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The purpose of the governor is to maintain constant headspeed regardless of flight inputs, flying conditions, battery voltage, external disturbances, etc.

This page provides minimal instructions how to get started with the governor.

For details, see the Governor Wiki page.

Governor Setup

• Set the motor magnetic pole count for each motor in use (total four motors possible).

  set motor_poles = 14,12,8,8

  NOTE! DOUBLE CHECK that your values are correct!

• Enable feature GOVERNOR. Without the feature flag, all governor functions are disabled.

• Set the governor mode to the desired operating mode. Usually you want MODE2.

  set gov_mode = MODE2

• Set the motor-to-head gearing ratio. For example, a TREX-450 with 150:14 gearing would be

  set gov_gear_ratio = 10714

• Set maximum headspeed. Use a value that is known to be a maximum reasonable headspeed for the type of a helicopter.

  NOTE! This value is also used for PID gain normalization. Please don't change it afterwards, as your gains will also change.

  set gov_max_headspeed = 3400

• Configure your transmitter throttle output for the desired headspeed.

• Tweak the timeouts and spoolup acceleration(s) to your liking.