I've had a blog running in the group ArduCopter (traditional heli) user group called Mikado Logo 400 flybarless project with ArduCopter and video with OSD but R_Lefebvre suggested I switch to this main area. I hope I'm doing the right thing.
If you are interested, please have a look at the start of this blog at the link provided above.
I'm using a convetional (albeit 2.4 GHz Futaba R608FS) Rx but was wondering what is meant by "a PPMSum output which only needs 3 wires on the input side".
Is this the same as using a Futaba SBus receiver? If yes then I would gladly switch to that. I assume the channels set up in the transmitter are then interpreted by the APM2.5+ correctly or is there a requirement to set up the APM differently?
Just as a heads-up; I've already upgraded the ppm encoder firmware to ArduPPM_v2.3.13_ATMega32U2.hex following Randy's advice to do so.
Comments
Correction on the equipment on board - my Rx is a R608FS as shown below:
Using 9.2.1b my parameter file is:
ACRO_BAL_PITCH,200
ACRO_BAL_ROLL,200
ACRO_P,4.5
ACRO_TRAINER,1
AHRS_BARO_USE,0
AHRS_GPS_GAIN,1
AHRS_GPS_USE,1
AHRS_RP_P,0.1
AHRS_TRIM_X,0.084
AHRS_TRIM_Y,-0.01
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.1
AMP_PER_VOLT,18.002
AUTO_SLEW,30
AUTO_VELZ_MAX,125
AUTO_VELZ_MIN,-125
AXIS_ENABLE,1
BATT_CAPACITY,6000
BATT_CURR_PIN,12
BATT_MONITOR,4
BATT_VOLT_PIN,13
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_TYPE,0
CH7_OPT,0
CIRCLE_RADIUS,10
COMPASS_AUTODEC,0
COMPASS_DEC,0.216
COMPASS_LEARN,0
COMPASS_OFS_X,0
COMPASS_OFS_Y,0
COMPASS_OFS_Z,0
COMPASS_USE,1
ESC,0
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,0
FLTMODE4,0
FLTMODE5,2
FLTMODE6,5
FRAME,1
FS_BATT_ENABLE,0
FS_THR_ENABLE,0
FS_THR_VALUE,975
H_COL_MAX,1650
H_COL_MID,1458
H_COL_MIN,1271
H_COLYAW,0
H_FLYBAR_MODE,0
H_GOV_SETPOINT,1500
H_GYR_ENABLE,0
H_GYR_GAIN,1350
H_PHANG,0
H_PIT_MAX,4500
H_ROL_MAX,4500
H_RSC_MODE,1
H_RSC_RATE,0
H_STAB_COL_MAX,90
H_STAB_COL_MIN,30
H_SV_MAN,0
H_SV1_POS,-60
H_SV2_POS,60
H_SV3_POS,180
H_SWASH_TYPE,0
HLD_LAT_I,0
HLD_LAT_IMAX,3000
HLD_LAT_P,0.2
HLD_LON_I,0
HLD_LON_IMAX,3000
HLD_LON_P,0.2
HS1_DZ,0
HS1_MAX,2000
HS1_MIN,1000
HS1_REV,-1
HS1_TRIM,1500
HS2_DZ,0
HS2_MAX,2000
HS2_MIN,1000
HS2_REV,1
HS2_TRIM,1500
HS3_DZ,0
HS3_MAX,2000
HS3_MIN,1000
HS3_REV,-1
HS3_TRIM,1500
HS4_DZ,0
HS4_MAX,1852
HS4_MIN,1189
HS4_REV,-1
HS4_TRIM,1524
INAV_ACORR_X,69.147
INAV_ACORR_Y,54.041
INAV_ACORR_Z,-5.278
INAV_TC_XY,3
INAV_TC_Z,5
INPUT_VOLTS,5
INS_ACCOFFS_X,-0.185
INS_ACCOFFS_Y,0.251
INS_ACCOFFS_Z,0.957
INS_ACCSCAL_X,0.989
INS_ACCSCAL_Y,1.002
INS_ACCSCAL_Z,0.984
INS_GYROFFS_X,-0.037
INS_GYROFFS_Y,-0.03
INS_GYROFFS_Z,0.028
INS_MPU6K_FILTER,20
INS_PRODUCT_ID,88
LAND_SPEED,50
LED_MODE,0
LIM_ALT_MAX,0
LIM_ALT_MIN,0
LIM_ALT_ON,0
LIM_ALT_REQ,0
LIM_CHANNEL,0
LIM_DEBUG,0
LIM_ENABLED,0
LIM_FNC_ON,0
LIM_FNC_RAD,0
LIM_FNC_REQ,0
