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Permalink Reply by Nick Chamnong on January 9, 2012 at 11:22am

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Permalink Reply by Nick Chamnong on January 9, 2012 at 11:24am

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Permalink Reply by Nick Chamnong on January 9, 2012 at 11:24am

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DeveloperPermalink Reply by R_Lefebvre on January 9, 2012 at 11:49am

Hmmm... my servos are kind of "grainy" like that, but I assumed it was my servos, they're kinda cheap Chinese things. 

 

I've never seen the glitchiness in the radio setup page however.  That's weird. 

 

How did you load the code?  Did you do it the automatic way in Mission Planner firmware?  Or did you compile and upload with Arduino?

 

If you compiled the code, you have to remember to add #define Instant_PWM Enable in the APM_Config.h file.

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Permalink Reply by Nick Chamnong on January 9, 2012 at 7:49pm

I tried both with same result. But i never add

#define Instant_PWM Enable

i can't find that line commented in APM_Config should i just add it?

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DeveloperPermalink Reply by R_Lefebvre on January 9, 2012 at 7:52pm

Yup, you just add that line to APM_Config.  Make yourself a little text doc to keep track of these.  Here is what I use:

# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1

#define FRAME_CONFIG HELI_FRAME

#define INSTANT_PWM ENABLED

You will of course need to change that to APM2.  In fact, I think it's already standard in the .zip downloads now.  Should be at the very top of APM_Config.

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Permalink Reply by Nick Chamnong on January 9, 2012 at 8:20pm

Now it's not working at all.

Servo went around like crazy.

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DeveloperPermalink Reply by R_Lefebvre on January 9, 2012 at 8:44pm

And you set that to APM2?  

I'm really not sure what's going on then.  Try downloading the hex from the mission planner (just go to the firmware and click on the heli icon).  Try that.  Hard to get that wrong.

What kind of radio system are you using?

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DeveloperPermalink Reply by Randy on January 10, 2012 at 8:09am

I haven't yet put my APM2 into my heli so you're breaking new ground a bit.  Still the servo control logic is all the same between APM1 and 2.

 

It's definitely true that servo output is grainier when it's piped through the APM vs directly connecting your Radio.  Still, I haven't noticed much of an issue during flight.

 

It's possible that it will be better if we use the timer to always output the servo commands at a perfectly timed interval (at the moment the timing of the outputs to the servos can move around a bit if the APM is busy doing other things)

 

I think that you should stick with the code coming out of the APMission planner for now as that's nice and stable.

 

One last thing that you might try (although I doubt it will help) is to modify the SV_AVG parameter using the ap mission planner's configuration screen.  Some description of the parameters is on this wiki page.  basically it will output at 250hz by default which is unnecessarily fast.  You could slow it down to 125 by putting 2 in for that paramter.  But I don't want to give you false hope..i think your issue is more deeply routed and is not so easily fixed without some investigation.  Still, i think it'll fly anyway!

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Permalink Reply by Nick Chamnong on January 10, 2012 at 11:09am

So all of you are using APM1?

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DeveloperPermalink Reply by R_Lefebvre on January 10, 2012 at 11:51am

I don't know about "all", but Randy and I are both on APM1, and we haven't heard anything from anybody else flying a heli on APM2.

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DeveloperPermalink Reply by Randy on January 11, 2012 at 7:43am

I have an APM2 but haven't yet put it on the heli yet although I plan to in a couple of weeks.

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