does not affect YAW. TPA stands for: Throttle PID Attenuation in Betaflight and Cleanflight.TPA basically allows an aggressively tuned multi-rotor (one that feels very locked in) to reduce its PID gains when throttle is applied beyond the TPA threshold/breakpoint in order to eliminate fast oscillations – What a mouthful!!Take the following example: You’re flying around quite happily but you want to punch out(throttle up quickly) to gain some altitude quickly, as you increase the throttle, you notice that your multi-rotor oscillates rapidly, but it doesn’t in normal conditions. see the video below for an example of what I mean. In this instance, the vibrations are caused by the PIDs being set too high for the amount of power you want to utilize, to resolve this and eliminate the vibrations, you need to apply some TPA.I am going to assume that you have your throttle endpoints set to 1000 – 2000, with middle stick being 1500. To use TPA, you first will need to assess where your throttle is when you experience the oscillations, mine happened to be just after the mid point, so I set my TPA breakpoint to 1500 (red/blue/green line on the chart below), You may find that you only experience the oscillations later on in your throttle range, e.g. 3/4 throttle. In this instance you can set the TPA breakpoint to 1750 (black dotted line on the graph below).You can set your TPA breakpoint by going to the CLI and typing:you can substitute 1500 for whichever value you want, but for a mid point, 1500 will suffice (note: by default, cleanflight and Betaflight have 1650 set as the TPA breakpoint)Once we are happy with where we have set the breakpoint, we can now concentrate on refining the TPA value. I tend to find my TPA value by incrementing by 0.05 or 0.1, depending on how bad the oscillations are. The trick here is to fly around, and throttle up quickly to see/hear if you still have oscillations, If you do, increment the value and try again.Lets follow the blue line first. The PIDs of the quad are at 100% of the values you have tuned them to until the throttle is at 50% (1500). As we increase the throttle, the PIDs will decrease until at full throttle they are 50% of the value of which they were initially set.Now lets follow the green line where we have set our TPA value to 0.75 (This is actually quite high). 0.75 means that at 100% throttle, our PIDs will be reduced by 75% leaving us with 25% of the values initially set. For example: P for roll is tuned to 4.2 – at full throttle with a TPA of 0.75 this will actually be 1.05.In Cleanflight and Baseflight you can set your TPA value in the PID tuning tab. TPA in Cleanflight and Baseflight only affects P, I and D on ROLL and PITCH, it does not affect YAW. The following 4 users Like indiastar’s post: 4 users Like indiastar’s post
jamokag , MSIOU , Plum Pitiful , campagnium Website Login to remove this ad | Register Here
varkokonyi
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• Reply Dutch Drone Builder
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Reputation: Posts: 307Threads: 18Likes Received: 67 in 47 postsLikes Given: 33Joined: Sep 2016Reputation: 9 #3 Thank you for the explanation, unfortunately your link isn’t working maybe you can fix this? https://www.facebook.com/dutchdrone.builder.16
https://www.instagram.com/dutchdronebuilder/
• Reply Hawki Pierce
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• Website Reply mb4ev
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Is the video you refer in the blog linked?
• Reply Dngr.fpv
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Reputation: Posts: 23Threads: 0Likes Received: 8 in 3 postsLikes Given: 1Joined: May 2017Reputation: 0 #6 i have 3 pid profiles, i like to fly 4S and 5S on the same quad, i have way more tpa on the 5S and even more when I carry a gopro.
• Reply
What does TPA Breakpoint do? : Multicopter
What does TPA Breakpoint do? I did a bit of research and all I got out of it was stick is 1350 but some people use 1750 but why and what it actually does on who’s setup I don’t know.
https://drive.google.com/file/d/1HJiq_VXtrxR2dO9ZeWb-_ltTN8vx-6cs/view?usp=sharing(Pic thanks to expensive king)
betaflight/PID tuning.md at master · martinbudden/betaflight
PID tuning
Every aspect of flight dynamics is controlled by the selected “PID controller”. This is an algorithm which is responsible for reacting to your stick inputs and keeping the craft stable in the air by using the gyroscopes and/or accelerometers (depending on your flight mode).
The “PIDs” are a set of tuning parameters which control the operation of the PID controller. The optimal PID settings to use are different on every craft, so if you can’t find someone with your exact setup who will share their settings with you, some trial and error is required to find the best performing PID settings.
