I have a Vario Bell230 with 1.8 meter rotor. I bought this second-hand and had flown it with a normal FBL system.
Now I have installed a Pixhawk 4 mini with GPS and adjusted it carefully.
For the parameterization I took the parameters from the tuning pages and the improvements from Bill.
I only set ATC_RAT_RLL_P and ATC_RAT_PIT_P to 0.024.
I also use this value in my TREX600 with Pixhawk 4 mini. This woks in the Trex.
Do not know where I have read to these.
The Bell has an H4-90 linkage, but I only use three servos. Servo1, 2 and 5.
Everything works fine on the workbench. The FC counteracts correctly.
A few days ago I made my first test flight in almost windless weather.
I took off in “Stabilize” mode. The helicopter was very restless. I then switched to “AltHold” mode and then to “Loiter” mode. In “Loiter” mode, the helicopter immediately nodded and rolled back and forth wildly. After a few seconds I switched back to “Stablize” and landed the helicopter shortly afterwards.
I tried to find out via the logs what the cause of the behavior is.
With my little knowledge, however, I have not found anything.
I’m probably looking in the wrong place.
Here the parameter file
and the log file.
I need your help. Thank you in advance for that.