ICG360 gyro documentation for inclusion with CSM simulator V10.

Please note that for easier reading this information (complete with 
diagrams) is also available in 'Word 2' format as the file 
"GYROINFO.DOC".

This is a copy of the instructions provided with the real ICG360 
gyro - the tail rotor gyro that is simulated in the CSM simulator 
V10. Please note that the simulation of servo performance has been 
simplified and the servo speed parameter is omitted from the gyro 
simulation. Since servo performance, linkage slop, friction, etc 
affect the stability of the tail rotor system the maximum gain that 
may be obtained in the simulator is not a good predictor for the 
gain that may be run in practice.

Note: This gyro is like no other - please read this manual fully 
before installing and flying the gyro

To bring you a great gyro CSM simply threw away the rule book and 
started with a clean sheet. The result, the ICG360, is packed with 
new concepts in gyro technology:-

	Yaw Rate Demand
	Flight Modes
	Heading Lock
	Built-in Exponential
	Anti-drift Temperature Calibration
	Two stage Power Supply regulation
	Flight mode tailoring via (optional) PC interface 
cable/software

Introduction
If you are familiar with conventional tail rotor gyro systems it is 
important to understand how this gyro is different in order to get 
the best out of it. 

Conventional Gyro systems
In a conventional gyro the pilot applies a rudder command and, as 
the helicopter responds to the command the gyro opposes the pilot's 
command. The yaw rate achieved in such a system depends on the 
'gain' of the gyro. The more gain the gyro has the lower the yaw 
rate that can be achieved. It is common with such systems to have to 
reduce the gyro gain to achieve the required yaw rate for some 
manoeuvres (this being accomplished with the gyro gain switch).

The ICG360
In designing the ICG360 we have adopted a 'Yaw Rate Demand' 
philosophy making the system a true Yaw rate gyro. In this system 
the rudder command from the pilot is interpreted as a request to the 
gyro to establish the desired yaw rate. The gyro drives the tail 
rotor servo as needed to obtain this yaw rate. This means that the 
ICG360 makes full yaw rate available even at high gain settings. 
With this system you can now use the rudder travel volume (ATV) and 
rudder rates facilities to set up the desired full-stick yaw rate 
and the gyro gain switch now becomes a 'Flight Mode Switch' for the 
gyro. There is no need for so called Pilot Authority Mixing - indeed 
you should not use pilot authority mixing with this gyro 
 
Flight Modes
The ICG360 has two flight modes selectable by the transmitter gyro 
gain switch (or Auxiliary channel switch).  Note: A rotary knob or 
slider is not recommended as it is not possible to accurately and 
repeatedly set the gain with these. The modes are:

Mode 0 (Standard Mode)
This mode gives flying characteristics that are similar to 
conventional systems.

Mode 1 (Heading Lock Mode)
This mode provides a much higher resistance to unwanted yawing 
movements than can be obtained with a conventional gyro system. This 
mode has great advantages in the following situations:

1) For the beginner, where this mode makes it possible for him/her 
to almost ignore the tail rotor control in the initial hovering 
phase, which is made even easier as this mode allows the tail trim 
to be set before the helicopter leaves the ground. (see 'Trim 
Adjustment')

2) For cross-wind hovering manoeuvres where the natural tendency of 
the helicopter to weathercock into wind needs to be resisted.

3) For backwards flight manoeuvres and general "3D" flying. 

The Standard mode may be employed for basic forward flight where the 
natural tendency of the helicopter to weathercock can be helpful, 
especially to the less experienced pilot.

The graph (Figure 1) shows the way in which the gyro gain channel 
provides both mode switching and independent gain adjustment of the 
two modes. If the gyro gain channel pulse is longer than the centre 
value (1.5ms) the gyro is in Standard mode while with the gain 
channel pulse shorter than 1.5ms the gyro is in Heading Lock mode. 
The Travel Volume (ATV) settings for the two switch positions 
provide a convenient way of adjusting the gyro gain for each mode 
from the transmitter. Increasing the ATV of the gyro gain channel 
increases the gain for that mode. If it is being used with a basic 
radio system without a suitable channel for controlling the gyro 
gain then the gyro will run as a single rate unit with gain 
adjustable from the manual gain control on the unit itself. In this 
case the gyro defaults to the Standard mode.

