@Adi_Fly wrote:
Hello,
I have setup a PH2.1 on FW 3.5.7 on a Raptor 50 (600 size) nitro helicopter. I have setup the heli exactly as per Chris Olson’s four videos in the Ardupilot docs. (Thank you so much for the videos sir, if not for the vids i would’nt have attempted). I’ve been flying helis for a long time and can fly in manual mode(acro).
As it was a flybar heli, and as the docs and i read here, i got the rate PID all set to zero and put the VFF for P&R to .22 and ATC_ACCEL_MAX P&R to 72000. The heli is stabilizing but too very restrictive and too quirky. When given sharp pitch inputs the heli over shoots when stabilizing. I tried reducing the vff of pitch to .15 but the heli still bounce while the stabilizing (not oscillating). The roll is okay but is too quick.
I also tried alt hold and seems to be doing well. When in FF flight of around 10-15 m/s the altitude is in the range of +/- 1mt.All my log files are of full 15mins flight and is around 17mb each. Will make a shorter flight tomorrow and post a log file soon here.
This is the first time i’m working on the PH and heli need help in going further. How do i dampen the stabilization and make it softer? should i tune the D value or something else?
After i get the VFF right, i put the vff value to the rate ‘i’.
What about the D? after all the above should my P & D will stay in zero?
What is the acceptable vibrations level in PH2.1.Thanks in advance.
regards,
Adarsh
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