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TT Gyro Version 2

TT Gyro Version 2!

This is a microcontroller designed to replace the ingame Gyro. A demo of an application for this can be found in this little helicopter here:
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=1606928570

The reasion to make this is that there are a number of issues that can occur with the ingame gyro:

- Excessive Pitch or Roll input causing instability
- Unpredictable Throttle response in some scenarios
- Completely untunable
- Auto-Hover heavily dampens the pitch and roll, so it's impossible to go fast
- Loses altitude at high pitch/roll angles, even if the vehicle has enough power to prevent this
- Generally preferable to have the effects of the Gyro but can need to be turned off to perform bigger maneuvers

This solves those problems by being massively tunable. Every proportion, intergral and derivative in the chip can be adjusted. It is by default set up for a small helicopter. It acts essentially like autohover is always on, but without the limitations of autohover - you can go as far over as you set the Pitch / Roll limits to in the microcontrollers properties. Some users have stated this has given them high speed increases in some cases with increased altitude stability!

It has pitch roll yaw and updown controls as per the normal gyro, but has additional inputs that are required:

- Altitude Sensor
- Compass Sensor
- a LEFT facing tilt sensor
- a FORWARD facing tilt sensor
- a FORWARD facing speed sensor SET TO DIRECTION WITH SELECT TOOL.
- a LEFT facing speed sensor SET TO DIRECTION WITH SELECT TOOL.

The gyro's updown is based upon an integrating PID based on the change in altitude. so you will need to breifly hold up to get off the ground. There is a built in "Takeoff Boost" function that increases the integral ramp up until the altitude has increased. Mouseover the gyro to see the current "takeoff boost" status.

Common Issues and ways to solve them:

- If it is flipping over on one of the axes, try inverting the P and D values for that axis.
- If the controls are back to front, invert the Pitch / Roll limiter values.
- If it wobbles very fast, reduce the D value for that axis it is wobbling in.
- If it is too responsive, reduce P for that axis it is wobbling in.
- If it is lazily wobbling around, increased D for that axis.
- lazy wobbling while stationary may be due to the Position Hold Gain being too high. Reduce the value.
- If you're still having issues with stability, try replacing one part of your vehicles control from the ingame gyro to this gyro at a time to highlight the axis with the problem.
- Losing too much altitude with control input changes? Increase up/down I.

Currently this is not designed to be compatible with aircraft. It is intended to eventually have autopilot system & remote control integration using Composites. Will update as I get on with this.

Let me know if you have any issues or improvement suggestions.