Hello, dose anyone have information on configuring Arducopter to a traditional helicopter within the Ardino IDE. I have modified APM_Config file, setting FRAME_CONFIG to HELI_FRAME. When the helicopter is powered up after uploading the code onto Ardupilot there is unusual servo movements. I believe the code has not correctly configured Ardupilot to a traditional helicopter.
Any information would be greatly appreciated.
Replies
What make model of helicopter and type of swash plate are you using, You need to use ccpm mixing.
There's not too many details in your post so it's a bit hard to be sure what's wrong but below is what I stick into my APM_Config.h file. By the way, you can find most of the active trad heli people on this thread.
#define FRAME_CONFIG HELI_FRAME
#define INSTANT_PWM ENABLED
#define CONFIG_RELAY DISABLED
// DEFAULT PIDS
// roll
#define STABILIZE_ROLL_P 0.70
#define STABILIZE_ROLL_I 0.025
#define STABILIZE_ROLL_D 0.04
#define STABILIZE_ROLL_IMAX 7
// pitch
#define STABILIZE_PITCH_P 0.70
#define STABILIZE_PITCH_I 0.025
#define STABILIZE_PITCH_D 0.04
#define STABILIZE_PITCH_IMAX 7
// yaw stabilise
#define STABILIZE_YAW_P 0.7
#define STABILIZE_YAW_I 0.02
#define STABILIZE_YAW_D 0.0
// yaw rate -- not used
#define RATE_YAW_P 0.135
#define RATE_YAW_I 0.0
#define RATE_YAW_D 0.0
// throttle - rate controller
#define THROTTLE_P 0.22
#define THROTTLE_I 0.1
#define THROTTLE_IMAX 300 // throttle - altitude controller
#define THR_HOLD_P 0.400
#define THR_HOLD_I 0.020
#define THR_HOLD_IMAX 300
// navigation
#define NAV_P 2.24
#define NAV_I 0.03
#define NAV_IMAX 10