T-Rex 450 flying automatic Missions
APM 2.0 firmware 2.7.3 MediaTek and barometer
The non flying weather took a little break; this was a good time to test Mission flying with my T-Rex 450.
The sea breeze and the SW wind were fighting each other, so the flight was at times quite bumpy. As you can see on the video, the Heli was battling it very well, and the APM 2.0 with firmware 2.7.3 did a great job.....
lots of thanks to the DIY Heli team!!
The Mission was straight out, and then coming back in a zigzag route with sharp turns.
I reviewed the logs at home, and the Mission was very much on track.
I’m really happy with this achievement!!!
A small glitch I like to mention. When the Heli likes to land at the end of a Mission ( I know this is a bug) and I interrupt that and switch to Stabilize and then back to Loiter, the heli will drop to the ground. I experienced it two times. After going to AltHold and then to Loiter, everything works. Looks like the landing information have not been reset, I don’t really know.
Comments
R_Lefebvre, you have also done great efforts for APM with Heli, nice to see the first video, heli was dangerously low, you were really lucky.
I’m just speculating.....
In a fully blown stall a great deal of control is lost, and a pitching up would have much much less slowing down effect than if the heli flies in a normal condition. What I can say, it is much worse than to stall with an aeroplane, there you have still another control surface to get you out. The best is, not to exceed the max Speed.
Doesn't the pitch back cause it to slow naturally? Or is it violent/destructive?
We should open another discussion, this is an important topic.
A heli in hover needs the most energy, if you speed up it gains lift to a certain point and then loses it gradually until the blade stalls, were everything turns bad.
So it's a pitch back? That means it's a self-correcting problem, rather than a cascading problem "do not pass this point or you will plummet out of control" thing? That's good.
Lift is lost at all speeds, or only >Vmax?
And yes I recall, HeilCommand has a provision to prevent pitching up at high speed.
Yes you are right the action and reaction in a circular motion is a 90degr offset. So if the blade backwards stalls, the heli should pitch up. But of course the lift in general decrease as well so the heli also goes downwards.
Yes, I'm aware of the blade stall issue. I believe the problem occurs beyond 130 km/h on my heli, and I wouldn't be surprised that it was going that fast. It was going very, very fast! I've flown it at 90, and I think this was faster.
Also, I think I recall that the stalled blade results in the copter pitching down? Making it worse?
There is a max speed a heli can fly, and if he reached that boundary the rotor blade turning backwards will stall and the heli rolls to one side, depending the direction of the rotor. But I don’t think you have reached that speed by far.
That looked scary.... but your first two legs looked good and I think they were the same speed.
Maybe it tried to land, I had that issue at my 1 mission, until I realised there is still a bug in 2.7.3
Of course I used a low 2m/s speed from the beginning and a good advice is, lower I max.
I experienced no such issues when I tried higher speed in AltHold pushing the stick hard forward
to fly high speed around the field. It did very well in holding the altitude.
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