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Tuning AltHold with constant RPM using ver 3.3.3

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@ozsteel wrote:

I am flying a Logo 400 which is set up well and is flying in Stabiliise mode really well. I'm using the transmitter signal on Ch 8 to set the ESC at a constant so rotor RPM is also constant.

When I go into Alt Hold the heli bounces with a cycle time of about 2 per second and the collective can be seen to be moving which is creating this bounce. What is the parameter I need to tune to stop this bounce. It looks like a P parameter but I'm not sure which one to change and I haven't been able to find it by trial and error.

Thanks for the help in anticipation.

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Added RCx_FUNCTION = 30 Engine Run Enable function

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@salience wrote:

"This allows assignment of a free output channel to switch PWM output on and off when armed and disarmed."

Would it be possible to have this function changed just a bit so that:
disarmed PWM is off, but ARMED PWM is RCx_FUNCTION = PASSTHROUGH

This would allow using chs 9 & 10 for main and tail ESCs freeing chs 7 & 8 for RTL and LAND modes. (6 modes just ain't enough with all the new modes you guys have added!)

One could still have the RCx_FUNCTION = 30 = Max when armed in most transmitters such as Taranis by sending max signal on that channel.

Since I use ESCs with GOVs I prefer more direct control of motors, not asking PIX to do anything except pass the signals. But this leads to a tricky scene if you are landed and kill the TX and then the heli quickly rises to RTL altitude! This would be remedied by immediate disarm when landed, then the motors could not spin up.

EDIT: OK, I now see I can use chs 9 &10 for RT and LAND„ so ch8 can be used as directed for main rotor using H_RSC_MODE = 1 = Ch8 Passthrough.

What about tail ESC / rotor on ch7? Same disarm feature possible to prevent spinup? So do I set RC7_FUNCTION to 32-HeliTailRSC for that? Thus to get ch7 PASSTHROUGH when armed, PWM off to ESC when disarmed?

Sorry about the confusion, it's not entirely clear in the older/newer instuctions.

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TREX 500 - Throttle Issue

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@223Wylde wrote:

I finally got back to working on my 500 today, have installed and setup AC 3.3.3 on it, but when testing motor arming, it throttled up very high right after arming, I wasn't expecting this at all and trashed the main rotor blades. I haven't flown this bird for about 4yrs, I know the software is completely different now, but is there a govenor mode or something related to throttle set as a default now? It seemed like it was at 75% throttle or so even without lifting the throttle at all. Before testing, I did the normal radio calibration and my throttle channel is not reversed.

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Setting up a Traditional Heli in Mission Planner (FW3.3.3)

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@ozsteel wrote:

Mission Planner has moved forward in leaps and bounds but the manuals have not kept pace. I battled to set up my traditional heli so here is a presentation I put together to help anyone else trying to do the same. It's a guide only - there is much more there and I may have misinterpreted something so be careful. But it should give you a real head start. Good luck.

Setting up a traditional heli (Pixhawk, Logo 450 with Futaba T18MZ, FW3.3.3) in Misson Planner.pdf (538.2 KB)

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Traditinal helicopter firmware update

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@urkadurka wrote:

Using Pixhawk what is the latest validated firmware version for this controller board ?
I'm sorry for this ask but I don't understand the project status ? Like version, bug trace proposals etc
Please someone could guide me where found this type of information ?

Thanks in advance

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Pixracer with RC Helicopter

New to this and need few advices

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@DrVonSinistro wrote:

Hi, I have 2 birds. A trex 500 clone and a old Thunder Tiger Raptor 90 that has a 3 blades head (assy blades) and OS GT15HZ motor with EzUHF.

On my trex I have a Align APM Lite and I hate this thing I dont trust it at all. I'd like my big gasser to have something alike but more reliable and with more tools like vibrations graphs.

Is Arducopter "safe" to use or I will crash for sure at some point? My goal is stable camera plateform and waypoints navigation. Is hobbyking's Px4Pilot 32Bit the thing to get? I have read a fair amount and I understand that Px4 is the latest hardware?

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RCHeli T-Rex500 ArduPilot AC3.4.2FW Maiden Flight

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@zhangsir wrote:

Today on my T-Rex500 helicopter, daring to test the latest version AC3.4.2 firmware. Initial feeling very good, use default parameters for basic stabilization of flight, aircraft vibration AccY has exceeded the value of +-8, but after a simple setup, you can still successfully achieve high keep, leave it to Sentinel, automatic circle pattern, and even automatic return and successful realization of automatic landing also. I have confidence in the AC3.4.2 version of the firmware in a helicopter!

