Discussions

Modifying Arducopter Source Code For Landing Procedure of a Single-Rotor Helicopter

Posted by Pat on November 21, 2013 at 12:34am

Hey Guys!

I'm just wondering if anyone here was able to test the Landing procedure for the traditional single-rotor helicopter, and if so tried to tinker with its code / parameters ? Such as what are the things that can be edited, and what part of code best not to tamper with for safe landing.

Thanks again!

Patrick

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apm, arducopter, automation, code, helicopter, landing, source, traditional

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Replies

Pat December 1, 2013 at 5:12pm

Thanks for the help and guide Randy and Rob.

I'll update you guys once I finally flew the helicopter. Small question though, are there any commands or button that one can simply click to automate the takeoff procedure without the aid of a gps?
Rob_Lefebvre November 22, 2013 at 6:17am

Hi Pat, I've got auto landing working well in my clone, it's been well tested and based on 3.0.1. If you would like you can use that code, or have a look at what I did. It's all located here in the Heli_Development branch.

https://github.com/R-Lefebvre/ardupilot/tree/Heli_Development

Randy did a lot of work restructuring this stuff and pushed it into trunk. I'm in the process of going through that code now.
Developer

Randy November 21, 2013 at 3:14am

Pat,

Rob Lefebvre is the one who knows the most about the trad heli code. We've recently merged in a bunch of changes to master to ensure that the swash plate isn't pulled down too hard when it lands.

Most of the heli code is in the heli.pde and in the AP_Motor's libraries AP_MotorsHeli class.