LIM_FNC_SMPL,0
LIM_FNC_TOT,0
LIM_GPSLCK_ON,0
LIM_GPSLCK_REQ,0
LIM_RECMODE,0
LIM_REQUIRED,0
LIM_SAFETIME,0
LOG_BITMASK,382
LOITER_LAT_D,0.4
LOITER_LAT_I,0.04
LOITER_LAT_IMAX,3000
LOITER_LAT_P,5
LOITER_LON_D,0.4
LOITER_LON_I,0.04
LOITER_LON_IMAX,3000
LOITER_LON_P,5
LOW_VOLT,9.6
MAG_ENABLE,1
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
NAV_LAT_D,0
NAV_LAT_I,0.17
NAV_LAT_IMAX,1800
NAV_LAT_P,2.4
NAV_LON_D,0
NAV_LON_I,0.17
NAV_LON_IMAX,1800
NAV_LON_P,2.4
OF_PIT_D,0.12
OF_PIT_I,0.5
OF_PIT_IMAX,100
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,0.5
OF_RLL_IMAX,100
OF_RLL_P,2.5
PILOT_VELZ_MAX,250
RATE_PIT_D,0
RATE_PIT_FF,0.075
RATE_PIT_I,0.15
RATE_PIT_IMAX,500
RATE_PIT_P,0.08
RATE_RLL_D,0
RATE_RLL_FF,0.075
RATE_RLL_I,0.25
RATE_RLL_IMAX,500
RATE_RLL_P,0.07
RATE_YAW_D,0
RATE_YAW_FF,0.075
RATE_YAW_I,0.02
RATE_YAW_IMAX,800
RATE_YAW_P,0.4
RC_SPEED,125
RC1_DZ,30
RC1_MAX,1945
RC1_MIN,1102
RC1_REV,1
RC1_TRIM,1524
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,30
RC2_MAX,1951
RC2_MIN,1102
RC2_REV,1
RC2_TRIM,1523
RC3_DZ,10
RC3_MAX,1945
RC3_MIN,1102
RC3_REV,1
RC3_TRIM,1102
RC4_DZ,15
RC4_MAX,1944
RC4_MIN,1102
RC4_REV,1
RC4_TRIM,1524
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,2092
RC5_MIN,1101
RC5_REV,1
RC5_TRIM,1103
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1945
RC6_MIN,1103
RC6_REV,1
RC6_TRIM,1523
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1944
RC7_MIN,1102
RC7_REV,1
RC7_TRIM,1103
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1944
RC8_MIN,1101
RC8_REV,1
RC8_TRIM,1102
RSSI_PIN,-1
RTL_ALT,0
RTL_ALT_FINAL,200
RTL_LOIT_TIME,5000
SERIAL3_BAUD,57
SIMPLE,0
SONAR_ENABLE,0
SONAR_TYPE,2
SR0_EXT_STAT,2
SR0_EXTRA1,10
SR0_EXTRA2,10
SR0_EXTRA3,2
SR0_PARAMS,50
SR0_POSITION,3
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR3_EXT_STAT,2
SR3_EXTRA1,10
SR3_EXTRA2,10
SR3_EXTRA3,2
SR3_PARAMS,0
SR3_POSITION,3
SR3_RAW_CTRL,2
SR3_RAW_SENS,2
SR3_RC_CHAN,2
STB_PIT_I,0
STB_PIT_IMAX,800
STB_PIT_P,3.5
STB_RLL_I,0
STB_RLL_IMAX,800
STB_RLL_P,4.5
STB_YAW_I,0
STB_YAW_IMAX,800
STB_YAW_P,4.5
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ACC_ENABLE,0
THR_ACCEL_D,0
THR_ACCEL_I,1.5
THR_ACCEL_IMAX,500
THR_ACCEL_P,0.75
THR_ALT_I,0
THR_ALT_IMAX,300
THR_ALT_P,0.4
THR_MAX,1000
THR_MID,500
THR_MIN,130
THR_RATE_D,0.02
THR_RATE_I,0
THR_RATE_IMAX,300
THR_RATE_P,0.35
TILT,5
TOY_RATE,1
TRIM_THROTTLE,762
TUNE,0
TUNE_HIGH,0
TUNE_LOW,0
VOLT_DIVIDER,10
WP_INDEX,0
WP_RADIUS,3
WP_SPEED_MAX,500
WP_TOTAL,1
XTRK_GAIN_SC,0.2
XTRK_MIN_DIST,15
YAW_OVR_BEHAVE,0
For those interested my set-up is:
I've now installed a GPS on a Mikado tail servo mount and its working really well. I've also installed an APM Power Module and am using MaxAmps 6000mAh 4S LiPos. Also installed a single wire harness per channel from my Rx to APM to help reduce vibration from the frame to the APM.
