Problems with APM and Raptor 50

Hello, I've got a problem with APM and Raptor 50 heli

I trying to set up APM on Raptor 50 with Glow engine. I connect my JR RC control to APM next variant:

 RC                             APM

 rx                           in      out 

1 trotle(pitch) ---->     3        3      

2  ailer          ---->     1        1

3 elevator      ---->     2        2

4 rudder        ---->     4        4

my transmitter sets up in "airoplane mode"

 The essence of the problem: I don't understand how set up the swash plate. On helicopter installed 90 degrees swash plate  I tried different variants of degrees setup. For example:

servo1  90      (aileron??)

servo2  0       (elevator??)

servo3  180    (pitch??) 

ailerons works normal, but elevator and pitch mix some strange.  

 please help me....

p.s. Sorry for bad English

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DeveloperPermalink Reply by R_Lefebvre on February 29, 2012 at 9:16am

I now have a working example of H1 heli mode in my clone.

http://code.google.com/r/robertlefebvre-wip-h1/source/browse

I don't have an H1 heli to test it on, but I played with it with my CCPM heli, and it seems to be roughly correct.

After loading that in your APM, then load up MP, go to the parameters page, and set h1_swash_enabled_ to  1, then write params.  Then reboot your APM, and you should be in business.


DeveloperPermalink Reply by R_Lefebvre on March 19, 2012 at 9:22am

I guess I need to close the loop on this.  Support for H1 swash type is now built in to Arducopter.  If you download 2.5 or greater, or install firmware from the Mission Planner, you will have it automatically.  You can switch between swash types using the radio button in Mission Planner under the AC2 Heli tab.

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