GRAUPNER Falcon 12 plus User manual

EN
Manual
Copyright © Graupner/SJ GmbH
No. S1034 with altitude sensor, with magnetometer
Falcon 12 plus with copter-firmware Q06
Falcon 12 plus

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S1038_Q06_V1.0pn_en
Index
Introduction ......................................................................................4
Service centre ...................................................................................4
Intended use ....................................................................................5
Target group....................................................................................5
Package content................................................................................5
Technical data ...................................................................................6
Symbol description...........................................................................6
Safety notes ......................................................................................6
For your safety by handling the transmitter and the receiver.......7
For your safety by handling the batteries ......................................8
Installing the Graupner S1034 Falcon 12 plus ................................9
Connecting the RC components of the copter...............................9
Optional accessories....................................................................9
Binding.............................................................................................10
Transmitter presettings..................................................................11
Flight mode ...................................................................................11
Auto-flip function on channel 6....................................................13
Switching the FPV transmitter channel ........................................13
"Telemetry" menu ..........................................................................15
SETTING & DATA VIEW..................................................................15
Receiver display .........................................................................15
ROLL/NICK Display .....................................................................18
YAW Display................................................................................19
MULTIC. AUTOPILOT ..................................................................21
BASIC Display..............................................................................22
AXIS ASSIGNMENT .....................................................................30
Firmware update ............................................................................32
SIMPLIFIED DECLARATION OF CONFORMITY................................32
Manufacturer................................................................................32
Notes on environmental protection..............................................33
Care and maintenance ...................................................................33
Warranty conditions.......................................................................33

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Introduction
Thank you very much for purchasing a Graupner S1034 Falcon 12
plus.
Read this manual carefully to achieve the best results with your HoTT
system and first of all to safely control your models. If you experience
any trouble during operation, take the instructions to help or ask
your dealer or Graupner Service Centre.
Due to technical changes, the information may be changed in this
manual without prior notice. Be always updated by checking period-
ically on our website, www.graupner.de to be always uptodate with
the products and firmwares.
This product complies with national and European legal require-
ments.
To maintain this condition and to ensure safe operation, you must
read and follow this user manual and all the safety notes before
using the product and you have to respect those notes also for future
use!
Note
This manual is part of that product. It contains important informa-
tion concerning operation and handling. Keep these instructions for
future reference and give it to third person in case you gave the
product.
Service centre
Graupner Central Service
Graupner GmbH
Henriettenstrasse 96
D-73230 Kirchheim / Teck
Servicehotline

(+49) (0)7021/722-130
Monday- Thursday:
9:15 am- 4:00 pm
Friday:
9:15 am- 1:00 pm
[e-mail]
Graupner USA
3941 Park Dr Suite 20-571
El Dorado Hills, CA 95762
Website: www.graupnerusa.com
Phone: [phone]
Email:[email protected]om
Graupner in Internet For the service centers outside Germany please refer to our web site
www.graupner.de.

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Intended use
The Graupner S1034 Falcon 12 plus should only be used for the pur-
pose specified by the manufacturer for operation of UAVs (unmanned
aerial vehicles) or remote controlled models. Any other type of use
is impermissible and may cause significant property damage and/or
personal injury. No warranty or liability is therefore offered for any
improper use not covered by these provisions.
In addition, it is explicitly pointed out that you must inform yourself
about the laws and regulations applicable at your respective starting
point before starting the remote control operation. Such conditions
may differ from state to state, but this must be followed in every
case.
Notes
• In general, it should not be forbidden to fly over airfields, facto-
ries, nature reserves, built-up areas, etc.
• Where designated no-fly zones are located, and which in no way
affect them, it can be determined, for example, using the "Air-
Map" app.
Read through this entire manual before you attempt to install or use
the receiver.
Target group
The item is not a toy. It is not suitable for children under 14. The
installation and operation of the receiver must be performed by
experienced modellers. If you do not have sufficient knowledge
about dealing with radio-controlled models, please contact an expe-
rienced modeller or a model club.
Package content
• S1034 Falcon 12 plus
• Manual

