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Helicopter Vibration Levels

Started this discussion. Last reply by UAS_Pilot on Monday. 55 Replies

I just wanted to make a post to specifically address the issue of vibrations on helicopters, as I am seeing quite a few logs which exhibit excessive vibrations. This not only affects Loiter, but can…Continue

Warning about Helicopter Power Supply!

Started this discussion. Last reply by Vlastimil Vrskovy Jul 2. 27 Replies

I've posted about this before, but I feel I must reinforce this:You MUST use a completely independent power supply for your APM or Pixhawk than you use for the Servos.  DO NOT use one BEC to supply…Continue

Arducopter 3.2 Warning

Started this discussion. Last reply by Rob_Lefebvre Jun 5. 4 Replies

Just wanted to put out a warning to everybody, that you should not be testing any of the 3.2 Release Candidates for Tradheli until I say so.At this time, I have not flight tested 3.2rc1 or rc2. I…Continue

Who wants to alpha test Flybarred Acro code?

Started this discussion. Last reply by Rob_Lefebvre May 27. 79 Replies

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…Continue


Rob_Lefebvre's Page

Latest Activity

zmooth commented on Rob_Lefebvre's blog post Small Electric Helicopter 108km/h Auto Flight
22 hours ago
Rana commented on Rob_Lefebvre's blog post Arducopter Flies Gas Powered Helicopter
"Rob, is ur gas heli still alive ?"

Rob_Lefebvre commented on Gifford Hooper's photo

Rob_Lefebvre replied to Vaughn Hannon's discussion Large Multirotor for Rental?
"I think you would be much better off hiring the services of somebody with a machine that can do what you need.  I don't think you'll find anybody that would rent a machine like that out, as the risk is too great. That being said, I…"

Rob_Lefebvre commented on Gary McCray's blog post GoPro 4 is Here - Sort of!
"Gary, did you test if the AS100V IS does or does not make jello worse?  I haven't been able to stop the jello on mine, but I have not tried turning off the IS.  It's probably worth a shot."
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"Thanks That make perfect sense now. I have re attached the telemetry file in latest link. I would appreciate if you could give it a once over to see if i am moving in the right direction. I appreciate your help. I have learned so much working on…"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"I plan to dial the tail in this coming week end. I was more focused on the pitch oscillation at the time. Now that i seem to have that under control i plan to get more fine tuning completed, including the tail. Thanks Joe"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"here is the latest successful flight with a short auto mission. This was sunday with about 10-12 mph winds. Getting there. Rob I would like you suggestions. Thanks "
David Boulanger replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"Joe,  Glad your making improvements. Your Rate Yaw FF is still 0.  Increasing that may solve your tail wag. Regards, David R. Boulanger"

Rob_Lefebvre replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"Yes, I have.  I am using EKF almost exclusively on everything.  It's much better than the old DCM."

Rob_Lefebvre replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"Ok, this is what I was thinking.  A lot of the time when Loiter slowly wobbles back and forth, it's because the Rate PID's aren't dialed up tight enough. It will feel like it flies fine in Stabilize, but what is happening is the…"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"I it did. But as you can see in the latest post. I have been able to get it more dialed in. I have noticed that it doesn't like any D term in the rate_roll. Every time I added a little it would rapidly ocilate in roll before I would even get in…"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"I will try to repost. The .log file is over 7mb so I will try to compress it and repost. Thanks"
Todd Urban replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"something is up with the log download its messed up I cant open it can you post it again"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"So here is a quick discription of some of the changes i made to make it better.. I increaseed the Rate_Pitch FF and Rate_Roll FF. I increased the Rate_D on Pitch only. I also found that I hade my Rate_P Pitch was to low and thats why i was getting…"
UAS_Pilot replied to Rob_Lefebvre's discussion Helicopter Vibration Levels
"I did post the log and param. Thanks"

Profile Information

About Me:
Mechanical Engineer
Arducopter TradHeli Lead Developer
Please tell us a bit about your UAV interest
Aerial Photography
Light Industrial Applications
Traditional Helicopters
Brighton Ontario Canada

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Rob_Lefebvre's Blog

Small Electric Helicopter 108km/h Auto Flight

Posted on September 22, 2014 at 4:13pm 30 Comments

Another recent accomplishment with the Helicopter version of Arducopter was this full auto speed run which achieved a top speed of 30 m/s or 108 km/h.  This was done using 3.2 which features improvements to the helicopter flight dynamics code, as well as Spline Waypoints which is a general…


Arducopter Flies Gas Powered Helicopter

Posted on September 20, 2014 at 11:20am 56 Comments

Now we're cooking with gas!