{See GyroInfo.doc (Word 2 document) for graphic}
Figure 1. The Gyro gain channel acts as both gyro mode switch and 
gain control

Installation.
Siting of the gyro.

{See GyroInfo.doc (Word 2 document) for graphic}
Figure 2. Mounting the gyro

The ICG 360 should be mounted in the helicopter with its axis of 
rotation (as marked on the gyro case) accurately parallel to the 
main shaft of the helicopter. The gyro sensor (together with the 
electronics of the gyro) is anti-vibration mounted inside the gyro 
case. However, to provide further vibration and shock resistance it 
is important that the gyro be mounted to the airframe using two of 
the double sided adhesive foam strips provided. Do not use any other 
type of mounting foam as this will reduce the performance of your 
gyro. Replacement strips are available as a CSM spare. The gyro case 
may be aligned along or transverse to the length of the helicopter. 
For good adhesion, ensure that the surface to which the gyro is 
attached is smooth, hard and clean. As with all high performance 
solid state gyro systems, the ICG360 performs best if sited at a 
point of low vibration in the helicopter airframe. Where possible 
avoid siting the gyro at the extreme front of the radio tray for 
example as this area is often subject to high levels of main rotor 
generated vibration. Note: Tests suggest that the X-Cell plastic 
radio tray may be too flexible and that better performance can be 
gained by mounting the gyro at the rear of the frames.


Connecting to your radio system.
The ICG360 is designed to work with the following radio control 
systems:-

	Futaba PPM 
	Futaba PCM 1024 
	JR PPM 
	JR ZPCM 
	JR SPCM 

If you wish to use this gyro with other types of radio system please 
contact CSM for advice. 

Connect the "SERVO" output to the tail rotor servo.

Leave the "COMPUTER" connector unconnected. (This is for use with 
the optional PC interface cable/software). Do not connect any form 
of extension to this connector.

If you are using a radio system (e.g. a 4 channel aero set) that 
does not have a channel that can be allocated to the gyro gain/mode 
then the "Aux" input to the gyro should be left unconnected. In this 
case the gyro will default to the Standard mode with the gain 
adjusted by the rotary gain control (near to the  "gyro set" light 
on the front panel of the gyro). Initially set the gain control to 
its mid position. Final adjustment will require flight testing. 

Futaba 9ZHP/ZAP
On these transmitters it is important to ensure that in all flight 
modes the gyro sense mode is set to INHIBIT (see the "GYR" entry of 
the "helicopter condition" menu). Check under the "PMX" entry that 
no throttle to rudder or rudder to gyro mixing is active in any of 
the flight conditions. Check in the "P->R" entry that pitch to 
rudder mixing is inhibited. Under the "model" menu use the "FNC" 
entry to allocate the gyro control to a switch of your choice. 

JR PCM10S/SX
On these radios it is easier to disable the JR 'code 44' (gyro sense 
adjust) and control the gyro gain by a switch, but if the ability to 
automatically switch between both gyro modes by the use of the 
flight mode switch (idle up) is required, then the JR gyro sensing 
(code 44) should be used. Because the ICG360 gain control works from 
the centre of the channel outwards, an LCD value of 50% (the channel 
centre) is in reality zero gain. Increasing the value will increase 
the gain in one flight mode, the other mode is adjusted by 
decreasing the value below 50%: be aware that this value will be 
reversed so that an LCD value of 25% will actually be a higher gain 
value than a LCD value of 30%. Note: if the gyro is adjusted through 
the JR gyro software, the gyro channel ATV's/TA should be set to 
default values (100%).

JR X388S/X3810/X8103
On these radios it is easier to control the gyro gain through the 
gear channel as it is not always possible to have control over other 
channels on a 2 position switch. Note: if so desired it is possible 
to set the gyro up using the JR gyro software on the 3810/8103, see 
the PCM10 instructions above.

