I did the servo page as you mentioned before but never able to make work main motor. Hence, tail motor as well.
Yes, roll trim is 1250 cuz I mounted servo stick in a little wrong so I fixed it in that way. I only need small amount of roll so 1050-1450 pwm range is enough for me. I tried to assign something other than Ch1-2-3-4 on joystick but mission planner never sees other channels on my rc. I can see my rc can send signal on ch7 let’s say but mission planner never catches it. So, I can’t assign motor interlock to anything other than ch 1-2-3-4. Maybe that’s the issue.
Also, there is another issue with tail motor. With DDFP or servo only, it works with max pwm value and min pwm value not any other pwm between them. Is it wiring problem or something with parameters?
Again, i think this is because you aren’t handling motor interlock correctly
Do you have more channels in addition to 2 joysticks on your controller that are not switches? Any sliders or knobs? I normally use the Interlink DX controller that comes with realflight. It has a knob that can assign to the interlock channel. You will need a controller that supports at least 5 channels that are not switches.
The SERVO1_MAX is only 1425 which seems very low for an ESC servo output. I would expect this to be 1100 to 1900.
Well, I supposed that too but I had to insert Rc receiver to helicopter so I passed that option for now. Since, you are expecting this too, I will buy RC receiver and try with that way.
I do but somehow the mission planner can’t see those inputs. Qgroundcontrol can see but I can’t assign those inputs to any action. So, I will assign one for Motor interlock, one for arm/disarm. What else should I assign?
It is because tail motor was working max or min(not working) like cyclic motor but then it solved somehow (started from scratch parameters). I already changed it to around 1500 during test.
So I will insert RC receiver and will control my helicopter with RC so that I can assign inputs for motor interlock and etc. If my main motor wired to Servo #2, I need to change Servo #2 on params for HeliRSC and will not use Motor 3, right? What else should I try? Thank you so much for your interest as well.
Also, what would be reason to motor spinning without arming? ESC or some param values? I couldn’t find MOT_SPIN_ARM param and I think it is because heli setup doesn’t have.
I managed to run main motor with HeliRSC as you described with motor interlock. Now, I’m facing DDFP problem and will look into this. My tail motor doesn’t work with helirsc as well. I expect tail motor (motor 4) to work with helirsc. What I mean is that, I expect tail motor to run with same or with some proportional to HeliRSC. When using DDFP, where does it take reference while making proportional to tail motor? Is it heliRSC or something else?
In wiki, there is this paragraph for DDFP:
The
SERVOx_FUNCTIONof “32” (HeliTailRSC) should be assigned to the servo channel (default is output 7) to which the tailrotor ESC is physically connected.
However, it should be Motor 4 instead of HeliTailRSC. Am I wrong?
Great. And the tail motor configured as DDFP will also abide by motor interlock. So you have to arm and then enable interlock before the DDFP tail motor will spin.
Not sure what you mean here. Did you plug the tail esc wire into the heliRSC servo output to see if it would spin the tail motor?
It uses the motor 4 PWM output just like a motor for a multirotor would use it. You may have to calibrate the esc manually which would help set the min and max limits of the Servo parameters.
You are correct. It is motor 4. The HeliTailRSC is only used if you are using a constant speed tailrotor with a servo to control the tailrotor blade pitch.
I did some experiments and I found a little bizarre thing. At the beginning of this configuration, my main prop and tail prop was working without arming (which are connected to esc’s). After enabling HeliRSC on the ardupilot, main prop doesn’t work without arm and motor interlock. This is awasome.
However, my tail motor (which is set to ddfp) works as intended when armed and motor interlock enabled, but it works with 1500 pwm (max value assigned) which is a lot. I believe this is esc related issue. My ESC supports Blheli_s and tried to check what I can change but no lock. Do you think this issue is esc related? SERVO_DSHOT_ESC is 0, SERVO_BLH_OTYPE is also 0.
I did and it worked but main prop (which is assigned to motor 4 didn’t work.)
I’ll be also check that out right now.
Thank you so much for all the help so far.
For anyone, I did solved it. Ty for all the help