I have just completed a project to build a helicopter with a gasoline engine, controlled by Arducopter (of course!)  This helicopter serves as a test bed for future gas heli development work for a client of mine.  The goal was to prove out that it could be…


Helicopter Presents Attractive Alternative to Multi-rotors and Fixed-wing UAVs

Posted on February 3, 2014 at 1:10pm 335 Comments

I've been working on a new helicopter platform the last few months. Based on an MSH Protos heli which I chose because it's an extremely light weight platform, weighing in at only ~1200g without battery. It has a full belt drive which I much…


Merry Christmas and a Happy New ACRO!

Posted on December 24, 2013 at 7:01pm 16 Comments

3.1 was released just in time for the holidays, but I felt the new Acro Mode we have developed has not been adequately demonstrated.  So I shot this video to show that Arducopter now has a competent Acro mode to go along with all the other functions.  This is kind of a big deal to me, as I am interested in learning acrobatic flying, but I really appreciate having…


Comment Wall (10 comments)

At 5:59pm on November 30, 2011,
Jason Short

Chris is the Admin. He can help you.


At 8:22pm on May 16, 2012, Carl La France said…

Robert thanks for your input the 1/8 aluminum on  on the fuselage will be a milled out channel running  half way down the side of the plane    to attach the wing the horizontal stabilizer and the vertical fin to a Exoskeleton about 1 1/2 pounds the rest of the plane is foam and fiber glass there was no distortion welding we had it clamped down  pretty good Thanks again Carl

At 4:26am on July 26, 2012, OG said…

Thanks for you assistance with my ecommerce sight yesterday . I appreciate it so much I give you my cost your first porches.

At 6:17pm on November 27, 2012, Dwgsparky said…

Hi Robert, sorry I missed your request. still getting used. to this system.

Sorry, not waterslides,,,, Kiddie trains from Granby.

At 7:53pm on January 24, 2013, Joshua Johnson said…

My bad I was just trying to give new members someone they can ask questions to because the site is super confusing at first for a while when your new. Ill stop doing it!

At 11:47pm on April 23, 2013, Manuel Zangenfeind said…

Dear Mr. Lefebvre,

I saw some videos from your heli in Loiter Mode and thought wow this heli is standing rigid in the air.

I'm using a TREX 700E and want to fly this heli with apm 2.5 version 2.91 autonomously.

Currently I want to adjust the PID parameter. The stabilize and the Altitude Hold Mode is working perfect, but I have some problems with the Loiter values.

So would it be possible to send me your PID values of the loiter mode? I think they have to be very similar.


Nice Greets from Austria


At 2:56pm on July 8, 2013, Jonathan Weisburst said…

Hi Mr. Lefebvre, 

Thanks for getting back to me.  Do you have any suggestions in terms of renting or hiring aerial videography crews or drones?  

All the Best, 

At 11:06pm on June 3, 2014, Matt said…

Hi Rob,

Interested in making a Tandem out of 2x 800 sized helicopter. Just interested to discuss your thoughts.

At 7:34pm on July 12, 2014, Eric said…

Hi Rob, I saw your DroneCon talk on youtube (which was great, thanks!), and it looks like you got cut off towards the end there. By any chance is the full slide deck available somewhere? Or was there much more left? Thanks!

At 3:02am on August 1, 2014, Artem said…
Hi Rob, i know you had a lot to do with AC yaw control, could you confirm if motor values are used in the formula for the yaw servo control? In other words if running a motor in a wrong direction would affect the yaw control. If so is this something that appeared in the code since 3.1.3 or was it there before? Thank you!

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