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Strange Heli Mixer

(Twisted Wings) #1

I have configured the swashplate on my Raptor E550 like this:
H_SWASH_TYPE 0 (H3 CCPM)
H_SV1_POS -140 deg
H_SV2_POS 140 deg
H_SV3_POS 0 deg

H_CYC_MAX 2500 cdeg gives -7°/+7° cyclic pitch on aileron (roll)
but -12°/+11° on elevator (pitch).
It looks like servo3 (motor 3) travels too much.

Matek F405-Wing
ArduCopter 3.6.8

arducopter-20190518.param (15.7 KB)

(Bill Geyer) #2

You should have a swashplate type called H3-140. That is the type you should choose. That should fix this issue.

(Twisted Wings) #3

That was my 1st try but it did not not work, see here.
Pitch was inverted.
It seems H3_140 assumes this one and does not respect servo position.
image

I have this one.
image

(Bill Geyer) #4

In that case you will use the H3-140 swash type and you have to reverse the servo directions by setting SERVO1_REVERSED, SERVO2_REVERSED, and SERVO3_REVERSED to 1 and reverse the collective direction by setting H_COL_CTRL_DIR to 1

That should fix it.

(Twisted Wings) #5

I’ve tried that already. That fixes the pitch but reverses the roll.

(Bill Geyer) #6

@ChrisOlson will have to chime in on this. He’s the master mind behind all of the swashplate setups. you might just have servo’s 1 and 2 swapped. meaning you have to swap the plugs in the servo rail of the flight controller.

(Twisted Wings) #7

you’re the man! Swapping servo 1 and 2 and reversing servo 3 did the trick.
Thanks alot.