A video on how to recognise and correct different flight problems caused by PID settings is available here:
Basically, the goal of the PID controller is to bring the craft’s rotation rate in all three axes to the rate that you’re commanding with your sticks. An error is computed which is the difference between your target rotation rate and the actual one measured by the gyroscopes, and the controller tries to bring this error to zero.
##PIDs
The P term controls the strength of the correction that is applied to bring the craft toward the target angle or rotation rate. If the P term is too low, the craft will be difficult to control as it won’t respond quickly enough to keep itself stable. If it is set too high, the craft will rapidly oscillate/shake as it continually overshoots its target.
The I term corrects small, long term errors. If it is set too low, the craft’s attitude will slowly drift. If it is set too high, the craft will oscillate (but with slower oscillations than with P being set too high).
The D term attempts to increase system stability by monitoring the rate of change in the error. If the error is rapidly converging to zero, the D term causes the strength of the correction to be backed off in order to avoid overshooting the target.
##TPA and TPA Breakpoint
TPA stands for Throttle PID Attenuation and according to AlexYork.net:
“TPA basically allows an aggressively tuned multi-rotor (one that feels very locked in) to reduce its PID gains when throttle is applied beyond the TPA threshold/breakpoint in order to eliminate fast oscillations..”
Note that TPA is set via CLI or on the PID TUNING tab of the GUI. tpa_breakpoint is set via CLI
Also note that TPA and tpa_breakpoint may not be used in certain PID Controllers. Check the description on the individual controller.
TPA applies a PID value reduction in relation to full Throttle. It is used to apply dampening of PID values as full throttle is reached.
TPA = % of dampening that will occur at full throttle.
tpa_breakpoint = the point in the throttle curve at which TPA will begin to be applied.
An Example: With TPA = 50 (or .5 in the GUI) and tpa_breakpoint = 1500 (assumed throttle range 1000 – 2000)
At 1500 on the throttle channel, the PIDs will begin to be dampened.
At 3/4 throttle (1750), PIDs are reduced by approximately 25% (half way between 1500 and 2000 the dampening will be 50% of the total TPA value of 50% in this example)
At full throttle (2000) the full amount of dampening set in TPA is applied. (50% reduction in this example)
TPA can lead into increase of rotation rate when more throttle applied. You can get faster flips and rolls when more throttle applied due to coupling of PID’s and rates. Only PID controllers MWREWRITE and LUX are using linear TPA implementation, where no rotation rates are affected when TPA is being used.
How and Why to use this?
If you are getting oscillations starting at say 3/4 throttle, set tpa breakpoint = 1750 or lower (remember, this is assuming your throttle range is 1000-2000), and then slowly increase TPA until your oscillations are gone. Usually, you will want tpa breakpoint to start a little sooner then when your oscillations start so you’ll want to experiment with the values to reduce/remove the oscillations.
PID controllers
Cleanflight has 3 built-in PID controllers which each have different flight behavior. Each controller requires different PID settings for best performance, so if you tune your craft using one PID controller, those settings will likely not work well on any of the other controllers.
You can change between PID controllers by running set pid_controller=x on the CLI tab of the Cleanflight Configurator, where x is the controller you want to use. Please read these notes first before trying one out.
Note that older Cleanflight versions had 6 pid controllers, experimental and old ones were removed in 1.11.0 / API 1.14.0.
PID controller “MW23”
This PID Controller is a direct port of the PID controller from MultiWii 2.3 and later.
The algorithm is handling roll and pitch differently to yaw. Users with problems on yaw authority should try this one.
In Horizon and Angle modes, this controller uses both the LEVEL “P” and “I” settings in order to tune the auto-leveling corrections in a similar way to the way that P and I settings are applied to roll and yaw axes in the acro flight modes. The LEVEL “D” term is used as a limiter to constrain the maximum correction applied by the LEVEL “P” term.
PID controller “MWREWRITE”
This is a newer PID controller that is derived from the one in MultiWii 2.3 and later. It works better from all accounts, and fixes some inherent problems in the way the old one worked. From reports, tuning is apparently easier, and it tolerates a wider range of PID values well.
In Angle mode, this controller uses the LEVEL “P” PID setting to decide how strong the auto-level correction should be. Note that the default value for P_Level is 90. This is more than likely too high of a value for most, and will cause the model to be very unstable in Angle Mode, and could result in loss of control. It is recommended to change this value to 20 before using PID Controller 1 in Angle Mode.