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Technique to expand Roll and Pitch Rate PID gains without instabilities

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@bnsgeyer wrote:

I am writing this discussion topic illustrate how I used the filter to successfully reduce the instability to increase the P and D gains. I’ve read in the Copter traditional helicopter tuning section about tuning the PID gains and that in most cases helicopters are limited in the P gain for pitch and roll due to aeroelastic instabilities of the airframe. I’d be interested in learning about any work that has already been accomplished in this area.
I am relatively new to the ardupilot community. I have been working on a special project with an electric helicopter modified to fly fast. Basically I took off the tail rotor and added two forward facing variable pitch propellers (tailrotors). I have made several modifications to the AC 3.3.3 software to include adding a new compound heli frame, adding the airspeed sensor from arduplane, and a turn coordination logic. In expanding forward flight speeds, I found that there was a significant pitch oscillation of about +/- 8 deg at around ½ hz frequency. Before expanding the airspeed envelope, I wanted to adjust the flying qualities to remove this oscillation.

In tuning my helicopter, I found my instability to occur at approximately 6.2 hz. So my thought was to use the PID low pass filter to filter out the instability and enable the P-gain and/or the D gain to be increased. So the big concern with using a low pass filter is with degrading the response of the Heli to control inputs. To determine the effect of the filter I performed frequency sweeps while hovering. I used matlab to do a spectral analysis to look at the gain and phase of the input and output. The first thing I did was reduce the filter cutoff frequency. Once I was happy with the filter frequency (I ended up using 4 hz), I increased the P gain and did another frequency sweep. I was able to increase the gain by 80% of my initial value with no issue. If I would have used this gain with the filter set to 20 hz, the instability at 6 hz would have been horrible. Now comparing the frequency response of the higher p gain to the one with the 20 hz filter frequency, it can be seen in the graph below that there is slightly more phase bandwidth but overall there in no loss in aircraft response.

I did another frequency sweep with my baseline with P=0.05, cutoff freqency of 4hz and then increased the D gain to 0.001. Again, if I had done this with the 20 hz cutoff frequency, the instability would be terrible. In the graph above, it can be seen that there is slightly more phase and gain loss however it does help damp the lightly damped oscillation. I think the P gain would also improve damping of the oscillation but I wasn’t able to get the P gain high enough without having the instability start showing up again. With it so close to my cutoff frequency, the low pass filter cannot attenuate it enough. In order to really target this instability, I am planning to implement a notch filter. I think this would be a great improvement and allow higher p gains for the Heli frames. Has anyone done something similar to this? I will post an update once I incorporate the notch filter and test it.

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AC3.4.2 firmware version Loiter mode aileron operation problems

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@zhangsir wrote:

Hi @tridge @rmackay9

In yesterday's first test T-Rex500 AC3.4.2 version of the helicopter firmware, Loiter mode to the left aileron, the aircraft did not move to the left response, and switch to the stable mode or AltHold mode, there is a normal deputy Wing operation reaction!

I just analyze the results of the log:

I uploaded the flight log:
2016-11-20 13-36-21.zip (2.8 MB)

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Problem with pos hold mode

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@oscar30340 wrote:

Hi, First sorry for my bad English ..

I have a small problem with an apm 2.5 mounted on a heli kds450.
In pos hold mode, I can move it on all the axis except vertically,
when I reduce the throlle stick, the engine reduces its speed but the apm compensates
with the pitch to maintain the altitude .
so I can neither go down nor climb .
I need to set the stabilize mode to change altitude or to land.

I do not see a solution, if someone has an idea.
Thanks you very much.

And thanks to Google translate !!!!!!!

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Overheating BEC?

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@jjbrunton wrote:

Hiya

I've almost finished setting up my CopterX 450 Pro (TT) which has a 50A ESC + BEC - http://www.ehirobo.com/copterx-cx450-10-05-50a-brushless-esc-with-bec.html

I am having an issue where the BEC feels incredibly hot after a little while and stops using the input correctly (it receives inputs in a laggy fasion). Eventually the APM -> Servo communication appears to lock and won't work anymore.

I am using a power module connected to the APM and the helicopter is stationary - any ideas?