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Technical data
Antenna 2x 145 mm,
of which the last 30 mm active
Operating voltage 3.6 ... 12.6 V
Frequency range 2400 ... 2483.5 MHz
Modulation 2.4 GHz FHSS
Current consumption
approx. 70 mA
Temperature range -15 … +70°C
Dimensions approx. 36 x 21 x 10 mm
Weight approx. 9 g
Symbol description
Always observe the information indicated by these warning signs.
Particularly those which are additionally marked with the words
CAUTION or WARNING.
!
The signal word WARNING indicates the potential for serious injury,
the signal word CAUTION indicates possibility of lighter injuries.
The signal word Note indicates potential malfunctions.
Attention indicates potential damages to objects.
Safety notes
!
These safety instructions are intended not only to protect the prod-
uct, but also for your own and other people’s safety. Therefore please
read this section very carefully before using the product!
• Do not leave the packaging material lying around, this could be a
dangerous toy for children.
• Persons, including children, with reduced physical, sensory or
mental capabilities, or lack of experience or knowledge, or not
capable to use safely the receiver must not use the receiver with-
out supervision or instruction by a responsible person.
• Operation and use of radio-controlled models needs to be learnt!
If you have never driven such a model, then start extra carefully
and make sure to be familiar with the reactions of the model to
the remote control commands. Proceed responsibly.
• First, always perform a range and function test on the ground (to
do so, hold your model tight), before you use your model. Repeat
the test with running motor and with short throttle bursts.

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S1038_Q06_V1.0pn_en
• Only use the components and spare parts that we recommend.
Always use matching, original Graupner plug-in connections of
the same design and material.
• Make sure that all of the plug-in connections are tight. When dis-
connecting the plug-in connections, do not pull the cables.
• Protect the AIO FC from dust, dirt, moisture and foreign parts. Do
not expose it to vibrations or to extreme heath or cold. The mod-
els may only be operated remotely in normal outside tempera-
tures such as from-10°C to +55°C.
• Always use all your HoTT components only with the latest firm-
ware version.
• If you have questions which cannot be answered by the operat-
ing manual, please contact us or another expert in the field.
For your safety by handling the transmitter and the receiver
!
WARNING
Also while programming the transmitter, make sure that a con-
nected motor cannot accidentally start. Disconnect the fuel sup-
ply or drive battery beforehand.
!
CAUTION
Avoid every kind of short-circuit in all sockets of the transmitter!
Risk of fire! Use only the suitable connectors. In no case the elec-
tronic component of the transmitter or of the receiver may be
changed or modified. Due to licensing reasons, any reconstruction
and/or modification of the product is prohibited.
Note
During transport protect the model and the transmitter from dam-
ages.

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For your safety by handling the batteries
!
CAUTION
• Protect the batteries from dust, dirt, moisture, heat and vibra-
tions. Only use in dry locations.
• Do not use any damaged battery.
• Batteries may not be heated, burned, short-circuited.
• If handled improperly, there is a danger of fire, explosion, irri-
tation and burns.
• Leaked electrolyte is caustic and should not be touched or
come into contact with your eyes. In case of emergency, rinse
with a large quantity of water and consult a Med. Doctor.
• Stock the batteries in dry and fresh conditions.
• Dispose of the battery in the proper disposal centers.

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Installing the Graupner S1034 Falcon 12 plus
The Graupner S1034 Falcon 12 plus must be mounted with its lower
surface parallel to the chassis using double-side adhesive shock-ab-
sorbing foam tape.
The Graupner S1034 Falcon 12 plus must be protected against dust,
splash water, etc. in the model. When you install your Falcon 12 plus,
make sure that it is not excessively airtight to prevent it from over-
heating during operation.
The cables may not be wound around antenna or run next to it. Make
sure that the cables cannot shift to lie directly adjacent to antenna
during flight.
In the case of carbon fibre chassis, at least the last 35 mm of the
antennas shall be routed outside.
Connecting the RC components of the copter
Insert the connection cable of the ESCs of the copter, which must be
connected to the receiver, with the black or brown cable upwards
into the connector strip of the receiver, as shown in the illustration
on the left. The polarity of the plug-in system cannot be reversed. Do
not apply force. The servo connections of the Graupner-HoTT
receiver are numbered. Only use speed controllers that are multi-
shot capable to connect the motors.
Connection 1: Speed controller for motor 1
Connection 2: Speed controller for motor 2
Connection 3: Speed controller for motor 3
Connection 4: Speed controller for motor 4
Connection 5: PDB S8474 and GPS S8437 or servo or a receiver with
SBUS signal. The SBUS signal is automatically detected after the
power-up of the receiver.
Connection 6: can be used to connect a servo, SUMD signal, SBUS
signal or Smart-Audio compatible FPV video transmitter.
Optional accessories
PDB with SBEC power supply S8474
GPS module S8437

