VStabi Pioneer of Flybarless

We have it relatively easy with the tail rotor. It works well in the basic settings and there is usually no need for change other than setting the preferred yaw rate and perhaps increasing the gain a little.

Nevertheless - if you want to optimize it or want to know more ...

First of all I would optimize the static mixing a little. To do this observe during climb where the tail wants to go away first when you give collective pitch. To do this you can lower the gain a little, then you can see it better. If the helicopter turns away with the torque (clockwise rotation = nose to the left, counterclockwise rotation = nose to the right) the compensation is too low. In this case, increase the collective precompensation. If values ​​over 70 are required, nothing will change. At this point we have reached the performance limit of the tail, so we either have to live with it or, if necessary, optimise the throw, headspeed and blades until it is right.

Then I would adjust the gain. It has to be just right so that the tail holds well. Setting it towards the oscillation limit makes no sense, especially with the VBar Governor in the model, we always regulate something in the background.

If you are a bit "afraid" about your tail drive (e.g. drive with a flex shaft) you can also lower the integral to 40..20, which should still be sufficient for scale. Alternatively you can also increase the proportional part a bit so that the overall damping occurs earlier.

The tail acceleration also works well. For scalers I use 25-35. The less, the more "slack" the tail will be when accelerating and stopping. This allows you to define the stops very well (Anti-skid for the tail) and relieve the load on the drive train.

The I Discharge and I Limiter values ​​could be of interest for very soft tail behaviour.

The I Limiter limits the heading range starting from the center to the ends, i.e. at some point pure P control is only in action. This would be an idea, for example, for tails (Fenestron) that are at high risk of overload, in order to "feel" the overload and not allow further integrals to accumulate.

The I discharge discharges the integral storage in the specified time. 0 or -1 is off - this is standard. Here you can, for example, make the heading weak (50) or switch it off completely (5) - in case someone still wants to fly without heading or sacrifices a flight bank to set the tail to neutral before take-off (I do it with the stick).