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800E heli 3 blade fbl Head pixhawk cant stop it oscillating

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@Kevin_Lunn wrote:

Hi All i need a little guidance here please .
No matter how low i set the stabilized_roll_ P and or stabilized_ pitch P it still oscillates a soon an it gets airborne and just cant seem to stop it I,ve isolated the FC with anti vibration tape and mounted it on a silicone damping platform.
I'm not sure where to go from here

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Suggestions how to setup Pixhawk + FBL-system

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@ultrafuge wrote:

Here are some suggestions how to setup Pixhawk to work with FBL-systems like VBar, Microbeast, GT5.2, etc.

Arducopter Heli Version 3.3.3

Tip: calibration of accelerometer is much easier before you put the Pixhawk in the helicopter.

WARNING !!! Remove blades or pinion or motor wires NOW.

Insert the Pixhawk between RX and FBL. RC1 = aileron, RC2 = elevator, RC3 = collective pitch, RC4 = rudder, RC8 = ESC, RSC, throttle

If necessary change the TX output (channel number, servo direction) to achieve the correct movements in Radio Calibration. TX must send 100% on each channel, trim at 0.
In Radio Calibration make sure the bars move with your stick left and right for aileron and rudder.
The collective pitch is called throttle and should correspond to your stick movement as well.
The elevator must go down (lower numbers) for helicopter nose down stick movement and must go up (higher numbers) for nose up stick movement.

WARNING !!! MissionPlanner tries to help you and changes your input to the recommended minimum or maximum value. Unfortunately These values are most of the time for multicopters and not for helicopters. Therefore it is recommended to use Full Parameters List/Tree, Write and Refresh commands to check if the value is what YOU want.

http://ardupilot.org/copter/docs/parameters.html

H_FLYBAR_MODE = 1
H_SWASH_TYPE = 1
H_TAIL_TYPE = 1
ACRO_TRAINER = 0 (this gives the FBL-unit full control in ACRO mode)
H_SV1_POS = 90 (aileron)
H_SV2_POS = 0 (elevator)
H_SV3_POS = 180 (collective pitch)
HS(1,2,3,4)_TRIM = 0 (any trim must be done in the FBL-unit)
The Pixhawk should act now similar to a RX, Main Out 1 = aileron, Main Out 2 = elevator, Main Out 3 = collective pitch,
Main Out 4 = rudder, Main Out 8 = ESC for H_RSC_MODE = 1

These Main Out signals are the input for FBL-units that understand Standard RX. Some newer FBL-units only read 'Singlewire' signals.
For these FBL-units you can provide SBUS signals. Futaba SBE-1 SBUS converter may be an option if you have no SBUS.
SBUS is not always SBUS ! Watch out for incompatible stuff !
If you use SBUS, set BRD_SBUS_OUT = 1 (or higher ?) and RSSI_PIN = 103 (needs power cycle) to get SBUS signal from Pixhawk to FBL-unit.

In your FBL-unit you must be able to make channel assignment. For standard input you switch wires until it fits, for SBUS input you need to set it with the software of your FBL-unit (check manual before you buy it).
Once the channels are assigned you need to scale the amount of input for your FBL-unit either by doing it with the software of your FBL-unit or by controlling output of Pixhawk.
H_CYC_MAX = 4500 (this is your aileron + elevator input to the FBL-unit, you can adjust this to limit the output to your FBL-unit)
H_COL_MAX = 1900, H_COL_MIN = 1100 (this is your collective pitch input into the FBL-unit, you can adjust this to limit the output to your FBL-unit)

Check the input channels of your FBL-unit to show the correct direction of aileron, elevator, collective pitch and rudder.
Adjust as needed using HS1/2/3/4_REV = 1 / -1 (1 or -1 to change direction)
DO NOT use the TX to reverse servo direction !
All trim settings must be done in the FBL-unit, disable trim on your TX !!!
The Expo settings on your FBL-unit should be 0, use your TX to set Expo because this is for your fingers, Pixhawk needs linear response.
Check rudder and swash movement (collective, aileron, elevator) and adjust as needed using your FBL-unit. Basically do a FBL-unit Setup according to the manual (just as you would without the Pixhawk and a RX instead).