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Binding
To establish a connection with the transmitter, the Graupner HoTT
receiver must first be "bound" to at least one model memory in "its"
Graupner HoTT transmitter. This process is generally called "bind-
ing". However, the methods to be used are not always the same, so
the following step-by-step instructions apply only to binding a HoTT
S1034 Falcon 12 plus to any transmitter:
Binding step-by-step
• If the Graupner S1034 Falcon 12 plus is already bound to a spe-
cific transmitter and this binding should be maintained, the
transmitter should ideally be switched on before the receiver. At
the latest, however, within approximately 15 seconds from the
moment when the receiver is switched on, the red LED of the
receiver is constantly on.
Attention
As soon as the LED starts to flash, the Graupner Falcon 12 plus
is in bind mode. From this point on there is the risk that the Fal-
con 12 plus unintentionally binds to a transmitter, which is casu-
ally in bind mode at the same time, whereupon the model can
run uncontrolled at any time. The distance between transmitter
and Falcon 12 plus should be at least 0.5 m, otherwise the
receiver of the Falcon 12 plus can be overdriven.
• If the Graupner Falcon 12 plus is unbound or it should be bound
to another transmitter or only the model memory has to be
changed than the previous one, proceed as follows:
1. Prepare the transmitter or model memory to be bound accord-
ing to the instructions for binding.
2. Switch on the copter power supply.
3. The LED of the Falcon 12 plus lights constantly red.
4. Approximately 15 seconds after the Falcon 12 plus is switched
on, its red LED starts to flash, indicating that the Falcon 12
plus is now in bind mode.
5. Start the transmitter-side binding according to the instruc-
tions of the transmitter.
6. If the red LED of the Falcon 12 plus goes out within about
three seconds, the binding process has been completed suc-
cessfully.
7. Your transmitter/Falcon 12 plus combination is ready for
operation.
If the LED on the Graupner S1034 Falcon 12 plus remains still
red, the "binding" has failed. Change the positions of the associ-
ated antennas and try the entire procedure again.

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Transmitter presettings
Depending on the bandwidth of the model type selection of the
transmitter used, either the model type "Copter" or alternatively a
"Fixed-wing model" should be selected. Some of the current HoTT
transmitters are even shipped with preconfigured model memory.
According to the transmitter instructions, the appropriate control
mode and, if necessary, "motor front / rear" must be set. Usually
"backwards" so that the channel 1 indicator in the servo display indi-
cates-100% in the "motor off" position of the "motor / pitch control
stick".
Flight mode
Flight mode has to be set to channel 5. To do this, program a 3-way
switch in the "Control settings" menu on Channel 5 as follows:
Attitude mode
The stick movements acts directly proportionally to Roll and Nick. In
the attitude mode, the maximum inclination angle is limited to
approx. 50° at 100% of the stick travel.
The attitude mode is active as long as the bar of channel 5 is on the
left of +49% in the »Servo display«.
(The 0% shown on the left are based on the switch programming
above.)
Flight mode suggested for beginners.
Rate mode
In this mode, the rate is determined by the rash of the stick without
inclination limit. In this aerobatic mode rolls and loops are possible.
The rate mode is active as soon as the bar of channel 5 in the display
»Servo Display« is +50% or higher.
(The +100% shown on the left are based on the switch programming
above.)
Not suitable for beginners.
Note
The third switch position is required for the autopilot mode
described below and it is available only after the connection of the
optional GPS module No. 33602.
1
3
5
7
+
0%
0%
9
11
0%
0%
2
4
6
8
+
0%
0%
0%
0%
10
12 0%
0%
0%
0%
E5
E6
E7
+
Trv
+100% +100%
+100% +100%
+100% +100%
E8 +100% +100%
free
free
free
SW4/5
E9 +100% +100%
free
1
3
5
7
+
0%
0%
9
11 0%
2
4
6
8
+
0%
0%
0%
0%
10
12 0%
0%
0%
0%
+100%
E5
E6
E7
+
Trv
+100% +100%
+100% +100%
+100% +100%
E8 +100% +100%
free
free
free
SW4/5
E9 +100% +100%
free