Reversing link
As with any gyro it is vital to ensure that it operates in the 
correct sense. Failure to do this will cause an uncontrollable 
pirouette on take-off and beginners who are in any doubt on this 
aspect of the set-up should seek advice. First establish that the 
sense of the transmitter control is correct (i.e. that the 
application of a right rudder command causes a change in tail pitch 
that will rotate the helicopter to the right). Once this has been 
done check that turning the helicopter to the left makes the gyro 
apply a tail rotor command to the right. Should the gyro operate in 
the wrong sense use the gyro "REVERSE" link to correct it. The gyro 
is supplied with the reversing link already fitted and to remove it 
simply pull on its protruding tab and store it safely. When 
replacing the reversing link ensure that it is fitted over both pins 
and pushed firmly into full engagement.

Initial Radio set-up
For initial flights we suggest that you adjust the radio system as 
follows:

ATS (Automatic Tail Stabilisation): 	OFF
Pilot Authority Mixing: OFF (this should never be used with the ICG360)
Rudder channel ATV  (both directions): 		50%
Gyro gain channel ATV (both directions):	50%

Mechanical
The ICG360 will work with any servo in the Futaba or JR ranges but 
as with any gyro system a fast servo (e.g. Futaba FP-S9203 or JR 
2700G) will give the best results. 

To prevent damage due to excessive servo travel the servo movement 
is limited by the gyro electronics. (Under no conditions will the 
servo travel past the electronic limit set by the gyro, regardless 
of any increase in the ATV value.) You should use the longest servo 
arm that gives full movement of the tail rotor pitch linkage without 
causing the linkage to bind or the servo to become stalled at either 
extreme of travel.

Attention to the tail control linkage is important to getting the 
best from this gyro. You should aim for a easy-moving but slop-free 
linkage between the tail servo and the tail blades. Inspect the 
bearings/thrust races in the tail hub for smoothness of operation. 
Check the pitch slider and ball links for slop and replace if 
needed. Some helicopters that have noticeable 'give' in the tail 
linkage may benefit from the addition of a rear-mounted tail servo 
and rigid pushrod. 

Remember that, during aerobatic manoeuvres, the combination of a 
high performance gyro and a fast tail servo can place very high 
loads on the tail rotor drive train. Regularly Inspect tail rotor 
gears, etc. to ensure that they are in good condition.

Batteries, power consumption, and wiring
Although the power consumption of the gyro unit itself is very 
modest, as with all high performance Solid State gyro systems the 
speed of the gyro response will work the tail rotor servo harder 
than slower mechanical gyro systems. Especially where a high 
performance servo is being used the battery drain from the tail 
rotor servo can be high. We recommend that you use a good quality 
battery state monitor and check it carefully before each flight. 

Your receiver battery is a vital part of your tail rotor system. 
Remember that a battery in a low state of charge or an old battery 
which has developed a high internal resistance will adversely affect 
servo performance and may even cause the tail to wag on an otherwise 
well set up helicopter. You may wish to consider maintaining the 
charge in your receiver battery between flights by the use of  a 
quality Delta Peak type field charger. In installing the gyro also 
bear in mind that voltage drops down long servo extension leads will 
also detract from servo performance. Where the installation requires 
extensions to be used (either between the receiver and gyro or 
between the gyro and the servo) avoid using ones that are 
unnecessarily long.

Trim adjustment
Initially zero the rudder trim and any rudder sub-trim that your 
transmitter may have. Next, identify which gyro gain switch position 
gives you Standard mode and which gives you Heading Lock mode. This 
can be seen from the difference in the tail rotor servo behaviour on 
the ground. In Standard mode the rudder servo will return to the 
neutral position when any rudder command is released, while in 
heading lock mode the servo will tend to remain at or near its 
travel limit when a full stick rudder command is applied and then 
removed. Now set the rudder trim so that with the gyro in Heading 
Lock mode the servo, once centred, has no marked tendency to creep 
in either direction (though some slow residual creep of the servo is 
quite normal). Once this trim position has been found no further 
adjustment of the transmitter trim should be needed. However, slight 
adjustment of the helicopter tail control linkage may be needed in 
order to remove any offsets in the Standard mode. This can only be 
done by flight trials.

