It flys!

ArduCopter Traditional Helicopter
1

Hi Rob,

I loaded Puneetpx’s 450 configure file and ran through the mandatory hardware setup again and everthing worked ok. In the basic tuning, I moved the roll pitch slider amost all the way over to get good swash plate movement and went outside and hovered it around a little. I am using H1 and Flybarless so Acro works, a possible bail out for me if somthing goes wrong. I understand flying in the flybarless mode with a flybar, I have two intagrators working independantly but It seemed ok. on this machine I can change the bell-hiller ratio to remove a percentage of it if needed. I did get it to wobble a little like the gain was a little high out of ground effect if I “bumped” the cyclic stick and made a quick move. I was expecting much worse, not bad for using 450 PID’s.

When I switch to alt hold, on the bench the swash drives down maybe 25% or so. not all the way to the bottom or top like before. Is this normal behavior?

Somebody needs to make a video of what is normal on the bench with a proper setup and what to expect when the flight modes are changed.

Progress is nice, on to the tuning process,

Thanks again,

BV

Thanks for for all of the help

2

Hi again,

I tuned the Rate P I D’s using channel 6. This is the only way to do this, it would have taken me a year to do this without moving the gain on a seperate channel while flying it.

I tracked the blades, they were a little out and captured the vibration as described in the WiKI.

I still do not know what to expect in Loiter and Alt hold. With the system armed, the swash drops and I have nothing on the sticks. In Alt hold, the collective drops a little and I have cyclic. I still wonder if this is normal.

I attached my x and y vibration plot if anyone has any comment. No sense moving any farther if I have a problem.

3

Bobby, those vibes are higher than I would like to see, but they are within limits, and should be perfectly flyable.