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Fail-Safe settings
We recommend to set Channel 1 and Channel 5 to "Pos" according
to the transmitter instructions and to put the pitch control stick in
the motor OFF position before storing the fail-safe settings and to
set the attitude / rate mode switch to the "Attitude mode" position
so that the attitude mode is active in fail-safe situations and the
motors stop. If the optional GPS module, No. 33602, is connected to
the S1038 AIO FC, it is then recommended to set C1 on "halten" and
C5 and C6 on "Pos". So that, in the Come back home position, the
copter will fly back to the starting position if there is a loss of signal.
Note
As soon as a correct transmitter signal is detected by the receiver
module, this state is terminated and the pilot must take control
again.
Throttle Cut
For safety reasons, a motor stop switch must always be programmed
on the transmitter side according to the transmitter instructions.
Only when this is placed into the appropriate position, an undesired
start of the motors is reliably prevented.
But in order to be able to switch off the motors also in the Acro 3D
mode, another mixer has to be programmed. Namely, if the copter
is operated in the acro 3D mode with the rate mode enabled, the
motor stop function would not shut off the motors, but set them to
"full power backwards". To prevent this, the mixer must be pro-
grammed in such a way that switching the motor stop switch to the
motor OFF position also switches to the attitude mode, in which the
stop of all motors is ensured.
Programming step-by-step
1. Program a linear mixer of "S => 5" according to the transmitter
instructions.
2. Assign to this mixer the same switch with the same switching
direction, which switches to the attitude mode.
3. Change to the setting page of the mixer.
4. Set the "travel" symmetrically to +100%.
5. Change to the line "Offset".
6. Now either set the offset value manually to +100% or set the
motor stop switch to "motor ON" and then push the ENT key. In
both cases, however, the adjacent picture must arise.
FAIL SAFE
Pos
Hold
1 2 34567 8
Delay 0.25s STO
raised min
timer
+6%
4:00
cut off
Race timer
–100% +150% 1
yes
1
=
fro
M1
M2
M3
S5
?? ??
M4
M5
?? ??
?? ??
?? ??
1=
to
L.MIX1
trv +100%+100%
offs
SEL
STO
S5
+100%

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Auto-flip function on channel 6
If the copter is in attitude mode, the automatic flip function can eas-
ily trigger a flip of the copter.
The auto-flip function is activated via a key switch assigned to chan-
nel 6. This has to be programmed on channel 6 in the "Control set-
ting" menu of the transmitter and then, with the button held down,
the asymmetrical travel must be set to +125%.
If this button is pressed, the servo position of channel 6 exceeds the
value of 111% and the autoflip function is thus "armed" for 5 sec-
onds. As soon as the roll or pitch control stick is moved over more
than 50% of the stick travel within this time, the copter will automat-
ically flip in that direction.
Note
After the flip, position deviations in the range <10 ° are possible.
Switching the FPV transmitter channel
I5
I6
I7
+
trv
+100% +100%
+100%
+100% +100%
I8 +100% +100%
free
free
SW6/7 +100%
I9 +100% +100%
free
SW4/5 If the Attitude mode and the motor stop function are active, with
each switching pulse of + +100% on channel 6, the transmission
channel of the FPV transmitter can be switched in rotation.
Only with optional GPS module No. S8437
Autopilot mode
The combination of a-100% control signal on channel 5 and 0% on
channel 6 switches to autopilot mode. Neutral stick position means
GPS position and altitude hold.
If you start in autopilot mode, the height is maintained at the middle
of the stick (0%).
If you start in Rate or Attitude mode and then switch to the autopi-
lot mode, the throttle position when switching the mode is the stick
position at which the altitude is maintained.
When starting in autopilot mode with a throttle position above the
middle of the stick travel (0%), the copter automatically raises to a
height of approx. 1m so that it can hold the position.
In autopilot mode, an electronic grid is set at 500 m distance and the
max. altitude. Upon reaching the limits, a corresponding warning
message is transmitted to the transmitter.
Note
An additional value of more than +50% on channel 7 switches to
"Carefree autopilot mode".
1
3
5
7
+
0%
0%
9
11 0%
2
4
6
8
+
0%
0%
0%
0%
10
12 0%
0%
0%
+125%
0%
I5
I6
I7
+
trv
+100% +100%
+100%
+100% +100%
I8 +100% +100%
free
free
SW6/7 +125%
I9 +100% +100%
free
SW4/5
1
3
5
7
+
0%
0%
9
11 0%
2
4
6
8
+
0%
0%
0%
0%
10
12 0%
0%
0%
0%
–100%
I5
I6
I7
+
trv
+100% +100%
+100%
+100% +100%
I8 +100% +100%
free
free
SW6/7 +100%
I9 +100% +100%
free
SW4/5