Behaviour on the ground
For those used to conventional gyro systems the behaviour of the 
ICG360 on the ground may seem unusual. 

Unlike conventional systems, it is quite normal for the ICG360 in 
Standard mode to provide full tail rotor servo movement for rudder 
commands that are as little as 30% of the full stick movement. This 
is a consequence of the Yaw rate demand feature. 

With the helicopter on the ground and the ICG 360 set in Heading 
Lock mode it is quite normal for the tail rotor servo to slowly 
creep and may over the course of say 15 seconds creep to full 
travel. Your transmitter rudder trim will affect the direction and 
speed of this creep but even after the trim has been adjusted to 
minimise this some slow movement is still to be expected. This 
apparently strange behaviour is caused by the stationary helicopter 
not responding to the heading corrections requested by the gyro. In 
the absence of a response from the helicopter the gyro continues to 
increase the servo command in an attempt to get the helicopter to 
obey. In flight the helicopter will, of course, respond to the tail 
servo movements and the system act normally.

Trouble shooting
If the gyro does not respond as expected to any adjustment of the 
ATV, it may be helpful to plug a spare servo directly into the 
appropriate RX channel as a check to make sure that the radio is 
driving the channel as required, and that no other switches, mixers 
or other functions are interfering with the operation of the 
channel.

Flying the gyro

Turn-on sequence
1. Turn on your transmitter
2. With the model stationary on the ground turn on your receiver.
3. Wait for about 7.5 seconds keeping the model still while the gyro 
goes through its self test.
4. Observe that the gyro set light comes on (or if this is 
inaccessible in your model move the rudder stick full travel in both 
directions and ensure that the tail rotor servo responds to the 
stick movements)
5. Your ICG360 is now ready for flight.

If the set light fails to come on or flashes turn off the receiver 
for a few seconds and repeat the turn on sequence.

!! Make sure the model is not moved during the gyro self test 
period. !!

Initial flight trials and setting up.
First select flight mode 1 (Heading hold mode) and hover the 
helicopter. Use short  small 'stabs' of rudder control to disturb 
the helicopter in yaw and observe. If some tendency to oscillate is 
seen, slightly reduce the gyro gain. Conversely if no tendency to 
oscillate is seen try increasing the gain. You are looking at this 
stage for the highest gain that gives no sign of oscillation when 
the tail is disturbed by sudden changes in tail command. Observe any 
trim offset in the tail and correct this with the transmitter rudder 
trim.

Now switch to Flight mode 0 (Standard mode) and repeat the exercise 
but in this case any trim offset should be removed not by use of the 
transmitter trims but by adjusting the tail rotor linkage. 

Once this has been done you may wish to check for tail wagging in 
fast forward flight. Should this be observed, you may wish to lower 
the gyro gain slightly. Caution should be exercised over the use of 
the heading hold mode in flying circuits or other general flying 
until you are familiar with the very special handling 
characteristics this mode gives.

Adjusting the stick response
After initial setting use the rudder ATV, Rates, and Exponential 
facilities of the transmitter to tailor the control response as 
required. Beware that the maximum yaw rate available (at any gain) 
is very high. If an increase in available yaw rate is required 
increase the rudder travel on your transmitter gradually until the 
desired response is obtained. Remember that increasing the ATV/TA 
will not increase the overall tail throw.

The ICG360 has built-in exponential. You may find the following 
graph of yaw rate against rudder command useful in deciding on the 
setting of rudder rates and rudder ATV. Remember that the ATV and 
rates facilities work together so that setting the rudder ATV to 80% 
in both directions and also setting a rudder rate of 60% will give a 
total rudder throw of 0.8 x 0.6 = 0.48 = 48%
 
Figure 3. The built-in Exponential of the ICG360 gives this response 
to rudder control

Automatic Tail Stabilisation (ATS)
In Heading Lock mode the ICG360 requires NO ATS. Use of ATS in this 
mode will give unwanted heading changes. Similarly, no Throttle-to-
Tail Rotor mixing should be used in this mode. In Standard mode you 
may find very small amounts of ATS or Throttle-to-Tail Rotor mixing 
useful.

