I am attempting to fix the flybar acro code, wanted to get it out with the upcoming 3.1.3 release, but I'm in a bit of a pickle. It compiles in Arduino, but won't compile in Make for PX4. I assume it's just some sort of annoying problem with Make. I only have PX4/Pixhawk on my helis now, no APM's, so I can't bench test. I also don't have any flybar helis, so can never flight test it in any case. I have uploaded it to an APM, and it does load.
So, I guess it's up to you guys.
This is based on 3.1.3. I have made some changes that should allow *direct passthrough* of servo control to the swash plate with absolutely NO PID operating, when in Acro mode with Flybar mode selected.
If anybody wants to give it a shot, I'd appreciate it. Remember, this has not been bench tested, or even test flown. Do not attempt to fly it until we have confirmation it works!
This can be easily uploaded to an APM using Mission Planner. Just go to the firmware screen, and in the bottom right, you'll see a link called "Upload Custom Firmware". Click that, and then select this file, and it should upload.
There is no need to redo your parameters, or erase/reset parameters, or any of that. Just upload it, bench test it, then go back to a stable release before flying.
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Rob,
How high are your RATE_RLL_FF and RATE_PIT_FF on your larger helis? Just wondering if I can up mine more as the heli still feels really sluggish on collective, not crisp. At present mine are at 0.065 (RLL) and 0.075 (PIT).
Is this for your flybar heli? I don't have much guidance on that. But FWIW, I think I'm running 0.080 on my 600 FBL, and IIRC, as high as 0.120 on another.
But those numbers are from my current improvements to the rate control code. With the old code you'd be using, I typically used 0.050. Again, for flybarless.
So, without worrying about specific numbers, you should be able to keep turning up the FF's until it goes unstable. It's similar to P that way.
has this been rolled in the current version now?
Cheers
Stu
Stuart,
No, it's not in master yet I think. I'm pretty sure Rob is planning on getting it in there for AC3.2 but I'll leave it to him to confirm.
Yeah, it hasn't yet...
Unfortunately, I actually lost the code somehow, so that binary is all there is! But at least it confirms what the problem was. For 3.2, I have to solve it a different way because that part of the code has completely changed anyway.
Hey, it did not take a pile drive toward the ground this time :) Sorry, no video as my GoPro died just as I was going to start recording. It did start to climb with the switch from Stab to AH, which caused the tail to blow out a bit, but I would assume that is because of the difference in pitch range i.e. my hover stick position in Stab is roughly 3/4 stick, which when I switch to AH commands a climb, right? So, my next question is how do I get my hover pitch of 4-5 degrees to be at center stick when in Stab mode, and this avoid any dramatic changes when switching between modes?
Never mind, got it...under "capturing the swash plate range", set pitch to 4-5 degrees and then click "zero" button in heli setup screen.
Hey Rob,
I bench tested my way and it "seems" to work; at center collective I get 5 degrees pitch in Stab mode with no jump when switching to AH/Loiter. What led me to my assumption was this statement in the manual:
"Push the Zero button after making sure your main blade’s pitch is zero. If you want to tune your heli even better, set the pitch at hover pitch, say 3 or 4 degrees, and your heli won’t climb when you switch modes but this is a refinement that you may want to come back to after your initial set-up."
I will see if I can get it to work the way you describe and report back. Thus far you have not led me astray, so I will take your word ;) The Wx has not been the best the past few days so no flight testing...hopefully it will improve soon.
I don't remember writing that in the wiki (not saying I didn't, but I don't remember it). I'm not sure that's correct. Certainly it's not the way I operate, and based on what I know of the code I'm not sure how that could work as it describes.
As far as I know, there's no way to make the heli not jump, if your hover point doesn't happen to be in the middle when in Stabilize mode. Most of mine will jump. I just anticipate it on mode changes, and adjust the collective stick accordingly.
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