How to set tradheli 4.4 for the landing detector works well

ArduCopter Traditional Helicopter
1

Hello,

I needed to lower all the I terms, as the uav push i terms at full angle before I take off.

So I already exploded one rotor head due to that.

For the moment I use the old ilmi.

below you have log curves of one neer ground flight for test:

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I cannot find the takeoff message, only the landed message.

stb col 2 and 3 are set at 40% and 60%.

in stabilized alt flight thrO is arround 55%

II want to test the new I terms H_opt but I need to be sure that the I-terms don’t grow until I really take of.

Why I don’t see the takeoff message ?

2

Here, the “not landed” flag:

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image1169×1697 146 KB

It is not a good practice to takeoff before the run-up completes.

3

Ok thank you yes I will pay attention on that.

Following this i set the h_option to zero and when I landed in alt mode i pushed the throttle down to land when landed i don’t released immediately the throttle stick to middle and the collective gone to min collective pitch entering the rotor in reonance, I immediately cutted the interlock and the heli don’t broke….

How to avoid that?

How to land safely?

4

What’s H_LAND_COL_MIN set at?
Normally set this parameter low enough to keep the heli firmly sitting on the skids, but having it set too low can cause troubles. I set this at -2° for symm blades and -3° for asymm blades.
A log where this occurred would help though.

5

I have asym blades, It’s set to -3 deg, but i set H_COL_LAND_MIN to -1… so I don’t understand. I will send you the logs tomorrow .