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nano CP X Brushless Mods Blade nano CP X Brushless Mods Information and Help


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Old 01-05-2013, 09:41 PM   #1 (permalink)
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Default Governor I/P Gain????

Can someone explain what raising raising and lowering the governors I-gain and P-gain does? I read and read and can't find anything about what it does or will do. I'd experiment with them to figure it out but I had a trace come off my esc so I'm stuck programming with my tx and I'd like to save some work if I can.
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Old 01-06-2013, 12:04 AM   #2 (permalink)
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I believe the p gain changes the reaction speed of the governor, not sure about the I gain. I was told by a knowledgeable person to set them both at 2.0, two steps above default.
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Old 01-06-2013, 04:40 AM   #3 (permalink)
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Mine are both at 2 now. (Dylan's default) Because they were above the default of 1 I was curious as to what would happen if I changed one or both of them to 3.

I have a small issue with tail blow outs during pitch pumps and once I even bogged the motor and it took it awhile to recover. I ordered some 200mAh 35c batteries from MH to see if they may resolve it but haven't got them yet. I may raise my throttle curve from 68 flat to see if that helps but am worried that might only make the tail worse. I can also increase the battery leads to a 24awg; can't hurt right? And of course extend or replace my tail to see if that helps.

I only have two dozen or so flights on my mild setup and if could fix this I'd have it spinning like a top.

Sent from my Nexus 7 using Tapatalk 2

Last edited by muddyml; 01-06-2013 at 07:46 AM..
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Old 01-06-2013, 02:29 PM   #4 (permalink)
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Switch from GOV TX to GOV arm, and the tail will be solid
Link in this thread:
https://www.helifreak.com/showthread.php?t=486147
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Old 01-06-2013, 03:00 PM   #5 (permalink)
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Quote:
Originally Posted by muddyml View Post
Mine are both at 2 now. (Dylan's default)
Speaking of defaults, does anyone know what ESC settings Dylan ships the mild kit with?
Those with a USB connect thingie, could you read out the settings and post a screenshot?

Thanks!
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Old 01-06-2013, 03:36 PM   #6 (permalink)
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I think all that is changed from astroid are the gain settings:
https://www.helifreak.com/attachment...6&d=1351983272
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Old 01-06-2013, 04:05 PM   #7 (permalink)
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This is true, but what do they do?

Sent from my Galaxy Nexus using Tapatalk 2
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Old 01-06-2013, 04:05 PM   #8 (permalink)
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Quote:
Originally Posted by skeppley View Post
I think all that is changed from astroid are the gain settings:
https://www.helifreak.com/attachment...6&d=1351983272
No. The gain settings are bumped up to 9. The start up power is bumped to 6 and the input polarity is set to negative. I set the beep strength to 200 and may drop the beacon delay to 2 minutes
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Old 01-06-2013, 04:06 PM   #9 (permalink)
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Edit: duplicate post

Sent from my Galaxy Nexus using Tapatalk 2
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Old 01-06-2013, 04:11 PM   #10 (permalink)
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Quote:
Originally Posted by muddyml View Post
Edit: duplicate post

Sent from my Galaxy Nexus using Tapatalk 2
Everything you could want to know about the BLheli code is here,
https://www.helifreak.com/showthread.php?t=390517.

Enjoy.
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Old 01-06-2013, 04:13 PM   #11 (permalink)
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Quote:
Originally Posted by muddyml View Post
This is true, but what do they do?

Sent from my Galaxy Nexus using Tapatalk 2
Don't understand the exact tech but they both have to do with the governor's response time in terms of sensing bog and adding power to correct.

For example I had inadvertently switched the p gain to the lowest setting, it caused massive lag in the motor speed, I could not achieve a stable hover as the governor would suddenly add power several seconds after a collective move.
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Old 01-06-2013, 09:00 PM   #12 (permalink)
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Quote:
Originally Posted by NCcraig View Post
Everything you could want to know about the BLheli code is here,
https://www.helifreak.com/showthread.php?t=390517.

Enjoy.
Thank you.

Thanks for the help everyone.
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Old 01-07-2013, 12:38 PM   #13 (permalink)
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Quote:
Originally Posted by skeppley View Post
Switch from GOV TX to GOV arm, and the tail will be solid
Link in this thread:
https://www.helifreak.com/showthread.php?t=486147
I'm going to have to try this. This is all starting to make sense to me now.

Sent from my Galaxy Nexus using Tapatalk 2
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Old 01-07-2013, 04:26 PM   #14 (permalink)
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Along with the thread Craig posted, this thread from DoubleCH explains things very well. If you read both those threads you should understand BL heli/Gov modes very well. I think Dylan links to this on his site as well. Happy reading

https://www.helifreak.com/showthread...ix#post3904838
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Old 06-19-2019, 01:27 PM   #15 (permalink)
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By my best understanding, governor mode is running a PI controller (a PID controller with the derivative gain set to 0).

Here's a video that explains the PI controller. This segment shows how the controller behavior changes when the gains are out of tune https://youtu.be/ifEsb7BoCIQ?t=411

In the video, Kc is P-Gain and τi is I-Gain.

And this PID controller simulation may help improve your intuition https://sites.google.com/site/fpgaandco/pid
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