I’m making Align450 with pixhawk mini.
Firmware is 4.0.7 latest(but I have same problem in 4.0.5)
I can fly acro and stabiliz mode, that is no problem.
But , when I switch to loiter mode, the altitude of the helicopter went up more and more.
RC 3 PWM is 1094.RC8 is in external govoner rmode 1579.
Please let me know solution of this situation.
Please post a link to your log file (*.bin) We will need to see all of the data in order to determine the issue.
Thank you very much for reply.
I uploaded the bin file.
I’m sorry. I did not set the permission setting.
I re-upload the file.
Thank you a lot.
I think your issue deals with your setting for H_COL_MID. Here are your settings for collective
H_COL_MID is used for two things
- it is the lowest collective setting that the autopilot can command in non-manual throttle modes like ALTHOLD, Loiter …
- it is the zero point for the mixing of collective to yaw
In your case, since H_COL_MID is set so high, the autopilot can’t reduce the collective to maintain zero climb rate.
So in the swashplate set up instructions (here), the users are instructed to set H_COL_MID to the PWM value that corresponds to collective blade pitch for zero thrust. Out of curiousity what is the corresponding blade pitch angle settings for H_COL_MIN, H_COL_MID and H_COL_MAX.
I hope this helps,
Thank you so much for your big help.
I’ll try adjusting the H_COL_MID on next weekend.
And I report the result here.
I am grateful that you help me.
Thanks a lot.