Pilot Authority Mixing
This should not be used with the ICG360 gyro.

Tail rotor dynamics
To realise the full benefit of the ICG360 it is important to have a 
basic understanding of the dynamics of the tail rotor system. It is 
a common misbelief that the higher the electronic gyro gain is, the 
better the system will work. Whilst this is generally true, the 
electronic gain is only one part of the tail rotor system and of 
equal importance is the amount of tail pitch range available, and 
the tail rotor disk size. The disk size is also related to the tail 
rotor speed. Of course there are other influences on the tail system 
but these are the most important and can be grouped together as 
mechanical gain.
If the mechanical gain is not correct, then the gyro will not be 
able to function to its best ability. For this reason it is 
important to select the correct size servo arm that will give 
maximum tail pitch movement without stalling the servo. Note: once 
this has been setup, increasing the rudder channel ATV/TA will not 
increase the servo throw as this is limited electronically by the 
gyro. The rudder ATV/TA is used instead to adjust the rotation rate.

Tail blade size
The correct length of tail blade can only be selected by flight 
testing. There are 2 types of test to ascertain the correct size:
1) With the model in the hover at its normal flight rpm, making sure 
the gyro is in heading hold mode, make a rapid vertical climb for 50 
to 60 feet: there should be no discernible rotation of the model. If 
the tail does not maintain its position this is a good indication 
that the diameter is too small. Note: if the model is over pitched 
and there is a noticeable drop in rotor rpm during the climbout, 
then this will invalidate the test as the tail would probably not be 
able to cope with this situation regardless of the setup.

2) This test is only really necessary for those who wish to do 
advanced aerobatics/3D flying and should only be carried out those 
who are confident to do so. With the model at a safe height fly the 
model sideways, starting slowly and building up speed until it 
reaches its maximum possible speed:
 a)If the tail manages to hold its position then the blade length is 
OK.
 b)If the tail starts to lag behind, then either more pitch is 
needed (if the mechanical limits haven't already been reached) or 
longer tail blades.
 c) If the tail swings round suddenly and cannot return to the 
correct position then the tail rotor is stalling and longer tail 
blades are needed.

Maximising Performance for Advanced 3D/Aerobatic Flight - by Bob 
Johnston
To get the maximum performance from this or any piezo gyro it is 
essential to minimise the vibration reaching the gyro sensor. Apart 
from the obvious balance checks, make sure that the canopy, fins, 
tuned pipe or muffler are not too loosely mounted, especially if the 
gyro is being used with a fast servo, as it is possible for a 
resonance to build up which shows as a very fast shake, visible in 
the canopy and tail.
If you feel confident to do so, try slowly tumbling the model while 
checking for any visible vibration, a small amount is almost 
inevitable, but try to dampen any large vibrations present. 
Alternatively tumble or roll the model at a safe height and if the 
gyro can be made to wag through the manoeuvre this is a good 
indication that a component is resonating.
To set the maximum gain permissable for aerobatic  flight, either a) 
fly the model as fast as possible in a straight line and twitch the 
rudder stick a small amount, if this causes the gyro to wag, lower 
the gain and repeat the test until the tail cannot be made to wag 
anymore. Obviously if the model cannot be made to wag initially, 
keep increasing the gain until it does, and then reduce the gain a 
few percent. Setting the gyro this way should prove sufficient for 
all flying except in very windy turbulent conditions where the gain 
may have to be lowered by a few percent. b) Alternatively, if you 
feel confident enough in your ability and your models reliability, 
put the model in a vertical dive for 3 or 4 hundred feet (90 to 120 
metres) with the main rotor pitch at zero. Once terminal velocity 
has been reached, pull the model out in a smooth arc, and if the 
model does not wag under these conditions it is unlikely to do so 
under any conditions. 

WARNING: Only attempt to carry out these flight tests if you are 
100% confident in your own flying ability, and the structural 
integrity of your equipment.

Boom supports
Tests have shown that the use of boom supports significantly 
increase the rigidity of the tail boom and so allow a higher gyro 
gain to be used. Generally the longer the boom supports the better 
they will work. Note: A loose/cracked boom support or a 
loose/cracked boom support clamp can have a significant effect on 
the gyro gain. 

