As some of you know i have been trying to get my heli to Loiter since last year. Today i got the heli to Position Hold for around 3 mins, it would have gone longer but it was blowing a gale, and starting to rain, so i cut it short.

So after a few more tests with this heli, more tuning etc i'll be starting the on the much larger Gas Helicopter, 23cc. 

I tried to download the logs but didnt really get anything out of the APM that would have been any use. 

Sorry about the poor quality of the video, i only had my stills cam with me, but you can see from one shot i'm pretty relaxed letting it fly. The Loiter P value is down to 0.100 which is really low, i may raise it slightly, will wait for a much calmer day to get better results. The CH7 autotrim worked really well, had to do it on  windy day but no choice. 

I'm going build on this test and try to get the razor more stable. 

Thanks to Randy, Robert for the Heli code, Martin @ buildyourowndrone, and all the other programmers, testers, builders,  for all your hard work.

Firstly thanks to Jason for his New Alpha code. 2.0.40. Randy for all the help and Martin who keeps supplying tea

The new control laws that he has implemented work really well. The oscillations have virtually disappeared in stabilise, and Loiter held for over 8 mins with only very slow drift, had to bring the heli back to the start point twice.

I think i need to adjust the I value to get a few more degree's to fight the wind.

Also needed to wait until the GPS got as many sats as possible for the most stable hold.

I set the APM_config.h file so that Loiter had a manual throttle (collective Pitch on trad heli). I added this as well to lessen the lean of the heli. Although i might be wrong and it could be for something completely different.

//////////////////////////////////////////////////////////////////////////////// Autopilot control limits////

how much to we pitch towards the target

#ifndef PITCH_MAX

# define PITCH_MAX 22 changed to 10// degrees

#endif

//////////////////////////////////////////////////////////////////////////////

changed this too as the Trad Heli would not fly well in this mode

#define ALT_HOLD_RP  ROLL_PITCH_SIMPLE to ROLL_PITCH_STABLE

Next is to try Loiter and ALT_HOLD together.

WE also shot some video of martin flying after a rebuild that took us 2 hrs, we decided to close the throttle. One motor didnt fire and we it hit the floor hard. This video is the rebuilt quad really impressed with how quick it was. we had another problem. Watch the vid :)

The aim this evening was to prove the new flybarless head with the ACM, and whether it would make a good deal of difference to the flight characteristics. We flew a full 5 min flight which is pretty good as the Heli is quite heavy now with all the extras fitted to it. Also i use a separate flight and main Power battery. a 2700mah 2cell and a 5000mah 6cell.

So the test consisted of some figure of eights and slow pirouettes in stabilise. After which we flew away around 40ft and gained altitude of around 35-40ft and entered into Loiter Mode. I'm pretty happy with how it turned out. Had one small glitch when we had to switch out of Loiter and regain control, the second Loiter test went a whole lot better, it really seemed to be holding it. Unfortunately we had to land as we have a full flight time of around 6 mins and we didn't want to push the point.

I'll be posting the logs of today's flight in my discussion

Thanks to Randy and the rest of the community....

Been out testing today with my Razor600e.

Wind was Blowing around 8-10mph on the ground, you can hear it on the video.

Testing altitude hold.

I'm still having trouble with the tail control but i think i have the Altitude Hold is sorted out now.

Running Code Version 2.0.38

Had a few small problems with the P value. Oscillations were pretty bad before I lowered it. 

Touched the ground a couple of times.

Had a few small issues when i changed to Loiter mode but i need to talk to randy.

It seems to be holding certain values when i switched out. Tried after i made the video to do some more Alt_hold

and it kept going up until it hit the same level as it was when i had it in loiter.

But i think i'm getting there.

Will post the Log file in my discussion.

I met up with martin today (buildyourowndrone.co.uk) to take some video of my Arducopter Traditional Heli and his Quad.

I have got rid of all the wobbles and oscillations, After a few days of talking to randy, he made some changes to the code in the trunk (svn?) you will have to excuse my ignorance. I uploaded it and could see that the changes he made had drastically reduced the swash plate jitters.

I am now only working on the stabilise mode just so that i can get near to setting the full gps hold.

The swash plate is set for full 10 degree cyclic, and the collective pitch is +10 - 10 which gives really good control, as much as i would normally run in my other Helicopters. When flying you will see that when i come hard off the cyclic there is a small bounce but nothing to worry about as the swash levels itself. I think even in a steep dive the APM would level it with no problem at all.

So the next job tomorrow is loiter mode (gps + altitude hold). 

To any one who is thinking of using the APM in a Engine helicopter, i would have no problem fitting it, just make sure you use gyro pads to insulate the viabrations. I'll be installing one into my SpectraG camera ship.

Martin brought his Quad to the field, i was really impressed with how it flew in the windy conditions.

I may well have to invest in one once my helicopter is finally sorted out.

Thanks to Randy for all his hard work with the code and also to martin :)

I finally managed to fly my Arducopter Modified Helicopter. Very pleased with todays test. Only hovering but its a great start. I have been battling severe ocscillations. Its rock sold now. After lots of work and late nights.

So the next step is to get some footage and add it here.

The plan is to finally Mount a gimbal camera and use the gyro cam outputs of the ACM.

Lots of things planned FPV etc....

I know there are a few Heli Guys lurking so thought i'd start a blog feel free to chime in :)

Got to say a big thanks to MartinT of buildyouowndrones, huge help spent many hours talking and working with him.

I wrote a manual with the help of mike, just press here

Managed to isolate the ACM from viabrations using Gyro pads between the ACM poly carb plate and the frame.

It now floats above the frame.