In Horizon mode, this controller uses the LEVEL “I” PID setting to decide how much auto-level correction should be applied. Level “I” term: Strength of horizon auto-level. value of 0.030 in the configurator equals to 3.0 for Level P. Level “D” term: Strength of horizon transition. 0 is more stick travel on level and 255 is more rate mode what means very narrow angle of leveling.
PID controller “LUX”
This is a new floating point based PID controller. MW23 and MWREWRITE use integer arithmetic, which was faster in the days of the slower 8-bit MultiWii controllers, but is less precise.
This controller has code that attempts to compensate for variations in the looptime, which should mean that the PIDs don’t have to be retuned when the looptime setting changes.
There were initially some problems with horizon mode, and sluggishness in acro mode, that were recently fixed by nebbian in v1.6.0.
It is the first PID Controller designed for 32-bit processors and not derived from MultiWii.
The strength of the auto-leveling correction applied during Angle mode is set by the parameter “level_angle” which is labeled “LEVEL Proportional” in the GUI. This can be used to tune the auto-leveling strength in Angle mode compared to Horizon mode. The default is 5.0.
The strength of the auto-leveling correction applied during Horizon mode is set by the parameter “level_horizon” which is labeled “LEVEL Integral” in the GUI. The default is 3.0, which makes the Horizon mode apply weaker self-leveling than the Angle mode. Note: There is currently a bug in the Configurator which shows this parameter divided by 100 (so it shows as 0.03 rather than 3.0).
The transition between self-leveling and acro behavior in Horizon mode is controlled by the “sensitivity_horizon” parameter which is labeled “LEVEL Derivative” in the Cleanflight Configurator GUI. This sets the percentage of your stick travel that should have self-leveling applied to it, so smaller values cause more of the stick area to fly using only the gyros. The default is 75%
For example, at a setting of “100” for “sensitivity_horizon”, 100% self-leveling strength will be applied at center stick, 50% self-leveling will be applied at 50% stick, and no self-leveling will be applied at 100% stick. If sensitivity is decreased to 75, 100% self-leveling will be applied at center stick, 50% will be applied at 63% stick, and no self-leveling will be applied at 75% stick and onwards.
RC rate, Pitch and Roll Rates (P/R rate before they were separated), and Yaw rate
RC Rate
An overall multiplier on the RC stick inputs for pitch, rol;, and yaw.
On PID Controller MW23 can be used to set the “feel” around center stick for small control movements. (RC Expo also affects this).For PID Controllers MWREWRITE and LUX, this basically sets the baseline stick sensitivity
Pitch and Roll rates
In PID Controller MW23 the affect of the PID error terms for P and D are gradually lessened as the control sticks are moved away from center, ie 0.3 rate gives a 30% reduction of those terms at full throw, effectively making the stabilizing effect of the PID controller less at stick extremes. This results in faster rotation rates. So for these controllers, you can set center stick sensitivity to control movement with RC rate above, and yet have much faster rotation rates at stick extremes.
For PID Controllers MWREWRITE and LUX, this is an multiplier on overall stick sensitivity, like RC rate, but for roll and pitch independently. Stablility (to outside factors like turbulence) is not reduced at stick extremes. A zero value is no increase in stick sensitivity over that set by RC rate above. Higher values increases stick sensitivity across the entire stick movement range.
Yaw Rate
In PID Controllers MWREWRITE and LUX, it acts as a stick sensitivity multiplier, as explained above.