You must not have two control Loops - as you have the FBL-unit, you must disable the Pixhawk PID loop.
RATE_PIT_P/I/D = 0, RATE_RLL_P/I/D = 0, RATE_YAW_P/I/D = 0 ... we have external FBL, therefore everything 0
RATE_PIT_FF = 0.05, RATE_RLL_FF = 0.05, RATE_YAW_FF = 0.05 ... we want manual input in Stabilize etc., adjust to your taste 0.05 - 0.15 should be o.k.
ACCEL_Z_P = 0.4 (adjust as needed, many helicopters oscillate on collective using standard value 0.5)
H_LAND_COL_MIN = 400 (adjust to your taste, should give you about 2° negative collective using symmetrical blades. If the H_LAND_COL_MIN is set too high, such that the helicopter cannot descend at the target landing rate, then it will think it has landed and might disarm in the air.)
DISARM_DELAY = 0 (only if you can't arm because after arming software disarms and other settings don't work, otherwise keep this safety feature)
RC1,2,3,4_DZ = 5 (if your TX is good and you like small inputs), RC_SPEED = 125(?), RC_FEEL_RP = 100 (adjust to your taste)

WARNING !!! Remove blades or pinion or motor wires NOW.

Check FAIL SAFE, what happens with TX off, what happens with RX off and Pixhawk on (no connection Pixhawk to RX), what happens if you loose connection Pixhawk to FBL-unit, etc.
SBUS sends Failsafe flag, PPM input is usually best handled using OFF (no signal) in the fail safe settings of the RX. Walk with your heli around (away from home) to see RTL or LAND servo movements etc.

Check stick movements before EVERY flight !
Check ACRO mode FBL correction direction before EVERY flight !
Check STABILIZE mode correction direction before EVERY flight !

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What swashplate option does ardupilot currently have?

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@reaper64D wrote:

I am looking to see if ardupilot would be a good system for me to use on a few projects i am working on.
I was looking through the online manual found on the site and it was very specific about the swashplate setup, that makes me think that only 120* eCCPM is supported. Am I correct? can the system output to a standard mechanical 4 servo setup? 4 servo eCCPM? can it run a tandem helicopter? any help would be appreciated.

BTW I did try searching for this stuff, got no search results on most of it.

Thank you.

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Apm 3.4.1 mini helicopter poshold mode

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@talos wrote:

I flied a mini helicopter using firmware apm 3.4.1 under mode poshold, when I flied heli from one place to another, it did not stay at the destination play immediately but vibrated two three times. Is there anybody find the same question? Can anyone tell me why? Thanks

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If there such big NEKF4 SV, what would happen?

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@talos wrote:

When I flied the mini heli using APM 3.4, it suddenly landed. I checked logs, found that SV was almost 10. Did this cause the crash?
Thanks!

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NOVAerial Robotics AC3.4-Heli Review and Issues List

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@Rob_Lefebvre wrote:

I wanted to open a new topic to announce that I am beginning to work with AC3.4 for TradHeli finally. I am reviewing the code, and will be posting my findings and updates here. As you may or may not be aware, I had to stop doing development work on the software last spring as I was mainly busy developing a new commercial UAV helicopter which is using Ardupilot, the Procyon 800E.

This is mostly done now and going into limited volume production. This system is still using AC3.3, but the time has come to start preparing to move to AC3.4, and with that, I'm conducting a fairly thorough review of the helicopter code. In this thread, I will bring up any important findings. And we can talk about fixes, I'll give links to my patches, etc.

Also connected with this, I'm announcing that I am installing a PixRacer onto a Blade 250CFX RTF helicopter. This will be my main "hacking" machine, and I will also offer it for sale to Procyon customers as a "trainer". I will also be open sourcing the system so that anybody who wants an RTF system to play with Ardupilot for Heli can build their own. I will open a new thread just for this shortly, so please don't post questions about it here.

So far, due to this work, I want to state that I have found a bug in the Direct-Drive Fixed Pitch tail control code. Basically, you can't assign it to an output on the Pixracer, and also the math for the control output is completely wrong. I don't advise using this right now. I'm working on a patch for it now. I've also added a new feature for trailing edge pitch control required for the 250CFX or any heli that has trailing edge pitch links.

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About update_xy_controller function

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@talos wrote:

Hi,
We can use this function to get desired vel, accel and angle. I got figures of these variants, but I found that NTUN.DAccX is a little bigger than the derivative of NTUN.VelX, just as follow:

the blue line is accx and the red line is the derivative of velx

But the derivative of position is close to vel, just as follow:

the red line is derivative of pos and the green line is vel

What could cause this phenomenon?
Thanks

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I do not know how to use 4 servos on traditional helicopter

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@Cheickh_Barro wrote:

Hello everyone,
I am a beginner into mission planner and I seek some help. I have a triblade traditional helicopter with 4 servos and one collective (in total 5).
in the Initial setup > Mandatory Hardware > HeliSetup, I see only 3 servos and one collective.
What should I do to configure the 4th servo?
Thank You

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