![]()
Hello,My plane is an old balsa Lazy-Bee:(I use this to build experience with ArduPlane)All up weight : 1500gWinspan : 1440mmWing area: : 42dm2Battery / Engine : 7 cell, NiMH Outrunner Graupner 390Prop : APC-E 11x7Static thrust : 1140gThrust/Weight ratio : 0.76Stall speed : ~6m/sCruise speed : ~10m/s @50% throttlePitch speed : ~18m/sAPM 2.6No (yet) an airspeed meterArduPlane 3.4.0Controls: Elevator, Rudder (No airleron)Initial I used the "default" setup of Ardupilot: airleron ouput connected to rudder.This is working in no wind conditions, even in Auto mode flying waypoints, however climbing against 5 m/s wind the plane is loosing control.Now I try to change into "RUDDER_only", however already on the ground I experience already instability.I change the following changed settings:RUDDER_only 0 --> 1KFF_RDDRMIX 0.5 --> 1YAW2SRV_DAMP 0 --> 0 (0.5 was suggested but fully instable)Next to that I installed my transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4).The rudder servo is attached to the RCMAP_YAW channel.The original suggested YAW2SRV_DAMP of 0.5 resulted in a heavy oscillating Rudder servo, changing it to 0 the jitter is gone.In this situation I don't dare to fly the plane.I expect the plane must be tuned but I don't know how to do this:- In the Arduplane roll-pitch-yaw controller tuning documentation I can't find this usecase.- A controller overview diagram of this usecase would be helpfull.- Is autotuning working in this usecase ?I'm also not sure about the following parameters:THR_MAX : 100% (Else the climb is too slow)TECS_CLIMB_MAX : 5 --> 2 (in fact I measured ~0.6 m/s max)SCALING_SPEEDNAVl1_PERIODSo I don't DARE to fly this plane yet with these parameters, please HELP.Attached parameter file.Best regards MaarternIMG_3164.JPG
Lazy Bee_ Rudder_only.param
Replies