Hello!
Although i have been flying with multirotors for some time, it's my first post here so...please forgive me if i posted it to a wrong subforum etc...
I have a tri and equipped it with Ardupilot (mega 2560) board. Loading ArduCopter2 code and first time setup was ok although there were some unclear points. Ground station works, gauges turn but...
- artificial horizon shows roll in the opposite way although copter stabilizes ok.
- i have to reverse the yaw servo but can not (ok, i can but it is troublesome) do it physically. I learned that it can't be done with DIP switches but in code only. In another topic somebody wanted to reverse camera servo and it could be done by adding a "-" symbol in several places of code. Is it correct to reverse yaw servo from ArducopterMega.pde this way:
APM_RC.OutputCh(CH_7, - g.rc_4.radio_out) ?
What about the horizon gauge - should it not tilt left when i tilt copter left?
And last thing (presently) :) Pictures in Wiki "manuals" sometimes show that Mission Planner communicates with Ardupilot, then ArcuCopter2. What's correct or is it relevant at all?
My board runs ArduCopter 2.0.25 and APM Planner is 1.0.8
Thanks,
Veljo
PS. ArduCopter is a fantastic piece of work! Wish i could get my tri flying already
Replies
your artificial horizon is correct (it shows the horizon of the copter's point of view, not the copter itself)
you need to reverse it somewhere else (am I wrong when I say one could just use all negative yaw PIDs to achieve that?)