Hi!
I know that SERVOn_MIN
and SERVOn_MAX
are used to set the max travel (mechanical) of each servo. But lets take this example: my plane has full travel on all servos (980us to 2000us) and no problem with that. But for convenient flight, I’ve limited my aileron travel to 60% of full servo travel (lets say, for example, from 1100us to 1800us). Should I do the Radio Calibration
procedure with my TX (radiomaster TX16S) configured for full travel (980us to 2000s) or with limited rate (1100us to 1800us)? That was not clear to me in the Ardupilot manual.
Limit the servo travel, not the radio. Especially if you ever plan to use any mode other than manual. And turn off all trim in your radio.
If you need to have reduced response for MANUAL I would recommend using MAN_EXPO_*, every other mode (except STABILIZE which activates stabilization only with stick centered mixes horizontal flight command with stick inputs) will use as little or as much control deflection to reach desired rate and attitude targets as necessary automatically compensating for airspeed effects.
If you decide to use rates you have to calibrate RC range (which is often different from servo range) in the highest rate and keep in mind that with lower rates in assisted modes attainable setpoints will be limited and dead zones will be larger. If using a programmable radio you should be able to configure rates to only be active in MANUAL.
Edit: corrected description of STABILIZE
ok, I think I got your idea. My concern was if I calibrate with limited rate, the autopilot (let’s say in cruze or RTL) and with wind gusts or high winds wouldn’t be able to correct the plane because of low movement of servos…that what I was thinking…but looks like it’s not the case.
So I’ll calibrate with full movement, then autopilot take care of using little movement as needed and me, while in manual mode, set a low rate in my TX (only in manual mode). That’s my plan. I think its right, right?!
Pretty much yes, Radio should send signals in 1000-1500-2000 range as Ardupilot maps from RCin range to RCout range using trim. For example if you have RCin 1000-1500-2000 and RCout 1250-1500-2000 (for example aileron with differential deflection) you will get mapping (assuming 0 deadzone and no reverse):
1000→1250
1250→1375
1500→1500
1750→1750
2000→2000