Betaflight TPA / TPA Breakpoint
TPA 代表 Throttle Pid Attenuation ，隨著油門加大，PID相對減弱。
TPA 只會影響 ROLL 和 PITCH的 P, D，並不影響 YAW。
用途:
當飛機於30% 油門飛行時，並沒有問題，但當加至60% 油門時，飛機出現震盪。例如快速推桿進行 Flip 動作。
此時便可於 60% 油門低一點設置 TPA Breakpoint 減低 PID 改善。
在 Betaflight PID Tuning > Rateprofile Settings 內設置/
TPA = %
例如 0.65 = 65%
TPA Breakpoint = 油門%
例如 1250 = 25%
即是代表 25% 油門開始介入，去到 100% 油門，PID 減了 65%，剩下 35%
舉例:
TPA = 0.6
TPA Breakpoint = 1600
代表 60% 油門開始介入，去到 100% 油門，PID 減了 60%，剩下 40%
圖表可以，1700 油門大概是 85% PID，1800 油門大概是 70% PID
如果 P 本身是 40，去到 100% 油門時，便等於 40*0.4 = 16
Firmware 4.0
以往舊版 TPA 是同時減 P 和 D 值，來改善高油門的震盪。來到新版本，官方研究覺得 P 的影響不大，主要是來自 D Noise，所以新 TPA 只會減 D。
默認 setting:
set tpa_rate = 75 set tpa_breakpoint = 1400 set tpa_mode = D
如想用舊版 TPA
set tpa_rate = 10 set tpa_breakpoint = 1650 set tpa_mode = PD
TPA
TPA
In EmuFlight the TPA works completely differently than in BetaFlight. TPA in EmuFlight has been split into P, I and D. TPA as well has changed so that instead of TPA being the amount that your PIDs are cut it is instead the percentage your PIDs will be at full throttle. A TPA of 0.8 for example means that at Full throttle your PID is decreased to 80% of its normal value, whereas a value of 1.25 means that your PID is increased to 125% of its normal value. Your TPA values can vary from 0 up to 2.50. TPA has changed to be this way so that you can make TPA boost your PIDs (used mainly for I and sometimes P).
0.3.X Defaults for TPA are:
TPA P: 0.75 (75%)
(75%) TPA I: 1.25 (125%)
(125%) TPA D: 0.65 (65%)
(65%) TPA Breakpoint 1600
0.2.0 Defaults for TPA are:
TPA P: 0.65 (65%)
(65%) TPA I: 1.25 (125%)
(125%) TPA D: 0.50 (50%)
(50%) TPA Breakpoint 1350
Example graphs of TPA application at throttle
RC Rate, Expo, Super Rate Explained
This tutorial explains what RC Rate, Expo and Super Rate are, and how to tune them for optimal FPV drone flying. I will also touch on Throttle Expo, Throttle Mid and TPA and how these settings can affect the performance of a quadcopter.
You might be also interested in PID tuning.
Tl;dr
The combination of RC Rate and Super Rate determines “max angular velocity” – how fast the drone is allowed to rotate (measured in degrees per second). Expo changes the sensitivity in centre stick. Note that while Super Rate changes max velocity, it also has an effect on centre stick sensitivity too just like Expo.
Still don’t get it? No worries, let me explain in a bit more detail.
RC Rate
RC rate changes the sensitivity of your sticks. High rates makes your quad rotate more with less stick deflection.
High rate will make your quad more responsive but at the same time, twitchier. Small movement on the stick would produce big movement in the quad.
Increasing RC rate also makes the quad spins faster, as you can see an increase in deg/sec figure. This allows you to do faster flips and rolls as well, but usually we use “super rate” to control how fast we want our flips and rolls to be, we will talk about super rate shortly.
RC Expo
RC Expo is also known as Exponential, or simply Expo. It reduces the sensitivity near the centre of the stick where fine controls are needed (for Roll, Pitch and Yaw), while retaining the maximum rotation speed at the ends of the stick.
Expo is a percentage value. At 0% the increase in rotational speed between minimum and maximum stick input is linear, imagine the curve as a “V” shape with no stick input being the center. At 50% stick input, your quad will rotate around the given axis at exactly half of the maximum rotational speed.
As you increase Expo, the sensitivity around mid stick is reduced so you have to push the stick further to reach the same 50% of max rotational speed. Imagine that Expo changes the “V” shape to a “U”, the higher the expo percentage, the flatter the “U” is around the middle.
Super Rate
Super Rate (aka Super Expo in other firmware) changes your full-stick-deflection rate as well as your centre stick precision. It’s like having the combined effects of RC Rate and RC Expo.
By increasing Super Rate, it allows you to have relatively moderate stick sensitivity around mid stick for “normal flying maneuvers”, and yet super fast roll and flip at the stick end points.
It gives you more flexibility over tuning and control. It must be adjusted together with RC Rate and RC Expo to achieve the desired curve and stick feel.
Actual Rate & Quick Rate in Betaflight
These are two other types of rate system in Betaflight.
With “Actual Rate”, you can enter exactly the max rotational speed, and center sensitivity value – it’s a lot more clear and less confusing for new comers to be honest than the old rate system.