Temperature stability
Although the gyro is temperature calibrated small temperature 
differences between the piezo sensor and the temperature sensor 
occur from internal heating of the piezo sensor. These may cause a 
small trim change during the first two minutes of operation. It is 
best to avoid flying the model immediately after exposure to sudden 
temperature changes such as removing it from a cool car to a very 
hot flying site. 

Humidity
Under conditions of extremely high humidity it is possible for 
condensation to form on the piezo sensor. Formation and evaporation 
of this condensation will cause a shift in the gyro trim. Where it 
is not possible to avoid subjecting to the gyro to such humidity 
levels it is advisable to leave the model standing for a few minutes 
with the radio switched on so that the internal heating of the 
sensor disperses the condensation. Having done so, cycle the 
receiver power to reset the gyro. Always protect the gyro from 
ingress of water (e.g. rain). 

PC interfacing
Your ICG360 is equipped with a 'COMPUTER' port which is provided for 
the experienced pilot wishing to optimise the internal settings of 
the ICG360's two flight modes to their helicopter and flying style. 
An optional Interface cable and software disk is available for use 
with this port. The interface/software is compatible with any IBM PC 
compatible with a parallel (printer) port and VGA graphics. 
Comprehensive additional instructions on the use of the PC interface 
are supplied with the software. Connection to the 'COMPUTER' port of 
the ICG360 must only be made via the correct optional interface 
cable. 
No other form of connection to this port should be made as mis-use 
of this facility may damage the gyro unit.

Ratings

Weight: 	40g

Dimensions  : 	42.5mm High x  26.5mm Wide x 46.5mm Long
(excluding cables and mounting ears)

Power Supply: 3.5 to 7.2v 


Repairs & Servicing
For repairs and servicing only, please contact:-

Westbury Products
Armour House
Brunswick Square
Southampton
Hants
SO14 1AR     (Fax 01 703 335 463)


Manufactured in the UK by:
				CSM Design Consultancy Ltd
				8 Littlebrook Close
				Hadfield
				Hyde
				Cheshire
				SK14 8AW	(Fax: 0161 929 5984)


Distributed world-wide by:-
				J. Perkins (Distribution) Ltd
				90-96 Greenwich High Road
				London SE10 8JE
				(Tel: 0181 692 2451
				Fax: 0181 692 2469)

DOs and DON'Ts

DOs:
Do mount the gyro with its axis of rotation parallel to the 
helicopter main shaft.
Do mount the gyro on two of the supplied self-adhesive foam strips.
Do mount the gyro to a hard, smooth clean surface.
Do use the rudder ATV and rates to tailor required stick response.
Do check the sense of the gyro operation and fit/remove Reversing 
link as needed before flight.
Do use a battery state monitor and check it before each flight.
Do remove slop and stiffness from tail control linkage.
Do inspect tail gears etc. for wear.
Do explore the performance limits of this gyro with care.

DON'Ts:
Don't mount the gyro where it will be subjected to high vibration 
levels.
Don't use Pilot Authority Mixing.
Don't use ATS or Throttle-Tail mixing with the Heading Lock mode.
Don't use unnecessarily long servo extension leads with the gyro.
Don't use Aux3 as gain channel with JR ZPCM receivers
Don't connect a servo extension to the "COMPUTER" port of the gyro.
Don't move the model during gyro self-test time.



ICG360 PC INTERFACE DOCUMENTATION

INTRODUCTION
The ICG360 gyro is equipped with a 'computer' port that allows the 
internal settings of the gyro to be adjusted to the users' 
requirements. Although for many users the default settings of the 
ICG360 (with which it is supplied pre-loaded) will be satisfactory, 
with careful experimentation, it may be possible to tailor the 
operation of the gyro to match more closely the particular model, 
radio equipment, and flying style of the pilot. Should you be 
unsuccessful in finding a better set-up, the PC software includes a 
facility for returning the gyro back to the factory default 
settings.