14 / 34 S1038_Q06_V1.0pn_en
Come-back-home mode
The combination of a-100% control signal on channel 5 and-100%
on channel 6 switches to the "Come back to start point" mode.
Flying on preset waypoints
The combination of a-100% control signal on channel 5 and +100%
on channel 6 switches to the "Fly on pre-programmed way-points"
mode.
To create the waypoints you will need:
• A suitable mobile phone with Android operating system.
• The app "GraupnerSJHoTTViewer2" on the mobile phone.
For transfer to the Kopter you will need:
• "micro USB OTG to micro USB cable", No. 33002.OTG0M5
• Update adapter, No. S8500
• Update cable, No. 7168.S
Notes
• When the GPS is connected, the copter only allows the motors
to be switched on if 6 GPS satellites or more are found.
• While searching for GPS satellites, an HD camera should be off.
If more than 8 satellites have been found, the HD camera can be
switched on. But then check the transmitter's GPS display to see
if there are more than 6 satellites available.
• The Autopilot and Come back home mode only work in the con-
figuration of how the compass was calibrated (eg with HD cam-
era on). If you change the airfield, the compass should be reca-
librated.
• If the departure of the pre-programmed waypoints is inter-
rupted and switched to "autopilot" mode, the copter will stop
at the point of interruption.
Carefree autopilot mode
The combination of a-100% control signal on channel 5 and 0% on
channel 6 so as +100% on channel 7 switches to the "Carefree con-
trol mode".
In Carefree control mode, the flight direction at activation is main-
tained, even if the Copter is then rotated by yaw command.
This facilitates the control of the copter in difficult visibility condi-
tions.
Note
A lower value of less than +50% on channel 7 switches to "Normal
autopilot mode".
1
3
5
7
+
0%
9
11
–100%
0%
2
4
6
8
+
0%
0%
0%
0%
10
12 0%
0%
0%
0%
+100%
I5
I6
I7
+
trv
+100% +100%
+100%
+100% +100%
I8 +100% +100%
free
SW6/7
3
SW4/5
+100%
I9 +100% +100%
free

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"Telemetry" menu
SETTING & DATA VIEW
The basic handling of the "Telemetry" menu is described in the
respective transmitter instructions or the instructions of the Smart-
Box. By way of derogation, only in certain receivers the menu struc-
ture is summarized under the generic term "setting & data view".
These instructions also provide information on how to access this
menu. Change accordingly to the first setting page of the Graupner
S1038 AIO FC.
Notes
• The setting values shown in the following display illustrations
always show the standard values.
• Some of the menu items shown in the following display illustra-
tions are only displayed if the GPS module No. 33602 is con-
nected.
Receiver display
LANGUAGE
RECEIVER Q.06
ALARM VOLT: 10.2V
ALARM TEMP: 70°C
Altitude max: 100m
LANGUAGE: english
PERIOD: 20ms
SUMD at CH5: No
CH5: SERVO
Ant1 99% Ant2 98%
Video Channel R3
VTX-Power 0
CH6: SERVO
In the "Language" line you can set the display language in the receiver
menu.
The choices are: German, English, French, Italian, Spanish
Ant1 and Ant2
The percentages behind "Ant1" and "Ant2" indicate how high the
receive power is in percent of the respective antenna.
The display is mainly used to find the correct position of the anten-
nas during the installation.
ALARM VOLT
If the receiver voltage falls below the set value, a low-voltage warn-
ing is generated by the transmitter in the form of a "sound-declining
alarm tone" or the "receiver voltage" speech output message.
ALARM TEMP
If the receiver temperature exceeds the set temperature, a warning
is generated by the transmitter in the form of a "3-step sound-climb-
ing alarm tone" or the "receiver temperature" speech output mes-
sage.
Max. altitude
If the copter exceeds the set max. height, the transmitter emits a
warning message "max. height". Transmitters without voice output
will output a corresponding tone sequence. In autopilot mode, fur-
ther climbing is automatically prevented.
Telemetry
SETTING & DATA VIEW
SENSOR
RF STATUS VIEW
VOICE TRIGGER
RX DATA ON
ALARM SETTING
RECEIVER Q.06
ALARM VOLT: 10.2V
ALARM TEMP: 70°C
Altitude max: 100m
LANGUAGE: english
PERIOD: 20ms
SUMD at CH5: No
CH5: SERVO
Ant1 99% Ant2 98%
Video Channel R3
VTX-Power 0
CH6: SERVO

