So my guess is that if I want to use ailerons, I just use a y-cable and plug it into the rudder output on Ardupilot. This rules out any mixing while under RC control but that isn't such a big deal.
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On a lot of airframes it is not even necessary to worry about mixing with the rudder. Just connect the ailerons to ArduPilot and leave the rudder for manual control only. This may not be a good strategy on a motorglider, but will work nicely on something like a SuperStar or NexStar. If you watch a lot of RC pilots, even old timers, many never use the rudder exept for takeoff and landing. I'm not advocating this (I consider it sloppy piloting), but it will work.
If you want to keep some fine trimming on your ailerons and eventually use the ailerons as flaps for landing, you may try out what I implemented. Instead of the Y cable, I installed a basic Vtail Mixer which is connected as follows:
- Rx aileron channel ---> Ardupilot ----> Vtail Mixer input 1
- Rx flaps channel ---> Vtail Mixer input 2
- Vtail Mixer output 1 ---> Aileron Servo 1
- Vtail Mixer output 2 ---> Aileron Servo 2
With this setup, I can trim both ailerons individually. Out of Ardupilot aileron channel, the Vtail Mixer just acts as a Y cable. And with the added flaps down to about 45 degrees, I slow down my 5 kg 2m span E-trainer for touch down without loosing too much aileron reactivity.
Of course, this is only useful for somewhat larger airframes. It wouldn't be of use on a light foamy.
On an aileron E-glider platform, such setup could also be used to slow down the plane a bit without loosing altitude (and attitude) by augmenting the profile lift (just trimming ailerons down a few millimeters). This can be nice for vertical targeted photographic missions.
Correct. With ArduPilotMega we may give more granular control, since we have more 8 servo outputs, but to be honest it doesn't seem necessary. ArduPilot works fine with ailerons and can fly the plane better than I can, even with all the mixing and exponential help my RC system can give me.
Replies
- Rx aileron channel ---> Ardupilot ----> Vtail Mixer input 1
- Rx flaps channel ---> Vtail Mixer input 2
- Vtail Mixer output 1 ---> Aileron Servo 1
- Vtail Mixer output 2 ---> Aileron Servo 2
With this setup, I can trim both ailerons individually. Out of Ardupilot aileron channel, the Vtail Mixer just acts as a Y cable. And with the added flaps down to about 45 degrees, I slow down my 5 kg 2m span E-trainer for touch down without loosing too much aileron reactivity.
Of course, this is only useful for somewhat larger airframes. It wouldn't be of use on a light foamy.
On an aileron E-glider platform, such setup could also be used to slow down the plane a bit without loosing altitude (and attitude) by augmenting the profile lift (just trimming ailerons down a few millimeters). This can be nice for vertical targeted photographic missions.