Hi Folks New guy here. I have been all over this forum trying to find a topic for Nitro powered copters. Looking at the ardupilot-mega version 1.0 instruction "Setting up APM for your RC gear". It appears every thing will connect properly. I have two questions. 1. I am using a heading lock gyro for stabilization. I assume I would replace it with the ardupilot! 2. The block diagram is set up for an ECS, it appears that in this config the APM is taking power from the battery connected to the ECS. So because I am using a throttle servo instead of an ECS where do I connect the battery? Do I connect it to the receiver or directly to the APM? Ok so there are more then two questions. Thanks in advance.
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APM is vibration sensitive. There are a few people who have successfully used APM in nitro airframes, but generally they have significantly more elaborate mechanical vibration dampening set up than just the typical "gyro tape". The last good setup I saw the guy had a small platform for his receiver pack (for additional mass) and APM. The platform was supported with some vibration dampening gel and APM was attached to the platform with gyro tape. I would view a nitro heli as a difficult platform because one of the typical manifestations of vibration problems is that the IMU will be off in pitch or roll. I have seen 30+ degree errors. So, obviously, if you are going to try this plan on lifting off in manual and getting some altitude before trying stabilization.
1. you can leave your headlocking gyro in place. So receiver -> APM -> gyro -> tail servo. I fly without a gyro but you'll actually get better performance with the gyro in place.
2. battery should go through a voltage regulator (aka BEC) to get it down to 5V, then you can connect it to the receiver and then use servo cables to connect your receiver to the right-angle pins at the back of the APM. This should hopefully provide enough power along that back rail to power your servos.
Re the throttle servo - you should for the moment connect that straight to your radio. The APM doesn't control your engine throttle.
Replies
Allen,
APM is vibration sensitive. There are a few people who have successfully used APM in nitro airframes, but generally they have significantly more elaborate mechanical vibration dampening set up than just the typical "gyro tape". The last good setup I saw the guy had a small platform for his receiver pack (for additional mass) and APM. The platform was supported with some vibration dampening gel and APM was attached to the platform with gyro tape. I would view a nitro heli as a difficult platform because one of the typical manifestations of vibration problems is that the IMU will be off in pitch or roll. I have seen 30+ degree errors. So, obviously, if you are going to try this plan on lifting off in manual and getting some altitude before trying stabilization.
Some more answers:
1. you can leave your headlocking gyro in place. So receiver -> APM -> gyro -> tail servo. I fly without a gyro but you'll actually get better performance with the gyro in place.
2. battery should go through a voltage regulator (aka BEC) to get it down to 5V, then you can connect it to the receiver and then use servo cables to connect your receiver to the right-angle pins at the back of the APM. This should hopefully provide enough power along that back rail to power your servos.
Re the throttle servo - you should for the moment connect that straight to your radio. The APM doesn't control your engine throttle.
http://code.google.com/p/arducopter/wiki/ArduCopter_TradHeli