Replies to This Discussion

DeveloperPermalink Reply by Randy on March 30, 2012 at 6:21am

The stock PIDs should work ok.  Are you using an external gyro?  If yes, you should be sure to click the external gyro check box in MissionPlanner's set-up screen, on the Heli tab.

 

If you're not using an external gyro I'm not sure exactly what values will work.  Robert Lefebvre should know.  You can find him on the monster trad heli thread.

DeveloperPermalink Reply by R_Lefebvre on March 30, 2012 at 6:54am

Yeah, external gyro or not?

I'm using the built-in gyro, Yaw Rate P is 0.350, I is 0.015, D is 0.03 IIRC.  Yaw Stab P is I think 2-3 (this is less critical), and I is zero.

Permalink Reply by Chris Pitts on April 3, 2012 at 8:39am

I'm also using the built-in gyro. If you could, please confirm those values, and I'll try them once I get the heli back up and flying.

Initially, I used the values that flashed to it from the mission planner at the time, and the values weren't the same as the ones you listed. The heli held attitude stably, but control inputs would not generate yaw. Increasing the stab and rate values to higher values increased responsiveness, but induced instability. I'll use the values you provide on my next flight, and see how things go.

For reference, I'm using a T-Rex 450 Pro V2. It came out of the box flybarless, with their 3GX module (now sitting off to the side, replaced by ArduPilot).

Also, some background on me: I'm not a fantastic R/C pilot. I've got about 200 hrs in simulators, and about 20 minutes in the real world flying anything. I'm entering the hobby because I'm an electrical engineering student, and R/C helis (and ArduPilot in particular) provide an ideal test bed for non-linear intelligent controls projects. I'm hoping to do something interesting with the controller for my senior design class.

I really appreciate all the help here. I've already learned tons just lurking here on the forums. Hopefully, I'll be in a position to start contributing myself soon.

Permalink Reply by Wesley Chuen on April 25, 2012 at 7:22pm

Hi Chris,

I have the T-Rex 450 Pro V2 as well.  How is your progress on it?