Would you be so kind and had a look at the log file I have attached. I am finally controlling the carburetor of the gas engine the way I need it, but after installing my single copter on a test rig for PID calibration, other things don’t work. I did not have these issues with my electric single copter. I’m suspecting that something went wrong with loading the frame type, or the latest software is not quite the same as older version I used in my electric copter.
To tune PID for pitch, the test rig restricts motion in all axis except for pitch. At rest the copter slightly pitches down. When I give it gas the flaps try to pitch it even further down instead of straightening it up. I have to grab it to prevent it from spinning around.
It is as if the direction of rotation of flaps is reversed - but it is not. Before arming the motor, flaps 2 and 4 rotate correctly. I did however had to reverse direction of rotation of flaps 1 and 4 but they play no role in this tuning (surprises me because in my previous copter (electric) all flaps moved correctly and did not need reversing).
I observed that after arming the autopilot, but before arming the motor, flaps will respond to radio commands for pitch and for roll but not for yaw. They will not respond to throttle either but that’s understandable.
After engine/motor is armed flaps do not respond to any commands from radio and adding throttle even a little bit sends flaps 2 and 4 forward, to make the copter pitch down regardless of copter’s vertical orientation (whether it’s tilted forward or not).
So my main question now is what cases the autopilot not try to upright the copter but rotate it in the opposite direction?
On a side note - in gas engines there is very little thrust till almost 3/4 of open throttle, so it would be helpful if the flaps got activated for auto mode at about 1/2 way up the throttle (or more). Is there a parameter that controls when they go into auto mode?
Gas-single-copter-33.BIN (456.0 KB)