16 / 34 S1038_Q06_V1.0pn_en
Note
The height set in the value field of the "Maximum height" line
always refers to the height above the location when the receiver
system is switched on. Actively used, this feature supports the com-
pliance with the various regulations regarding the maximum alti-
tude above ground.
PERIOD
If your system is used exclusively with digital servos, you can set a
cycle time (frame rate) of 10 ms. If using mixed or with the exclusive
use of analogue servos, it is essential to select 20 ms. Otherwise,
analog servos will respond with "trembling" or "growling", even total
failure.
SUMD at channel X
SUMD
S1034 Falcon 12 plus C5
S1035 Falcon 12 C5
• "No"
The receiver-specific connection is suitable for operating a servo
or comparable RC components.
• "Yes"
If the value field of this line has been set to "yes" and the relevant
receiver is subsequently put into operation again, it permanently
generates a digital sum signal from the control signals of its con-
trol channels and makes this available at the receiver-specific
fixed servo connection. This type of signal was being used by
some of the newest flybarless systems and power supplies.
C5
Servo/Sensor/Voltage
S1035 Falcon 12 C5
S1034 Falcon 12 plus (with vario) C5
An SBUS signal on C5 is automatically detected at power up so that
the receiver can be operated directly with a receiver using SBUS
instead of HoTT. In this mode, only the SBUS signal is processed,
there is no redundant operation.
• SERVO
The receiver-specific connection is suitable for operating a servo
or comparable RC components.
• SENSOR
The receiver-specific connection is suitable for connecting telem-
etry sensors. When the receiver is switched on, previously con-
nected devices are automatically detected.

17 / 34
S1038_Q06_V1.0pn_en
• VOLTAGE
After switching through this connection port as described before,
a DC voltage of max. 25,5 V can be displayed instead of the
receiver voltage. This way it is possible to monitor the main bat-
tery voltage without using external sensors.
Note
For safety reason the "C5" and "C6" changes take effect after switch-
ing off and on the copter.
C6: SERVO/SUMDI/SBUSin/SMARTAUDIO
• SERVO
The receiver-specific connection is suitable for operating a servo
or comparable RC components.
• SUMDI
A receiver SUMD or SUMD3 signal can be connected as a satellite
receiver with this setting to allow redundant reception.
• SBUSin
A receiver SBUS signal can be connected as a satellite receiver
with this setting to allow redundant reception.
• SMARTAUDIO
enables following SMARTAUDIO functions at C6.
Video channel
If a smart audio compatible FPV video transmitter with smart audio
is connected to port 6, then a channel 1-8 of the Raceband video
channels can be set via this menu item. In Europe may be used only
race band R3-R6 channels except for events with permission.
VTX power
If a smart audio compatible FPV video transmitter V2 or newer with
smart audio is connected to port 6, then the transmission power can
be set via this menu item. However, the setting is for the current bat-
tery only and will not be saved.
After disconnecting the power supply and reconnecting the power
supply, the transmission power 0 is automatically active again until
it is set differently again.

