It seems after searching several sites that not many people are using a tricopter? and even less still with the new APM2.0? anyone got any advice, problems, PID settings that work well? mine is nearly there, RTL, Alt hold and Loiter seem to work o.k but only 70% of the time? when they dont work the copter just shoots off in a random direction until its nearly in the ground or out of controllable sight so I am a bit dubious to test it with waypoints e.t.c in case I never see it again? does the APM work better with other frames? any tips advice are very welcome...
Edit: After much studying all of the above problems were down to not understanding the code and how things work, I am pleased to say that I do now understand and have no issues with the board or software, and am glad to do things this way as I have learned alot and enjoyed the rewards..
I can get the servo to stay in center on arm and disarm... This isn`t too much trouble? if it bothers you?
What firmware are you using? I think the heli firmware would cause the issue you are having?
Just an idea? I am not saying you have done it wrong.. :)
I'm using the tricopter firmware automatically installed by Mission Planner on last sunday. I can't find the installed version anywhere in the mission planner, probably I donlt know where to look for. But I will try to reinstall the firmware again, in mission planner on the firmware options I have the tricopter v2.5.5, I will install it now and post back.
Also I just finished some more test, I also recorded on video and post on youtube soon. I removed the Turnigy 9x from the possible problems and added on the CH4 input side of the APM my servo tester, so the YAW is now controlled by the tester, not by my transmitter. Nothing changed.
Thank you for your help Dean!
I have reinstalled the Tricopter firmware "ArduCopter v2.5.5 Tri" using Mission Planer, calibrated the radio again and tried it but it has the same short movement and also not moving smooth.
In the recorded video you also can see that in RAW sensor window there is no movement on the Servo/Motor OUT section on the servo channel, only on the 3 motor, while in the input side, the Radio 4 bar moves corectly from 988 to 2012
In about 20 minutes I will post the video on youtube.
PS. I will take a look how I can install another tricopter firmware, an older one to see if it acts the same.
You can install an older one but I dont think that is the problem?
Increasing stab yaw p should increase movement in the servo and decreasing rate yaw p should help smooth the servo? you could try that but to me the settings look o.k as they are?
I did tried to change the P values you mantioned .
I had to increase the "Yaw Angular Rate Control" to increase the servo travel, so now it's 0.300. It doesn't needs to stay here but at least I know now what to change to increse / decrease the servo travel.
Also if I increase the P value of "Yaw Stabilize Control" the servo travel increases, but the smoothness didn't increase any setting I tried to make, I changed UP and DOWN both P values but the smoothness didn't increase, only the servo travel did increase or decrease.
Will post some video soon.
rate yaw p is Yaw angular rate control and stab yaw p is Yaw stabilise control..
lowering rate yaw p should help with the servo smoothness? as in my last post? I will see the video to see what you mean about the servo being jerky?
Smoothness didn't changed only the travel, and for sure the rate yaw p changed the travel and not the smoothness. I tried to let the stab yaw p default and lower the rate yaw p to 0.020 to see what is happening and the travel was very very short, increasing the rate yaw p to 0.200 or 0.300 did increased the travel by alot. So the travel of my servo is not a problem anymore, only the smoothness.
But I think It's time to make a real test, I will mount the props and go outside to see what is happening.
Here is another video :
in the first minute I claibrated the radio.
after 1:00 you can see the servo moving, also the sticks on the radio and the RAW Sensor in Mission Planer. I don't know why the servo signal is missing from the OUT section, only the motors bars change
after 2:21 I have connected a servo tester on APM2 input CH4, instead of the receiver wire.
Anyway this video is somehow useless now as now I know how to increase/decrease the servo travel.
Thank you Dean.
Here's the video, in the first part the tricopter was on it's landing gear, and after 0:27 i lifted it with my hand
will post another video with the calibration process and other things.
My yaw servo is the same as that? I think it is just the way that it works? I have had no problems when flying and found the yaw very smooth in flight
I tried to start it now and it's not working with the motors and propelers mounted like on the KK board, it's spinning to the right if I push the throttle to 30 - 40%. I will try to mount the propellers and to change the motors direction as on the APM wiki to see if that solves the problem.
I have inverted now the CH4 RUD as it didn't turn the motor in the right direction, but the tricopter is still spinning on the ground before taking off.
Unfortunately now I have to leave and cannot test anymore :(
O.K let me know next time you can test and we will solve the problems..
I'm back, I don't think that by reversing the rotation of the front motors will solve the problem, but I will try it so it will be everything as in the WIKI's.
The tricopter spins to the right when I reach about 30% - 40% throttle. I checked all the props and direction of the mottors and everything is as it was on my KK setup.