Thursday, June 25, 2020
Saturday, June 20, 2020
Arduheli
Setup Flybar Heli
Setup Ardu Heli
Part 4: https://www.youtube.com/watch?v=EToSbHvbnq0&t=612s
Setup Ardu Heli using QGround Control
Credit to owner
Manual APM Arduheli H1 - https://sites.google.com/site/mooksplace/Home/setup-manual
Align Trex 500 esp Manual - https://www.manualslib.com/manual/905034/Align-Trex-500esp.html#product-Trex%20500ESP
Log.
22/10/2020 Hari ni terbakar dua analog servo. Suspek sebab test loiter, dan auto, (takda kipas lagi)..mgkin sebab tak set pun end point...sebab masa throttle increase, servo turut bergerak...dah sampai hujung, tak stop...rugi rm60..sebiji rm30.
13/7/2021 Kalau tengok tarikh di atas, dah 9 bulan takda progress untuk arduheli. Servo dah beli pun tak ganti lagi. Dok sibuk dengan hal lain sama, projek uav, dan pkp 3.0. tak boleh nak pi kerja menyebabkan takda progress yang boleh dibbuat utk projek ni. Harap harap bateri tak kembung...kita mula balik tengok satu2 secara teori.
1.0
A. Single rotor = Trex 500.
2.0
A. Ardupilot = Pixhawk 1
B. Gps = Radiolink SE100.
C. Heli type = Single rotor with conventional tail
D. Flybar or flybarless = Flybar
E. Single servo H1 Swash types.
F. 8 Channel Rx Tx = Flysky i6 flash 10 channel
(elevator, aileron, collective pitch, rudder, flight mode, tuning knob, auxiliary function switch, throttle hold).
G. Intention to use flight mode other than acro and stabilize = Loiter, Auto, Circle.
H. Speed controller have a governor mode = bought esc hobbywing 60A with governor for electric heli. For electric helicopters ArduPilot will set the throttle for the ESC governor to hold the headspeed constant at all times. Copter will also control pitch of the main blades automatically along with its internal throttle control system.
I. Digital Servos = should use digital servos. This is because digital servos are faster response time, more accurate positioning, and your helicopter will fly much more accurate and stable with digital servos. At this time we only have analog servo. Will change to digital. From previous experience, it can be seen that the analog servo going back and forth very fast in which we can see this servo have problem with the data rate, wrong servo used. So need digital servo after this. 3 digital servo.
J. Battery = it is safer if you can have a separate motor battery and radio battery on electric helicopters. Electric motor power systems can have very high power draw in helicopters. Having separate batteries will prevent “brownout” of power to the flight electronics. = We will add one more battery for the rx which requires one additional bec/esc for the rx.
A. Recommended to load the firmware in autopilot before installing it into frame. = Done.
A. We have fixed the pixhawk under the main frame of the helicopter. It is fixed via a vibration damper that is fixed to the bottom of the main frame of the helicopter.
Vehicle type configuration:
FRAME_CLASS = 6 (Heli) done
H_FLYBAR_MODE = 1 (Flybar) done
H_OPTIONS = 0, Use Leaky 1, low speed, take off and landing. Check!
General Swashplate/Collective setup
These set the cyclic max, allow bench testing of blade angle setup and setting features of the swashplate/Collective.
H_CYC_MAX = Maximum cyclic pitch angle of the swash plate. Typically this should be 6 - 7 degree (measured blade pitch angle difference between stick centered and stick max deflection). Adjust the range in box until get the desired blade pitch angle for the pitch and roll axes = increment 100 | Range 0 - 4500 = link ;
Stick position at high (max)/ throttle100%/ Pitch +12°
Stick position at Hovering/ throttle 70%-75%/ Pitch +5° ~6°
Stick position at low/throttle 0%/ Pitch 2°~0°
H_SV_MAN : Manual Servo overide for swash set-up. Must be 0 (Disabled) for flight! = Values 0 meaning Disabled. = Need to recheck value should be zero.
H_SV_TEST : Boot-up Servo Test Cycles. Number of cycles to run servo test on boot-up = The servo will twist the arm min and max in cycles = done with 3 times.
H_HOVER_LEARN : For advanced user : Enable or disable automatic learning of hover collective = need to check and set 0 for disabled.
H_COLL_HOVER : This parameter is for advanced user. Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX, range 0.3 to 0.8. = Leave this as default for now.
Single Swashplate/Collective Setup
These setup the configuration of the swashplate and collective travel.
H_SW_TYPE = 0 = H3 (generic, 3 servo only)
H_SW_ENABLE = automatically enable after H3 type selected.
H_COLYYAW = Collective-yaw mixing. Feed-forward compensation to automatically add rudder input when collective pitch is increased. (value that need to be adjust to provide input to rudder tail during collctive increase.) = Use default value for now.
H_COL_MAX = Maximum collective pitch = Highest possible servo position in pwm for the swash plate = Need to do measurement after this
H_COL_MID = Zero-thrust collective pitch = Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades) = Need to do measurement after this.
H_COL_MIN = Lowest possible servo position in PWM microseconds for the swashplate = Need to do measurement after this.
H_SW_COL_DIR = Collective directions = Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed = Need to be confirm.
H_SW_LIN_SVO = Linearize swash servo = Need to check and follow default value
Custom Swash Plate Configuration
For custom servo placement. Check every values is necessary.
H_SW_H3_SV1_POS (AP_MotorsHeli_Single): H3 Generic Servo 1 Position = default value.
H_SW_H3_SV2_POS (AP_MotorsHeli_Single): H3 Generic Servo 2 Position = default value.
H_SW_H3_SV3_POS (AP_MotorsHeli_Single): H3 Generic Servo 3 Position = default value.
H_SW_H3_PHANG (AP_MotorsHeli_Single): H3 Generic Phase Angle Comp = check if pitch forward heli induce roll.
Rotor Speed Control Setup
The speed of rhe rotor controlled by Ardupilot using the following RSC modes.
H_RSC_MODE = Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off) = set value to 2 = Governor. //Reference from other users.(trex 550/600) // Need to read this Reference too.
Thursday, June 18, 2020
Bluetooth to Telemetry Bridge
1. Must convert the bluetooth hardware to 57600 Baudrate to match up with the baudrate from the 3DR telemetry.
2. Then using the bluetooth hardware, solder it to the 3dr telemetry.
How to setup bluetooth using AT Command
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