Hello,
Trying to figure out the channel assignments, I found libraries/AP_RCMapper/AP_RCMapper.cpp, which seems to assign the ROLL (aileron I assume), PITCH, THROTTLE, YAW channels.
Where is the Elevator channel defined ?
In ArduCopter.pde a comment says:
/* Radio values
* Channel assignments
* 1 Ailerons (rudder if no ailerons)
* 2 Elevator
* 3 Throttle
* 4 Rudder (if we have ailerons)
I am lost, there should be 4 servo + throttle defined on a heli setup !
Thanks
Replies
I would like to re-assign RC-channels.
It seems RC_Channel.ccp does not expose the channel number to the GUI and that they are hard coded in Parameters.h.
Could someone confirm that RC channel assignment cannot be changed without modifying the firmware ?
Are the input channels configured by g.rc_X or am I confusing with output channels ?
Thanks
Marc, Pitch is your elevator. Although I'm not sure what your asking. Did you read the Traditional helicopter set up in the wiki.
Regards,
David R. Boulanger
Hello David,
Thanks for the suggestion. I had not read the wiki. Now I book-marked it !
Confusion in the mentioned files comes from PITCH which is in fact ELEVATOR for helis.
What is still missing is the CH6: PITCH (collective) assignment. Channel 6 is not user assignable, but the collective pitch (Futaba radios).
Marc, I think you will find most people using an APM or Pixhawk are using ACRO mode on their radios and not HELI mode.
ch1 roll
ch2 pitch ( elevator )
ch3 throttle ( which is really pitch of the blades )
ch4 rudder ( yaw)
ch 5 Flight mode
ch 6 and 7 can be used for a variety of functions
ch 8 headspeed.
Are you using a APM or a Pixhawk and how many channel receiver are you using?
Regards
David R. Boulanger
David, your post confuses me again. Are we talking output or input channels ?
Regarding Futaba input:
CH1: Aileron (roll)
CH2: Elevator (aka pitch)
CH3: Throttle (head spead)
CH4: Rudder
CH5: Gyro gain (flight mode)
CH6: Pitch (collective)
On my Futaba (T8FG) there are heli or airplane/glider model types. With flybarless modules (VBar, 3G, etc.) one sets Heli type with H-1 swash type.
Checked the Airplane/Glider model type:
CH1: Aileron
CH2: Elevator
CH3: Throttle
CH4: Rudder
So I don't understand what you mean with "ACRO" mode.
So far I have no board. I ordered a Pixawk (clone) from HK to do some testing. Currently using VBar on 3 models (450/700/800 size), Spartan on another one (450).
Marc, Sorry ACRO = Airplane. I use an old Futaba Super 8 . You can set things up using throttle and pitch curves in heli mode but it is so much easier using airplane mode. If I remember correct setting up Failsafes was also difficult using heli mode. Remember the code takes care of the swash mixing not the radio.
Regards,
David R. Boulanger
OK, but still it does not match the above channel assignments...
H-1 swash type disables swash mixing from the radio.
Here is my receiver out pixhawk in chart
receiver out pixhawk in (ppm encoder)
1 1
2 2
3 3
4 4
5 gear switch. 8 turns on motor to a predefined RPM
6 6
7 7
8 mixed with 2 switches. 5 pwm in for various flight modes
Regards,
David R . Boulanger
Thanks. So put like that, setting Heli type in the radio will not work with the default settings. Can channels be re-assigned without recompiling the firmware, I can see there are rc_X parameters ?
Marc,
About 1 1/2 years ago I was using a heli pitch and throttle curve with an APM 2.5. I ran receiver out #6 into APM #3 and receiver out #3 into APM #8. I really don't see a reason not to just use airplane mode on the transmitter and let the Pixhawk do the work. Use an ESC that has a governor, set your headspeed and off you go.
Regards,
David R. Boulanger