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
Can you give me a log?
It shouldn't be giving you full negative. You can change that with H_LAND_COL_MIN. I typically have mine set to about 400, or roughly -2deg collective. Then it just gently holds it on the ground.
The log is too big at 50Mb. Will sent to your email via Dropbox.
I forgot to change H_LAND_COL_MIN from default which explains the full negative.
Interesting...
I am using an external governor and have now set the RSC_RUNUP_TIME to 5 and that seemed to solve the problem.
I played with adjusting the IM_STAB_COL_2-3 today to get mine to hover at mid stick while H_COL_MID was 0 pitch at mid stick and then the transition from Stab to Loiter was seamless!
I played with the Collective-Yaw compensation a bit but did not notice any effect. I tried numbers anywhere from -10 to +10 with no effect. Can you explain how this is supposed to work?
Also, increasing my RSC_RUNUP_TIME a bit helped with Loiter and Auto take-offs. Everything is working great so far.
Hi Chris,
No effect means you don't need it :-). It works like every other Collective-Yaw-Precompensation. When you do pitch pumps and your tail holds the direction everything is fine. If you do pitch pumps with too low headspeed or you have too small tail blades etc. than you will notice the tail swinging to the side and coming back to the original heading. In this case you should use the Collective-Yaw-Precompensation to hold the tail during that first second or so.
Something to note...
For my Vario, the rotor spins CCW which makes the H_COL_YAW and ATC_HOVR_ROL_TRIM both negative numbers.
Yes, that is expected. I should note it in the Wiki.
I just completed the setup on my Vario. One thing I noticed and maybe this is for flybar units only, is that you still cannot adjust HS1-3_max/min for proper swash travel throughout the range. I can get it level using H_SV_MAN - 3, but the swashplate is off a bit at min and max travel. Maybe I'm missing something...?
Other than that, everything is great. Going to fly shortly...
Hi Chris, yes, these parameters get reset to 1000/2000 on every startup. You should not use them to set servo travel. You should use H_Col_Min, H_Col_Max and H_Cyc_Max.
On 3.4, I will look at making these adjustable.
Got it, thanks.
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