@Rob_Lefebvre wrote:
Hello all,
Just wanted to start a thread where anybody helping out with the Ardupilot 4.0 testing of Heli can come to share info, and anybody else can follow along. I’d encourage anybody to help out that can. This is a pretty important release with the change from Nuttx to Chibios, and all the advantages that will bring. I’ll be doing a lot of testing using RealFlight which I have found to be really very good for simulating. Best part is crashing is free! Later on I’ll be moving to real systems.
So without further adieu:
H_RSC settings have been rescaled from 0-1000(uS PWM) to 0-100(%). I generally think this is a fine idea although I do like a little more precision. I wouldn’t really want a float, in the past I have liked using fixed decimal point floats ie: 4-digits with a single decimal point. (ie: 100.0 represented by the integer 1000). But I digress. The issue I found was that there is no scaling check for users coming from an older revision. Two problems emerge. First, if you leave a large number like 800, the runup ramp happens REALLY fast. This could harm the heli. Second, H_RSC_Crit never goes above the (default) 500, and so you can never engage an auto-collective mode. We should do a pre-arm check to make sure these are in range.
Initially I couldn’t get to the Heli setup page in MP. Later on I could. Not sure of the deal here.
When doing a parameter reset, I couldn’t arm. I got a warning “RC9 Min is greater than Trim” for all channels 9-16. I had to go and fix them all individually. I believe this is not just a Heli thing, and might actually be more to do with MP. During the calibration process, it seems it set the RC9+ Min to a really high number, as I didn’t have a 9 channel radio to move these.
Can’t arm in Auto. I think this has always been there. Though I now wonder why. But something that is definitely new, is you can’t take off in Auto at all. I used to arm in Stabilize, switch to Auto, start the rotor, and it would take off automatically after runup. This process doesn’t seem to work anymore. I have to arm in Stab, start the rotor, wait until runup is complete, then switch to Auto.
I had one instance of disarming while still flying. I was coming in for a landing, and it disarmed. I believe there have been some changes to this logic recently? This is a surprisingly difficult thing to get right, we’ve been over this issue many times through the years.
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