Thrust Vector¶
The Thrust Vector tab configures the independent PID loop that drives a vectored-thrust nozzle. It targets the same roll/pitch/yaw setpoint as the main flight loop, but with its own gains, filters, and I-term state -- so it can be tuned, adjusted, or disabled without touching the main Profiles tune at all.
The tab is always there. The loop only reaches the aircraft once a Stabilized TV Roll/Pitch/Yaw rule on the Mixer tab drives an output, and only while the THRUST VECTOR mode is active on the Modes tab. With the mode off, the loop is reset and the TV inputs stay at zero.
PID Gains and Flight Feel¶
The PID Gains and Flight Feel tables work exactly like their Profiles counterparts -- P/I/D/F/B per axis, and per-axis Master Gain, I-Term Decay and I-Term Relax, plus an Expert Mode Gain Curves panel. See Profiles -- PID Gains and Profiles -- Flight Feel for what each one does and how to tune it; the same reasoning applies here, just for the thrust-vector loop instead of the main one, with its own values and its own Adjustments functions (TV Master Gain, TV I-Term Decay and TV I-Term Relax Roll/Pitch/Yaw).
One difference: the thrust-vector Master Gain (and so its gain curve) also scales F, where the main loop's does not. The relax level is under PID Settings in Expert Mode.
Defaults¶
The thrust-vector defaults are tuned for a nozzle, not copied from the main loop:
| Setting | Default | Why |
|---|---|---|
| P | 150 on every axis | A nozzle is symmetric, so pitch and yaw match. The main loop's higher yaw P makes up for a weak rudder. |
| I | 15 | Small, so I can't park the nozzle off centre. TV Hold already supplies the long-term correction. |
| F | 30 | In a hang there is no airflow to damp the nozzle, so rate feedforward over-drives it. P carries the response. |
| Error limit | 25 | Caps how far I can move the nozzle. |
| I-term decay | 0.30 s, no limit | The nozzle returns to centre quickly after a stick move. |
| Hold gain | 45 | In a hang the nozzle can't stop torque roll, so the pointing error turns round the airframe and I can't build against it. The hold's own gain has to carry the correction. |
A thrust-vector axis that no Stabilized TV mixer rule uses outputs zero and builds no I.
Attitude / Heading Hold¶
Gain, Deadband, and Max Rate here configure Thrust Vector Attitude Hold -- an independent hold engine for the vectored nozzle only, engaged by its own switch and completely decoupled from the main loop's Attitude Hold/Auto Hover/Angle mode chain.
Profiles¶
Like PID and Rate profiles, up to six Thrust Vector profiles can be stored and switched between from the profile tabs at the top of the page, and copied from one to another. A Thrust Vector profile switches independently of both the PID profile and the rate profile -- map it to its own Adjustments channel/switch if you want distinct thrust-vector tunes for different flight conditions (e.g. hover versus forward flight) without also having to change your main PID tune.