Another recent accomplishment with the Helicopter version of Arducopter was this full auto speed run which achieved a top speed of 30 m/s or 108 km/h. This was done using 3.2 which features improvements to the helicopter flight dynamics code, as well as Spline Waypoints which is a general Arducopter feature. I find the Spline nav really helps helicopter flight as it avoid jerking the helicopter which is very important at high speeds.
108 km/h in auto mode is a good accomplishment given that the absolute maximum speed this helicopter is capable of is 140 km/h, based on Retreating Blade Stall. This performance wasn't a fluke either, as not only do I do 2 back-to-back runs in the video, I did in fact run this mission 10 times while preparing to shoot the video.
For reference this is a relatively small helicopter, a Trex 500, which weighs only 2100g and is 90cm long.
Comments
Amazing!
Yep, that's exactly where I put it.
Stubugs, here's where I mounted mine, there's plenty of room on the side of the frame, sounds like Rob's setup is similar:
Do you have any pics of where you mounted pixhawk gps
Stuart
No major difference with rc10. But I'm not using anywhere near stock PIDs. I'll try to get you the file.
Rob, outstanding work on the 500.
Sounds like I've built a T-REX 500 very similar to yours, also mounted the pixhawk on the side of the frame, and have had difficulty with the PID tuning so far. So, if I understand correctly, you're running the 3.2 rc9 firmware with minimal tuning? When I check the beta firmware, only 3.2 rc10 is available, any major difference between rc9 & rc10?
Thanks,
Jeff
Rob, I just started a two week vacation. Come October 6 or so I will be flying again. I will be happy to load 3.2 rc9 then and give it a try. Good work again!!
Regards,
David R. Boulanger
Very impressive! And I know from experience: http://vimeo.com/6369217 I think we were spinning ~1300 rpm on that 700 sized heli. I don't know why we didn't do an auto takeoff that day.
I'll try to put up some pictures of the helicopter for those who have asked. It is a surprisingly easy build on this one. The Pixhawk is simply stuck to the side of the frame using the 3DR foam mounting pads. I was surprised at how well it performs. But, reducing vibration at the source is pretty important with such a simple mount.
Gary, I've tossed around the idea of making an electric X3...
David: I'm using standard 3.2 rc9 dispatched right from Mission Planner. I would like to open it up to others for testing at this point. I've flown quite a lot of flights on it and am pretty confident in it. I am using the EKF. I'm even using it on the Gasser, that wasn't quite standard rc9, but I just had to add some code to control the throttle servo, that's it. The throttle servo control won't be in 3.2, but 3.3.
Hi Rob,
I'm impressed and it just so happens I have a spare Trex500 and a brand new Pixhawk just waiting to be used. Would you mind sharing your exact Pixhawk and copter configuration so that I might try to get mine to do some of the same things. It has been grounded for a while waiting for this opportunity actually.
Great work
Rick
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