I am attempting to fix the flybar acro code, wanted to get it out with the upcoming 3.1.3 release, but I'm in a bit of a pickle. It compiles in Arduino, but won't compile in Make for PX4. I assume it's just some sort of annoying problem with Make. I only have PX4/Pixhawk on my helis now, no APM's, so I can't bench test. I also don't have any flybar helis, so can never flight test it in any case. I have uploaded it to an APM, and it does load.
So, I guess it's up to you guys.
This is based on 3.1.3. I have made some changes that should allow *direct passthrough* of servo control to the swash plate with absolutely NO PID operating, when in Acro mode with Flybar mode selected.
If anybody wants to give it a shot, I'd appreciate it. Remember, this has not been bench tested, or even test flown. Do not attempt to fly it until we have confirmation it works!
This can be easily uploaded to an APM using Mission Planner. Just go to the firmware screen, and in the bottom right, you'll see a link called "Upload Custom Firmware". Click that, and then select this file, and it should upload.
There is no need to redo your parameters, or erase/reset parameters, or any of that. Just upload it, bench test it, then go back to a stable release before flying.
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Is this for your flybar heli? I don't have much guidance on that. But FWIW, I think I'm running 0.080 on my 600 FBL, and IIRC, as high as 0.120 on another.
But those numbers are from my current improvements to the rate control code. With the old code you'd be using, I typically used 0.050. Again, for flybarless.
So, without worrying about specific numbers, you should be able to keep turning up the FF's until it goes unstable. It's similar to P that way.
has this been rolled in the current version now?
Cheers
Stu
Stuart,
No, it's not in master yet I think. I'm pretty sure Rob is planning on getting it in there for AC3.2 but I'll leave it to him to confirm.
Yeah, it hasn't yet...
Unfortunately, I actually lost the code somehow, so that binary is all there is! But at least it confirms what the problem was. For 3.2, I have to solve it a different way because that part of the code has completely changed anyway.
I don't remember writing that in the wiki (not saying I didn't, but I don't remember it). I'm not sure that's correct. Certainly it's not the way I operate, and based on what I know of the code I'm not sure how that could work as it describes.
As far as I know, there's no way to make the heli not jump, if your hover point doesn't happen to be in the middle when in Stabilize mode. Most of mine will jump. I just anticipate it on mode changes, and adjust the collective stick accordingly.
Actually, if I understand what you've done, this isn't quite right. The "zero" button should be pushed when when you are at zero collective pitch. If you want to change the hover point, that's best done with the Min and Max collective settings, in addition to the Col_Min and Col_Max.
Also, you should set up the ColYaw, which is collective-yaw compensation. This should effectively prevent the tail jumping when the collective jumps. Or at least greatly reduce it.
The problem with what you've done, using 4-5 degrees as the "zero" point, will mess up the way ColYaw works, and I don't think it'll move the hover point anyway.
It may also be important whether it thinks it's landed or not. Raising the pilot's collective control (aka throttle on a multicopter) above 50% will temporarily clear the landed flag but it will likely return to "landed" once the throttle goes below 50%.
Jim, the system is actually smart enough to guess if it's in the air or not. We have that code in there. It's looking for altitude movement. If the altitude stops moving while the collective is full down, it thinks it has landed. This can look weird on the bench. But rest assumed, I have hours and hours and hours of flight and I've never had a mistaken in-flight shutdown in AH mode.
As I just wrote, I think the issue is something you're doing with your ESC control.
This is basically normal. The swash will be stuck down in AH mode unless it's armed and... I think the motor has to wind up at least once IIRC. Same with Loiter. And you won't have cyclic control in Loiter, that's normal. You should still find that it stabilized however, but it just won't react to stick input until it's armed.
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