The heli is flying great and I've been able to tune it in Stabilize, Alt Hold and Loiter and am getting really great results. Vibration seems to be fine and not causing me any problems and I've got the AMP mounted to a carbon fibre base plate using gyro mounting tape and then gyro mounting tape between the base plate and the heli frame.
So set up my heli using the Wiki which work reasonably well. I will now go through it slowly having actually used it and check that it is all relevant and nothings missing. I set up the speed control in Mode_1 and set a flat curve in my Tx. I'll change this to Mode_2 in time.
I used Ch6 to set up the Pitch and Roll P values. Well, as the Wiki says at .01 the heli is almost unflyable and I had to land pretty quickly. Four clicks on my Tx now upped the P value by .01 so tried it at 0.02 and then all the way up to 0.075 and the heli flew great. Note I had the default I values set. So I reset the min and max values on the Ch6 to 0.05 and 0.1 respectively and worked my way up slowly. At 0.09 it flew well so I landed and set the maximum 0.1..........lifted it off about 2 feet, all seemed ok and then....WHOA.....all hell broke loose. The heli went tropo on the roll axis. Having read the Wiki, I was expecting it to go wild but now I know what Robert means. Killed the throttle and dumped it down on the training gear and breathed out......
So backed off the Roll P to 0.08 and the Pitch to 0.09 and tried again and it flew locked in better than any other controller I have ever had. Now used the Wiki to change the I values and now the Ps are probably a bit high since the I values have increased as explained in the Wiki.
I ran a battery through at these settings and loved it. The tail is a bit too locked in so I'll have to soften that a bit when next I fly. But I am mightily impressed with the performance.
Thanks to all those who design this system. I'm delighted to be on board.
Well, had a brilliant time this weekend setting up my Logo 400 and then putting two batteries through. I'm amazed at the quality of the flight given it was my very first with an APM2.5 and a first on this heli. Basically I stripped the VBar controller out of it on Saturday and mounted the APM and RX, connected up the servos and powered the APM with a 4 cell NiMH and the output side of the APM with the ESC. I'm using a 5S LiPo to drive the motor so its no good for the power cable.
I took the advice on the Wiki and installed training gear which was well worth it.
Here you can see the APM affixed to the airframe using four small pads of Futaba gyro double sided tape. I was concerned about vibrations but I'm waiting on some 1mm carbon fiber sheet to make a more permanent mount but this seemed to work great anyway. I left the cable loose so they transmit as little vibration as possible as shown in the pic below.
Here is the Rx connected to the APM
You can also see a "VoltWatch" which I use to check that the NiMH battery is in good shape. You can see the Rx aerials enclosed in white plastic tube set at 90 deg to each other and the 433MHz aerial for the 3DR link between my PC and the APM.
Close up of the 433MHz link.
Here you can see the general layout of the heli. Battery, Motor and ESC at the front. Rx, APM and 3DR at the back. I haven't yet mounted the GPS but that will go way out on the boom clear of the rotor.
PPMSum is similar to S-bus, but is not S-bus. There are no native futaba receivers that I know of that support PPMSum, but the 3rd party ones do. Since the APM now supports this, you can now connect that RX to the APM with PPMSum using only 1-wire. (Please correct me if I'm wrong on any of this please)
The PX4 board does support s-bus if I recall correctly.
No problem. It is confusing. I just try to keep all the discussion in one place. Otherwise people are saying the same things over and over in multiple places.
I try to keep on top of things as much as possible, but there's no way I can possibly patrol all the places people can possibly post.
Sorry Rob, I'm new to this site and while really enjoying the content and the intellect of contributors I'm trying to find where things I post should best go. I'll switch to /forum/topics/arducopter.... from my next post.
Thanks for the advice and apologies for my ineptness.
Anthony, I meant you should post in this forum:
http://www.diydrones.com/forum/categories/arducopter-2-x-traditiona...
In particular, read through this entire thread:
http://www.diydrones.com/forum/topics/arducopter-2-9-for-tradheli-d...
Nice looking heli though!
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