No such mode 26 (Heli_Autorotate)

ArduCopter Traditional Helicopter
1

Hi.

Trying on the bench TradHeli v4.6.3 on a Pixracer R15 flight mode 26 (Heli_Autorotate), having

H_RSC_AROT_ENBL=1

I get message No such mode 26, even with motors on (helicopter on my hand)

image
image666×1030 133 KB

This mode appears documented in v4.6.3.

I suppose that having H_RSC_AROT_ENBL=1the program fits on PixRacer R15.

If I choose an absurdly big value for a fligh mode, it gets clamped to 127 and a very similar message appears:

image,

so apparently that flight mode is not possible, even documented.

What am I missing? Thanks.

2

Hi @Webillo ,

Flight mode heli_autorotate is only available in SITL for now.

While setting:

H_RSC_AROT_ENBL=1

allows you to perform manual autorotations with fast motor respool for power recovery.

1 Like
3

Thanks: independent things. Explained here. I suppose on source:
// Autorotate - autonomous auto-rotation - helicopters only
#ifndef MODE_AUTOROTATE_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if FRAME_CONFIG == HELI_FRAME
#ifndef MODE_AUTOROTATE_ENABLED
# define MODE_AUTOROTATE_ENABLED 1
#endif
#else
# define MODE_AUTOROTATE_ENABLED 0
#endif
#else
# define MODE_AUTOROTATE_ENABLED 0
#endif
#endif

4

I would add to Ferrucio’s explanation that automatic autorotation isn’t considered mature enough for field use. See Autonomous Autorotation — Copter documentation

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