Discussions

Vario Benzin Trainer project

Posted by Ferruccio Vicari on January 4, 2015 at 7:37am

Bench testing of flight controls...everything seems to be ok.

https://www.youtube.com/watch?v=dTysKyzhH-Q&feature=youtu.be

just some details on firmware (AC3.2rc14):

- added the fourth servo and changed the control laws to fit a 4 points swashplate layout;

- added extra servo for engine throttle control mix...not sure it will work fine (i have made some tests only on a little .30 helicopter in stabilize and acro mode);

StatorGator and Futaba GV1 fitted as a good and reliable backup solution, even if expensive and unfortunately hard to find in these days.

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Replies

- - - - Ultrafuge > Ferruccio Vicari April 19, 2015 at 11:33pm
        
        Hi Ferruccio,
        
        no, Ch3 is 'throttle' = collective pitch and Ch8='rotor speed control', you can use channel 6 and 7 for inflight tuning. My Ch6 works as expected, i.e. I did all the tuning and I can set RC6_Function=1 and move a servo. Setting RC7_Function=1 doesn't move anything and no green bar at 'Failsafe' screen.
        
        Yes, I am using Pixhawk.
        
        Ultrafuge > Ultrafuge April 28, 2015 at 3:51am
        
        Thank You for trying and reporting !
        
        Ferruccio Vicari > Ultrafuge April 25, 2015 at 3:56pm
        
        Ah ok, got it! Checked and in my case it's working (I assigned CH7 with VR switch on my T10 J and actually the green bar moves as expected when i change the VR position), though I don't go through that procedure on large helis. Sorry I can't help this.
Ferruccio Vicari February 13, 2015 at 2:12pm

So far, very good results, I have made some test flights with the big chopper and new autopilot support. My own mods to the firmware seems to be ok, no bad behaviors so far (I have flown a total 8 hrs ).

This video is in acro-mode (pixhawk still installed under the canopy):

https://www.youtube.com/watch?v=wnchZ_Hl89U

This is the first loiter trial (pixhawk installed in its definitive location, tail boom) :

https://www.youtube.com/watch?v=ON90AqYbBxs

Vibartions appear to not being a problem anymore, see attached log pictures
- Steve Smith > Ferruccio Vicari February 25, 2015 at 2:04pm
  
  Hi Ferruccio,
  
  I would love to see some close up pics of your vibration isolation solution on the Vario.
  
  Which engine are you using?
  
  -Steve
  - Ferruccio Vicari > Steve Smith April 10, 2015 at 10:49am
    
    Hello Steve I'm using a Zenoah 23cc engine (came with the stock assembly kit).
    
    Sorry i'm not home right now, so i can't take pictures. Anyway, the mount is very simple to build, just two aluminium plates (1mm thick) with their ends bent up 45°. Put 4 medium hardness ball vibration absorber between them and the job it's done.
Rob_Lefebvre January 9, 2015 at 12:26pm

Hi Ferruccio, sorry I haven't responded to your other communications. I hope to look at your code soon.

In the meantime, here's what I was doing for throttle control on my gasser:

https://github.com/R-Lefebvre/ardupilot/tree/AC3.2_Throttle

This works, but it won't make it into the code as it is. It needs to be refactored.
- Ferruccio Vicari > Rob_Lefebvre February 13, 2015 at 2:16pm
  
  Thanks Rob, i'll give a look to your mods soon, I have been very busy in doing tests with the big bird these last weeks!
  
  Thanks for sharing :-) !
- Ferruccio Vicari > Rob_Lefebvre January 10, 2015 at 9:48am
  
  Hi Rob! Take your time, i'll send you the new code i have compiled so you can have look and advise. About the throttle control, on my fw, i have just added an extra servo mixed with collective pitch, and you can adjust the mid point (through trim) and minimum/maximum. It's very basic view but so far is working good. It would be nice to implement a more accurate curve, 5 points or more, and a throttle hold function (maybe is it worth to implement it through a new flight mode, "autorotation" or so ?!?). I'm at the end of my knowledge on how to improve these in the code and your help would be very appreciated!
  
  I'm actually making some tests with pixhawk and OS GT15 HZ. Very good engine and reliable!!
  - Rob_Lefebvre > Ferruccio Vicari January 16, 2015 at 7:07am
    
    Actually, from what I've seen, that engine is very unreliable. People have the pistons fail regularly. There was a second version, but I'm not sure it fixes the problem.