Finally cleared homeworks. Time to dig this back up.
During all the previous tests yaw is accomplished by differential collective and this caused opposing lateral motion side effect (CW yaw = drifting to right). I added roll compensation code but this resulted in weird tilt when turning and difficulties tuning rudder.
So I try changing to differential cyclic approach.
While bench testing, I noticed an undesirable servo reaction when giving yaw input and full cyclic. It looked like phase angle is varying....so "messed up" is a perfect description.
Still happened after I set roll_factor , pitch_factor to 0 (cyclic output disabled).
With yaw input, swash went from fore-aft differential to both tilting outward when giving full cyclic input (roll/pitch_factor set to 0).
Commented out some lines ... No fix
Put old firmware back in .... Still there (am surprised how I missed that before) <<<Rage Quited at this point
Wanna rewrite them all
I'm going to use AC 3.5 and try to get away with an easy way by not adding new frame type but modifying AP_MotorsHeli_Single files instead.
Will this work?
Will there be any other file that need to be modified as well?