I cloned the latest Ardupilot software and run it on the SITL simulator. Everything works find and I can see that the default setting is a quad-copter because in “config.h” FRAME_CONFIG is defines to be MULTICOPTER_FRAME.
However, when I changed FRAME_CONFIG to be HELI_FRAME and rebuilt the software, it cannot run on the simulator any more. The Console displayed UNKNOWN mode. Does that mean the simulator only works for quad-copter?
Many thanks for the suggestion. I tried it and the simulator can be launched correctly. However, the ARM icon is always red on the Console after I use command “arm throttle”. So the helicopter cannot take off. Can you advise how to solve the problem?
Many thanks for the suggestion. I tried the commands and helicopter can be armed. However when I issue takeoff command “e.g., I used takeoff 20”, the helicopter does not take off and it becomes disarmed after a few seconds. Any further suggestions? Many thanks indeed.