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.


Views: 1806

Comment by CyberCrash on August 8, 2011 at 11:43am
Looks great.

Can't wait to see the video.

Comment by Martint BuildYourOwnDrone.co.uk on August 8, 2011 at 12:01pm

Great to see this taking shape Malcolm!


That looks much better mounted down there on the bottom plate of the Heli. Still think my high tech bubble wrap solution would not look out of place..... :)


Any Heil folk looking for a little light reading and some background information on the sweat, blood and a few of the tears behind closed doors, should check the information in this thread, which has seen Malcolm, Mike, Randy and a few others battling to get these large ships in the air!


I can't wait to see this up and running......................






Comment by malcolm churn on August 8, 2011 at 12:40pm
Only a few more hours and i think we'll be there :) I think by the weekend i'll have a fully flying Helicopter. Just need to tune those PID settings.
Comment by Chad Colt on August 8, 2011 at 3:00pm

I have a logo 400, swinging 550mm blades..  I've probally logged 100 flights on it so far.  Mostly the flights have been trying to get altitude hold to work.  Trying ALL versions of the code,  I have found .36 to be the best for altitude hold. FYI.  But not great.  I have the gimble working great with just two servos tied together for control.. 


FYI  This morning I did a RTL flight.. I came  back to me.  It was abit to agressive in bank angle.  So some tuning needs to be done but it came back!!!!  I did bail out abit early,  but it was heading straight for me....!!!!!  I get some video of the bird in the air soon.... 

Comment by malcolm churn on August 8, 2011 at 3:12pm
Yeah i don't blame you for bailing out early. Great to hear that someone else is getting the ACM to work, i agree with you on the 2.0.36 code, i find that the most stable.
Well over this week, i hope to get to where you are.
thanks for the video :)
Comment by Şuayb TOZMAZ on August 8, 2011 at 4:37pm

That is what i'm waiting. Good job.

Comment by Randy on August 8, 2011 at 6:59pm

Great to see this post!  I think more of us heli-folk should publish what we're doing.


I think the heli really is tougher than the quad to get right, the cross-axis effects are much larger than the quad (i.e. collective pitch affects yaw, yaw affects roll, etc) and the servos add an additional delay (I think).

Comment by Ravi on August 8, 2011 at 9:18pm

malcom. congratulations! for a successful stabilized flight using AC2. the traditional heli's are difficult because of lot of mixing in channels. it is a remarkable achievment to get a stabilized flight. i am working on on align 450 CCPM. i have a long way to go. just ordered a new APM2560 board from sparkfun. i did not want to dismantle my APM2.0 which has been finely tuned and is flying very well on skywalker aircraft and has been fitted inside the fuselage.

Comment by Ben Carson on August 8, 2011 at 10:04pm
Amazing!! well done mate!!
Comment by David M Eno on August 8, 2011 at 10:06pm

I always have loved the idea of turning RC helis into drones, but what keeps stopping me is the level of complication in dealing with the servo mixes.  The quads always looked easier.  Nice job.  If i do it eventually follow your path i think i'm going use a skookum 720 as the heart and do most of my other work on the ground.


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