WARNING to TradHeli users:
Do not attempt to fly AC3.3 until you hear otherwise from me. I have not even bench tested it yet, let alone test flown it. There are quite a lot of changes that have gone in that could be crash-o-matic for helicopters.
AC3.3 release for Tradheli is likely to be delayed.
This post will serve as the official release progress thread for TradHeli.
Warning: DO NOT FLY RC6! It has a critical bug that will likely end in a crash.
Warning for RC5:
RATE_YAW_FILT_HZ param will change defaults from 5Hz to 20Hz to be more suitable for helicopters. If you have never changed this parameter from 5 before, then it will automatically update the value to 20 without warning. This much faster filter will probably require reduction in your P and D terms, and the yaw may oscillate badly. Be prepared to retune these. As a safety measure, probably cut them in half for your first take-off.
Warning #2 for RC5:
I accidentally broke the Landing Detector. It will probably never trigger. You should land in Stabilize mode, or be prepared to shut down the motor as soon as it touches the ground in Alt_Hold, Loiter, Auto, etc.
Replies
I think manual mode is very important,and disarm is dangrous .
Sorry, I'm not following?
I just flew my Trex 550 with 3.3r3. I was able to takeoff and land in both stabilize and Loiter.
Stabilize was fine.
Loiter required increase in Pitch and Roll Ps and FFs. It is still has moments of loiter fore aft oscillation but I'm sure it just needs more retuning.
Cyclic works while disarmed. Collective doesn't. Is this by design or should I voice it? I like to see both working before arming.
I think I may have too much vibration, because I see some erroneous climb after landing. It worked with 3.2.1 but I didn't have EKF enabled. It'll take some work getting the heli balanced again and tuned for the EKF.
Ray, I checked this yesterday, collective does work while disarmed in Stabilize and Acro, as it should. It does not work if you are in Alt_Hold, Loiter, etc. That's always how it has been.
Sorry Ray, this must be something that came in between rc1 and rc3. I just updated to rc4, and have this behaviour. I'll fix it. Thanks for pointing it out.
Collective not working while disarmed is NOT intentional, thanks for noting it, I will check it out and fix it. That will probably be a critical fix before AC3.3 can go stable.
I loaded up 3.3r3. I noticed a lot of Parameter changes.
ATC_ACCEL_RP_MAX has been replaced by ATC_ACCEL_R_MAX and ATC_ACCEL_P_MAX. They defaulted to 0 but I assume I should put my RP value in there.
I think I found how the thr params have been changed to z params.
I hope I caught any problems.
Hi Ray, both of these are good points.
You should move your ATC_ACCEL_RP_MAX params into the new R and P Max params. The function is basically the same, we've just separated the axis. You might experiment with using a higher acceleration rate on Roll than Pitch.
Yes, the Throttle_ACCEL params have all changed to Accel_Z. You'll need to move your THR_ACCEL_P I and D terms over into ACCEL_Z_P I and D. Make sure you do this, or it could be very bad! The default of 0.5 is much too high for a Heli.
There's a few other added things like a Z Accel rate, similar to the ATC_ACCEL rate. I believe it defaults to a very tame value like 1/10 G, but helicopters could probably got 1/2 G pretty easily. I haven't played with these yet.
Rob, I like the alternative method. Boots up in manual so you can check the range of your swash and tail. After first arming it goes into stabilization and stays there as long as the Pixhawk is powered.
But, What if someone had a momentary brown out for some reason at a high altitude? I know its far fetched, but if the Pixhawk had time to reboot before crashing, the servos would be in manual.
Regards,
David R. Boulanger
Brownout recovery, definitely a possibility, but I'm not sure we should worry about it. You're pretty screwed anyway, because the gyros won't calibrate while moving, and without them calibrating, stabilization will be hopeless. In fact, manual servos might be less wrong than bad stabilization.
I will look into making it so that the Servo_Man parameter could be set to 2, where 2 would cause it to boot in manual and revert on arming. 1 would be manual manual. 0 would be existing operation. How does that sound?
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