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
AC3.3 rc5 test Loiter edge waves
I try to change INS_ACCEL_FILTER and INS_GYRO_FILTER parameters for the 15Hz, indeed better.
Thanks Ray!
Thank you very much, I'm trying again！
I had a couple of weird take offs after upgrading to 3.3 from 3.2.1. Once I had the exact same pirouette on takeoff using a loiter liftoff.
This, I feel was due to vibe problems. My filter was set to 10 hz on 3.2. When I upgraded to 3.3, the INS_MPU6K_FILTER parameter changed to INS_ACCEL_FILTER and INS_GYRO_FILTER. These defaulted to 20Hz. This was not good.
I set the INS_MPU6K_FILTER to 10Hz about 2 years ago and haven't thought about it since. In my review of changed params, I didn't recognize the translation.
I'm now running 15 Hz which is working.
T-Rex500DFC Pixhawk AC3.3 rc4 test：
https://youtu.be/YpW6wrkjWds
2015-05-21 08-22-44.bin
Thanks for the videos, I understand now.
Do you have logs from these events?
here……
2015-05-14 10-57-27.bin
Ok, thanks.
I've opened an issue for the rapid drop. I'm experiencing this too, so I should probably be able to fix it quickly.
https://github.com/diydrones/ardupilot/issues/2324
Your auto-takeoff problem, I'm wondering if the Rotor runup time isn't long enough, and it tried to take off too early, not enough rotor speed, and it started spinning?
There is such a possibility, I would test and let the main rotor governor constant speed after stabilization, then try a key auto-takeoff. My test results, etc.
Oh, one thing I just remembered. H_COLYAW has changed from an Integer to a Float. This should allow better resolution if necessary (ie: instead of being whole number, say 4 or 5 it can now be 4.5, or even 4.56). This may result in a change of this parameter when you load it, I think it could get reset to 0, so please check. If your previous value was for example, 4, then set it to 4.0, and go from there.
https://www.youtube.com/watch?v=qOKZy4vvA0c
https://www.youtube.com/watch?v=DH8Iu34x4F4
I use my ALIGN T-rex 500 DFC & Pixhawk 6M+M8N GPS has been insisting up 3.3 firmware traditional helicopter test。before version 3.2.1 firmware, the tests are very good 。AC3.3 rc1-3 indeed there have been some exceptions, including the Circle mode does not change height, Althold or loiter mode switch set high speed drop suddenly, a strange attitude to take off a key confusion problem occurs, fervent hope Pixhawk 3.3 firmware to stable the Tradheli ~
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