INSTALLING THE INTERFACE SOFTWARE ON YOUR PC
The installation program may be run under DOS or windows. The 
following description is for DOS. To install the gyro interface 
software onto a hard drive, insert the distribution disk in drive A  
(or B) and at the DOS prompt type:-
      A:		(Enter)  	{or B: if appropriate}
      INSTALL	(Enter)
You will be asked which hard drive you want the software installed 
onto (e.g. "C"), and the floppy drive from which the software will 
be installed ("A" or "B"). Once the selection of drives has been 
confirmed, a directory called 'ICG360' will then be created on the 
appropriate drive, and the required files transferred. If the 
install program finds a previously installed version it will ask if 
you wish to overwrite it. 

RUNNING THE INTERFACE SOFTWARE
Once the software has been installed on your PC follow the following 
steps to connect to your gyro.

1. CONNECT THE GYRO INTERFACE CABLE TO YOUR PC

Locate the Parallel (Printer) port of your PC. This is a 25 pin 'D' 
connector with socket contacts. If you have a printer attached to 
your PC it may already be connected to the desired port. If so, 
disconnect it and connect the gyro interface cable in its place. If 
your PC has multiple parallel ports you can install the interface on 
LPT1, LPT2 or LPT3. You will be able to select the port in use when 
running the interface program.

! DO NOT CONNECT YOUR PC TO THE GYRO YET ! 

2. START THE INTERFACE SOFTWARE
Do this by typing at the DOS prompt:-

	GYRO   (Enter)

3. SELECT THE LPT PORT IN USE
At the first menu screen select the printer (LPT) port to which you 
have the gyro interface cable connected. If you are unsure of your 
LPT port's address you will need to try each option in turn until a 
successful connection to the gyro is achieved. 

4. SELECT THE RC SYSTEM IN USE
At the next menu select the type of radio system you are using with 
the gyro. It is important to specify this correctly as some of the 
gyro internal variables are calculated based on the characteristics 
of the system in use.

5. TURN OFF TRANSMITTER (if present)
The gyro will only enter the PC interface mode if, during its turn 
on checks, it finds no servo pulses from the receiver. In order for 
this to happen your transmitter must be OFF.

6. TURN RECEIVER ON.
This will power up the gyro. After a short delay the gyro will start 
to flash its "SET" LED to indicate that it is in PC interfacing 
mode.

7. CONNECT INTERFACE LEAD TO "COMPUTER" PORT OF GYRO
This lead is easily identified as the only white/red/black ribbon 
cable emerging from the gyro.

8. PRESS ANY KEY TO INITIATE LINK-UP

TROUBLE SHOOTING
During the initial stages of the link up the integrity of the PC-
gyro communications is checked and any problems will be reported. 
Failure to establish a link-up is usually due to the selection of 
the wrong LPT port address. As an aid the software automatically 
highlights your last port selection on being run.

NOTE FOR PPM (FM) RADIO USERS
You may find that, with the transmitter turned off, your PPM 
receiver picks up interference when close to your PC. This may cause 
problems in getting the gyro into PC interfacing mode and also cause 
unacceptable jitter of the servos (other than the tail servo) during 
PC link-up. If you have this problem proceed as follows:-
With your model well away from the PC turn on the receiver with the 
transmitter off. Observe the gyro "SET" LED and check that it is 
flashing. Now turn on your transmitter. Then bring the model close 
to your PC and complete the link-up as normal. The good signal from 
your transmitter will suppress the interference from the PC. Having 
finished with the PC link-up don't forget to turn off the 
transmitter. No such problems should arise with PCM receivers.

THE MAIN MENU
This offers the following options:-

			Set up Flight Mode 0
			Set up Flight Mode 1
			Return Flight Modes to factory default settings

If you are familiar with using your ICG360 with its factory default 
settings then Flight Mode 0 is the so called 'Standard' mode while 
Flight Mode 1 is the 'Heading Lock' mode.
However, with the aid of this PC interface both Flight Modes are 
fully configurable and you could, if desired, set up both modes to 
have heading lock capability. This may be of particular interest for 
those using the ICG360 without the gyro gain input connected (and 
thus setting the gain of the gyro on the gain pot of the gyro). In 
this case only Flight Mode 0 is used. If desired, you can now set 
this mode to a Heading Lock mode. To do this simply copy the Factory 
Default values for Flight Mode 1 to Flight Mode 0.