And “Quick Rate” is the mix of the the traditional rate and Actual Rate. You still enter Rates and Expo but you can set the max rotational speed value directly.
If you are new to all these, I’d recommend using the default Betaflight rate system for now, until you know what is actually going on, then explore other rate system so you don’t get confused.
How to Tune Your Rates?
Rate values are really a personal preference, it’s all about finding what works for your particular setup and flying style.
To tune my rates, I always increase RC Rate first. Just cruise around (no flips or rolls), and make sure the quadcopter responds quickly and predictably to your sticks when doing turns. If it’s too sensitive to make precise movement then you need to turn it down.
Then I adjust Super Rate until I am happy with the max rotation speed when doing flips and rolls. A good test is to do some 180° or 360° rolls and see if you can get them perfectly. You can also check in the GUI what the rotation value is for each axis (deg/sec), personally for my freestyle rig, I usually aim for 700-800 degrees per second.
Note that Super Rate also affects your centre stick sensitivity (it acts like expo), meaning by increasing Super Rate too much, your center stick will actually feel softer, and so you might or might not want to slightly bump up your RC Rate to compensate.
How about Expo? Well, it’s not always needed, as you get the same effect from having Super Rate. But if you still find little movement around mid stick too sensitive, then increase RC Expo until you find a good balance between precision and responsiveness.
You will have to go back and forth a few times until it’s right. Note that your pitch, roll and yaw rates do not need to be identical. Many freestyle pilots actually prefer higher yaw rate and lower pitch rate, it’s all personal preference.
Different flight controller software has different ranges and scaling in PID, rates and expo, so the same numbers don’t necessarily give the same results in a different firmware.
Pro Tip: Applying Expo on the radio (TX) reduces your stick resolution, therefore ONLY set Expo in the flight controller software whenever possible!
To give you some examples, here are the Rates and Expos I have used:
Freestyle
RC Rate – 1.3
RC Expo – 0.25
Super Rate – 0.68
Smooth Cruiser:
RC Rate = 0.80
RC Expo = 0.00
Super Rate = 0.65
Expo is set to zero here on purpose, this is to avoid overreacting in close situations and actually gives you overall smoother result.
Aggressive Acro Quad:
RC Rate, Pitch/Roll = 1.80, Yaw = 2.00
Super Rate, All = 0.64
RC Expo, Pitch/Roll = 0.20, Yaw = 0.15
As your flying skill improves, and you become more comfortable performing aggressive maneuvers, you will probably increase your rates. As you do, you will also probably want to adjust (increase) the expo to maintain accurate fine control.
There is no right or wrong Expo and Rate values, as long as it suits you. For example, I have shaky fingers, so my expo might be a bit higher than others. :p
Consistency!
Having consistent rates on all your quads is actually very important because of muscle memory. Especially for yaw and roll, you can train yourself to control these movements instinctively with consistent rates.
When you change rates, it can take you longer to get used to the different feel depends on how experienced a pilot you are. So having consistent rates help you moving from quad to quad without surprises.
Throttle Mid and Expo
Lastly, next to RC Rate and Expo, we also have Throttle Mid and Throttle Expo.
Throttle Expo changes the shape of the throttle curve, it flattens out the curve around “Throttle Mid” and allows for softer throttle response and maximum stick resolution around this throttle level.
Throttle Mid changes where in the throttle curve you want to apply the Throttle Expo. By default it’s set to 50% throttle (0.50), but in my opinion this should be set to your normal cruising throttle. This is where you will need the most throttle resolution and it should make it easier to control your altitude.
Throttle Mid won’t do anything if you set Throttle Expo to 0, because your throttle curve will be a straight line regardless what throttle mid is set to.
I personally prefer to use a tiny bit of throttle expo (<0.10) to get a better resolution and smoother throttle control. It’s especially useful for proximity flying. You can also setup throttle curve in your transmitter for more precise throttle control. TPA & TPA Breakpoint TPA lowers PID values by a certain percentage, the more you increase throttle, the lower PID becomes. It helps reduce vibration associated with high throttle. TPA breakpoint determines where in the throttle PID should begin to be reduced. You should normally set this slightly below the throttle level where you start to get vibration. See this article for a more detail explanation of TPA. Edit History
TPA và TPA_Breakpoint – trunglp/PA-Readme Wiki
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