Veronte is compatible with standard Pulse PositonModulation (PPM) signals.
Futaba radios between 8 and 12 channels are recommended.
VERONTE GROUND CONFIGURATION
To connect the Joystick to the system, it’s necessary a Micro-D connector for CS as the one in the following figure which is provided with 3.5mm stereo plug connector. The Joystick connector has to be connected to the jack in the red circle.
Micro-D connector for CS
The only action required to configure correctly the stick in the Ground, is to set the 12th pin of the connector with Stick (PPM) functionality. To do this, select Ground Autopilot then go to Connections panel and set the Functionality of the pin 12 (Digital In) as the one in the following figure.
Stick configuration in Ground
VERONTE AIR CONFIGURATION
In the Air autopilots, the Raw channels to servo transformation matrix has to be defined. It is the YR matrix (see section 6.3.4 for more info about the matrix) and it links the Joystick to the servos.
Raw channels to servos transformation matrix (YR)
YR matrix contains the same values of the SU matrix but columns are displaced in order to link the right control channels to the desired stick levers.
SU (Servos-Outputs) matrix
In this example, the channels order is Rolling (1), Pitching (2), Thrusting (3) and Yawing (4).
By clicking on Offset after applying transformation to servos, the offset vector Y0 can be edited. The offset is calculated by setting vector R (stick input with values between 0 and 1) and Y with the same values and solving the following equation:
The components of Y are transformed to “real” servo movement through the curve of each actuator (the one that appears in section 6.3.2). Then, the US matrix will transform the servo movement (S) into control inputs for the system (U).
For example, considering the neutral position of the sticks (0.5), if all the components of R and Y are set to this value, the solution for the offset vector will be: Y0=Yn-YR*Rn.
The resultant would be the one to introduce in the vector as shown in the following figure (for more information about this process see section 6.3.4).
Offset vector (Y0)
SET ARCADE MODE
To configure the Arcade (Assisted) mode, it is sufficient to go in the Phases panel and to open the Arcade panel of the selected phase. In this section, it is possible to define the Arcade Gains for each control loop.
Arcade Gains set
Considering that the pilot’s stick can reach values approximately between 0 and 1, the gain is applied to the stick position before entering into the controller so the complete range of the controlled variable is covered.
The DBand option (Dead Band) creates a zone where the movement of the stick is not sent to the system, that is used because of the noise present on the stick position. So if the pilot has the stick in the neutral position, the actual value would be 0.001 for example and not zero. If the dead band is set to +-0.01, that command will not be sent to the system avoiding then a possible malfunction.
Finally, when the integral option is marked the variable increases continuously on joystick hold, and when is unchecked the control variable is reset after joystick release.
SET STICK NEUTRAL POSITION (Arcade Trim)
The arcade trim is used to set as the zero the current stick position. In the process detailed above to obtain U from the stick input R, the final value is not the one that enters in the navigation algorithm, but the difference between the input U and another vector Uo. This one is the arcade trim. So when the sticks are trimmed at a certain position, the movement from that point will be the value of R that after the transformation will generate the U.
The values of the trim vector Uo can be written manually in the corresponding field or an automation can be created to do that automatically (recommended).
Click on “New Automation” in the Automation panel. Type of Events is Button and the Actions is Arcade Trim (Select item Update and Save). Then, the user has to Save to write this automation on Veronte.
Set stick neutral position – 01
2. Connect the stick to Veronte GND and drive all channel to the neutral position.
Set stick neutral position – 02
Click on the Button that you created, wait few seconds (5 sec. is sufficient) and return to the default position. The neutral position values of your channel stick are now stored in Trim Arcade panel.
Set stick neutral position – 03
When a new set is performed, the arcade neutral values don’t change because this operation is performed only by the onboard software. Veronte Pipe checks it only once when it is launched so, if user wants to know the new values, he must re-launch the program.
In order to check the correct stick connection is possible to show the stick input r# variables (where # is the channel number) in the workspace and move levers to check the input behaviors. The stick value must be in the [0,1] range with the center value around 0.5.
Example of stick input vector R test
The R vector is the input variable of the system. In order to check the correspondent request to the system, it is necessary to show the Desired Roll, Pitch, Yaw and GS Down (Multicopters) or IAS (Airplanes) variables. The Output behavior will depend on the aircraft (control surfaces number and type, multicopter, plane, helicopter, etc…) and on the configured control type.
Example of stick input Arcade variables test