The two Flight Mode setting sub-menus are identical and provide 
control over the following parameters:-

Conventional Gyro gain
This sets the degree of rate damping provided by the gyro, and is 
like the gain on an ordinary gyro.

Direct (Stick to servo) coupling
This provides the gain independent servo movement linked directly to 
the demanded yaw rate from the stick position. The setting of this 
parameter is discussed later.

Servo speed parameter
This relates to the speed of the servo travel and is in the units 
most commonly quoted by servo manufacturers (seconds for 60 degrees 
of servo travel). Remember, the smaller the number the faster the 
servo. The effect of this value may be affected by many things. Use 
the servo manufacturer's figure only as a starting point for your 
experimentation.  

Heading-Lock gain
This sets the degree of resistance the gyro provides to unrequested 
heading changes. If you want a 'standard' (non Heading Lock) mode 
set the Heading Lock Range to zero.

Maximum yaw acceleration of helicopter
This parameter helps the gyro match its operation to the actual 
agility of the helicopter in yaw.  The value relates to the maximum 
achievable (or desired) rate of acceleration and deceleration of the 
helicopter in yaw. Helicopters with large yaw inertia (i.e. those 
with scale bodies) will generally have lower yaw acceleration than, 
say pod-and-boom designs. Setting a value that is higher than the 
helicopter can achieve will mis-match the gyro to the helicopter and 
degrade the quality of the start/stop transients. For scale flying 
you can set this parameter to a value lower than the helicopter can 
achieve to deliberately slow the response of the model in yaw, 
making for a more scale-like performance. 

Heading Lock Range
This limit sets the range of headings over which the heading lock 
gain applies. It can, if desired be used in conjunction with the 
Heading Lock Gain to limit the maximum power of the Heading lock. 
Important: Set this parameter to zero for a 'standard' (non Heading 
Lock) mode. 

Servo travel limit
This provides a way of preventing over-travel of the tail control 
linkage.

General remarks
Given the number of variables within the gyro as well as the many 
aspects of the helicopter (tail blade size, engine performance, 
servo speed, etc.) that influence the characteristics of the 
helicopter in yaw it is not possible to give a simple recipe for 
optimising the gyro for you and your model. However, we strongly 
recommend you start by getting your model performing well with the 
factory default settings. You should then try making small 
adjustments to the default settings and observe their effects. You 
may, for example wish to experiment with reducing the servo travel 
limit while increasing the servo arm length and observing if you get 
an improvement in the crispness of the start and stop transients. 
In arriving at the factory default settings we found it useful to 
set the two modes to nearly identical settings differing only in, 
say, the value of  the servo speed parameter. By switching between 
the two modes we were able to see quite small changes and 'home in' 
on the optimum. Careful note-taking is vital to prevent confusion in 
this process! An observer taking notes on a clip board is very 
useful. Once you have used this technique to get one good mode (say 
a heading lock mode) you can then apply the same method to optimise 
your second flight mode. 

As an example of the flexibility of the ICG360 system, a useful 
flight mode, especially for the beginner, is one  with only a small 
amount of Heading Lock (say with a Heading Lock gain of between 5 to 
10% and a Heading Lock range of between 10 and 20 degrees). This 
mode provides adequate heading lock to maintain trim in light cross-
wind hovering while, in forward flight  allowing the helicopter to 
weathercock should a turn not be well co-ordinated.  

Adjustment of the Direct (stick to servo) Coupling can be left until 
other aspects of your Flight Modes have been set. The other 
parameters can be adjusted with the Direct Coupling set to the 
factory default value. Adjustment of the Direct Coupling is done by 
observing the effect of gyro gain changes on the maximum yaw rate. 
If you find that reducing the gyro gain causes the maximum yaw rate 
to decrease then more Direct Coupling is needed. Conversely, an 
increased maximum yaw rate at reduced gyro gain means that too much 
Direct Coupling is being used. 
