Arducopter build from IDE

 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.

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Replies

  • What make model of helicopter and type of swash plate are you using, You need to use ccpm mixing. 

  • Developer

     

         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

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