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DeveloperPermalink Reply by R_Lefebvre on March 15, 2012 at 7:09am

Sorry guys, this is a false alarm.  Sort of.

Something happened.  At the time I thought it was an ESC problem or something.  It seemed to me like the motor cut off and on repeatedly.    When I saw that in the logs, I thought that was it and it concerned me.  Randy rightly pointed out that I wasn't in fact flying when that happened.  That was when I was checking out the h_collyaw function.

I've looked through the rest of the log, and can't see anything that even points to when this occurred.  In the absence of any evidence otherwise, I'll assume the problem was outside the APM.  It did sound to me like the ESC cut in and out.

2.5 should be officially released today or tomorrow, and I recommend you all try it.  Some really great improvements, particularly to "leans" elimination.

The h_collyaw function appears to not work properly, probably never has,  but I don't think that's an issue for you guys.  I'll sort it out.

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Permalink Reply by Dan "HotSeat" Neault on March 15, 2012 at 9:46am

Nice work, I had two successful filghts on my 450 with the cloned build last night, without external gyro and my APM2 mounted badly (will laser something better this weekend)

Funny thing is I should be too close to the motor, and compass is still work well.

 

 

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DeveloperPermalink Reply by R_Lefebvre on March 15, 2012 at 9:59am

So no external gyro?

Does it yaw (left) heavily when you jab the throttle?

Current theory is that being close to the motor or motor power wires is not a problem, since the field will be rapidly rotating, net effect on the compass is zero.  It's the DC power power wires and batteries that are the problem.  Yeah, LIPO produce a magnetic field, who'd have thought?

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Permalink Reply by Dan "HotSeat" Neault on March 15, 2012 at 10:11am

I didn't jab it that hard TBH, and I have a flybar still on, but the tail response was very good, after setting my P to 0.45.

 

Again I was surprised it worked at all, given my mounting.

 

I haven't use this heli for years, but my Twin (or whatever I call the new frame type) had an "incident" after my screwing around with the DCM code, so only the heli to test with ATM.

 

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DeveloperPermalink Reply by R_Lefebvre on March 15, 2012 at 10:15am

I wonder if I just need more gain.  But it seems like when I turn it up from 0.35, it starts to oscillate a bit.

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Permalink Reply by Dan "HotSeat" Neault on March 15, 2012 at 10:56am

Note, I have a shitty analog servo on my tail (HS-55)

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DeveloperPermalink Reply by R_Lefebvre on March 15, 2012 at 11:02am

I just figured out what's wrong with the yaw compensation, might have the fix in 2.5.  That should help.

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Permalink Reply by Yusong on March 16, 2012 at 9:10am

I am a complete noob here, so what this will fix?

Also, I am thinking if I use a external gyro and only want to Arducopter to control the tail when it needs to change heading, how can I set that up.

I will be grounded for a while, I crashed during spooling up and somehow the GPS chip got separated from the baseboard... Am thinking maybe use some conductive glue to glue it back. I think I did not have enough vibration padding, the helicopter leaned and jumped up to the sky and crashed side-on to the wash machine in basement.

DeveloperPermalink Reply by R_Lefebvre on March 16, 2012 at 10:58am

It helps prevent the heli from yawing due to rotor torque when you change the collective pitch quickly.

Setting up an external gyro is pretty easy.  You just have to check the box in AC2_Heli.  This should all be covered in the wiki.

Permalink Reply by Phil Cole on March 16, 2012 at 11:23am

Conductive glue, otherwise known as solder.

If it was properly soldered in the first place then the board will have been damaged when the GPS was forcibly removed. It takes more than a bit of vibration to break good solder joints.

Permalink Reply by Yusong on March 16, 2012 at 11:28am

The heli holds very good with external gyro alone. However if I route receiver output to APM channel 4 input, route gyro to APM channel 4 output, the heli will wag seriously even if I dial the gyro gain to zero. So it seems the APM is trying to act as gyro in this configuration which I don't need it to.

So what setting I should change?

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Permalink Reply by Christoph on March 16, 2012 at 1:50pm

I am interested in that as well. It is already a couple of months ago and some versions already passed, but when I tried in earlier times to use an external gyro and routing the signal through APM, it also did not work for me. The APM still changed my signal on the yaw, instead of just pushing it 1:1 through. Changing settings "external gyro" did not eleminate that effect.

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