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ROLL/NICK Display
MULTICOPTER RO/NI
ROLL/NICK D 50
DAMPING 10
ROLL FACTOR % 95
POWER 2SENS. 100
ROLL/NICK P 30
R/N DYNAMIC 70
––ATTITUDE MODE––
ROLL/NICK I 40
AGILITY 3
––RATE MODE––
R/N RATE I 10
RATE 70
The control is based on the PID principle, where the "P" stands for
"proportional", the "I" for "integral" and the "D" for "digital". In short
...
... the deviation from the setpoint proportional to the manipulated
variable has an effect at the P value.
... the existing control deviation is continuously summed up at the I
value and then acts on the manipulated variable via the I value.
... the differential component only takes into account the speed of
the control deviation and then acts on the control accordingly via the
D component.
ROLL/NICK P
This parameter determines the tilting behaviour of the copter during
the maximum climb.
In order to prevent tilting at full climbing power in the end, this
parameter must be increased in steps of 5 until a medium-fast tilting
occurs. Subsequently, this value is to be adjusted in individual steps
until the tilting has disappeared.
ROLL/NICK D
This parameter determines the tilting behaviour of the roll / pitch
function of the copter.
As described above, this parameter must be adjusted until the Mul-
ticopter engages exactly over Roll and Nick. A too high value leads to
very rapid oscillations.
DAMPING
The damping factor should be set as low as possible, but as high as
necessary, so that the PID control can operate optimally. To prevent
oscillations or tilting, the damping should be <30. To dampen motor
or prop vibration and prevent motor noise, higher values may be
needed. These can be adjusted at the beginning in steps of 10 and
then finer.
ROLL FACTOR %
Set the Roll setting as percent value of the overall gain. For symmet-
rical copters, the value should normally be left at 100. If, because of
its gravity centre, the Copter is more agile on the Roll axis than on
the Nick axis, then you can change here the roll factor. In the Graupner
ALPHA RACE 250 Q this value is set about 65%.
POWER 2SENS.
Very strong drives can lead to oscillating at full throttle. This param-
eter allows you to set a kind of gyro suppression. Higher values result
in an increased suppression towards full throttle.

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S1038_Q06_V1.0pn_en
R/N DYNAMIC
Higher dynamic values provide a more direct feel for the flight (3D
flight 50 ... 100), lower dynamic values for smoother flight record-
ings, rounder freestyle flying and races (30 ... 50).
Note
If a channel is selected in the "R / N DYNAMIC" line, but no encoder
is assigned to it on the transmitter side, the value in brackets is
specified.
–– ATTITUDE MODE ––
ROLL/NICK I
Set the I component of the Attitude mode. At too low values of Cop-
ter tilts slowly. If it stops after a roll or pitch command and “oscil-
lates”, the value must be reduced.
AGILITY
This value determines how fast a change of position is made.
–– RATE MODE ––
R/N RATE I
Sets the I component of the rotation in rate mode. At too low values
of Copter tilts slowly. If it stops after a roll or pitch command and
“oscillates”, the value must be reduced.
RATE
This value sets the maximum potential rate in Rate mode.
YAW Display
The general comments on PID control in the description of the roll /
pitch display are also applicable here.
YAW P
MULTICOPTER YAW
YAW I 10
YAW D 10
RATE 70
YAW DYNAMIC 75
YAW P 40
The P factor is responsible for the snap to yaw. Higher values result
in a faster stop. At too high P-values the copter starts to “swing”. In
such cases, the value must be reduced again.
YAW I
The I-factor ensures constant rotations. Start with low values and
only increase them until the rotations are constant. Too high value
cause an oscillation when you stop. Eventually, the motors can start
rotating and thus cause unwanted rising.
YAW D
The D-factor affects the stopping behaviour in Yaw. In most Copters
a hard D action is necessary. The D component must be set as low
as possible, since it affects the whole system.

20 / 34 S1038_Q06_V1.0pn_en
RATE
For beginners we recommend a rate of about 50. For racers and free-
style pilots we recommend a value between 50 and 70.
YAW DYNAMIC
Higher dynamic values provide a more direct feel for the flight (3D
flight 80 ... 100), lower dynamic values for smoother flight record-
ings, rounder freestyle flying and races (30 ... 80).