@bnsgeyer wrote:
I'm looking for some assurance that this behavior is considered normal or the result of a poorly designed test for trad heli community. I loaded AC 3.4.5 from mission planner to my helicopter with pixhawk. I set up the helicopter and even have flown it with this version of firmware. I had ATC_FF_ENABLED=1 and the pitch and roll accel max values at 162000. This test was conducted with the helicopter on the bench with motor ESC disconnected. I armed the pixhawk and raised the collective to half stick. Then I put in full right stick and kept it there. The swashplate initially tilts to right but after a second it flips and tilts to the left. The longer you leave in the stick input, it may tilt right and left a few more times. This seems like an unexpected behavior.
I've tried the same test with AC 3.3.3 and this behavior is not present. The swashplate tilts in the direction of the stick and stays there.
I have a theory but need Randy or Rob to confirm it. So in AC 3.3.3, there is a piece of code that limits the overshoot of the target angle to the actual aircraft attitude which prevents the angle from getting beyond 180 deg in roll. I can't find a similar piece of code in the AC 3.4.5 firmware. So I suspect the issue has something to do with the target angle exceeding 180 deg.
The big question is whether we should be concerned with this? My guess is no since both the multicopters and helicopter firmware builds use the same attitude controller.
Here is a log file of my test.
2017-03-11 19-57-22.bin (1.2 MB)
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