Re: Documentation for Librepilot on a helicopter
« Reply #30 on: April 15, 2017, 04:31:25 pm »
Yes, you can only save FC settings with FC disarmed.

jwgera

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Re: Documentation for Librepilot on a helicopter
« Reply #31 on: April 15, 2017, 06:39:07 pm »
Thank you guys for the feedback.  I incorporated them below.

You didn't respond on the section regarding using the tx throttle and pitch curves.
Is there anything needed so the fc will use these and not the curves in the fc?

As a side note on Android Librepilot, I did disarm but my values didn't get permanently stored
on the fc.  I think I may be having a connection problem. It did save on one of my attempts.
I will have to dig deeper to find the problem I am having there.

******************************
Revised version:

Setup:
Assemble Quadcopter
remove gyro if installed
Connect receiver to servos
Note: It is recommended that the motor is not attached mechanically to
      the helicopter during setup to avoid an unexpected rotor spin up
********************
Spektrum dx6i transmitter setup:
New model: Helicopter
d/r expo 0 100% inh
    1 100% inh
Travel adj : 100%
   1 Throttle
   2 elevator
   3 aileron
   4 rudder
   5 Gear - used for fmode
   6 Flap - used as collector
sub trim: 0
Gyro: inh
Throttle curve =default (all 1 to 100 except throttlehold=0)
Pitch curve = default   (all 1 to 100)
SwashMix inh
mix1=inh
mix2=inh
revo mix:0
reverse=set directions as desired
swashtype:90
Throttle cut =inh
d/r combo=inh
bind tx to rx
center servos
turn off tx
*********************
mechanically Center swashplate
   After Servos were set at midpoint using tx
        Swashplate at mid point
   connect servo arms close to horizontal (Adjust control rod lengths if necessary)
**********************
disconnect servos from receiver
connect cc3d flight controller
************************
ESC setup:(use instructions beeps, or esc programmer) blades removed
brake:on
Battery type: lipo
CutoffType: cut off
Cutoff voltage : middle
Startmode:soft
Timing mode : low
Governormode: on
************************
Librepilot setup
connect to computer usb and mainport
Upgrade firmware (erase all setting)
select pwm or what applies to your setup
cancel wizard
lp:configuration-Vehicle
   select helicopter
lp:configuration-Vehicle - basic settings:
   SwashplateConfig:  ccpm 3 servo 120
   servow ch1, servox ch2, servoy ch3, tail ch4, engine ch5
   swashplate w=180 x=300 y=60
   collective Pass throught checked
    Collective, Pitch, Roll Slide bars all set at initally at 50%
level flight controller
   lp:configuation-Attitude: see https://librepilot.atlassian.net/wiki/display/LPDOC/CC+Attitude+Configuration

Turn on Tx and battery to Helicopter
lp:configuration-Input
   set channels 1,2,3,4,5,6
   Manual Calibration (move slowly)
lp:configuration-Ouput
   Check directions of all servos
   Reverse if needed so swashplate moves in desired directions

   Setting swashplate travel as collector
       (use lp:configuration-Ouput not lp:configuration-Vehicle-Swashplate Leveling)
   set min and max (narrower than values from lp:configuration-Input to allow cyclic travel at min and max)
   recommend -150 for each (eg if you have 950 - 1900  use 800 - 1750)
   use slider bar on Config-output to set mid points
   test min, mid and max using pitch gauge
        adjust values here for collector pitch control +- 12 Degrees
   increase/decrease min and max values to get +-12degrees
   adjust mid to get 0 degrees at half throttle

   Note: if a change is made on Config-vehicle (select ccpm3servo 140),
         then select ccpm3 servo 120
         Save    (bug in program is corrected with this process)

   To adjust for cyclic blade pitch of +-7 degrees:
   use the Pitch slidebar on config - vehicle-BasicSettings
   Start at 50% and increase for wider spread, decrease for smaller spread
   Note: Values above 90 and below 10 seem non linear.
   
   Repeat process with Roll slidebar for roll +- 7 degrees

*******************
Manually hold helicopter and rotate helicopter in each direction to varify that
the rudder and swashplate are moving in the direction to bring the helicopter back
to its original position.
Note: This may be hard to detect if in Config-Stabilization-Basic-Responsiveness- Rate and RateYaw:
    #1 are set to the default 220.  Change these to a livelier 540 degrees per second and you will
       see movement from cyclics better.

    #2 sometimes the movement is so fast that you can't be sure. To be sure you can put
       your finger between the gear and the the lever to feel the servo. That can be
       better than seeing it move.

*******************

Config-Input-ArmingSettings:  recommend set arming Yaw Right

*******************


Setting the throttle and pitch curves
   Set these up in the tx

  ???????  Is there anything needed so the fc will use these and
   not the curves in the fc ?????????????


*******************


Mount the motor if it was removed during setup

*******************
Set PID Values:

Config-Stabilization-Advanced- Rate stabilization (inner loop)
Suggested initial values:
p= roll=0.002  Pitch=0.0045  Yaw= .005
i= 0, 0, 0
d= 0, 0, 0

Proceedure:
   1) increase values of p in roll until high frequency oscillation occurs then back off some
      Repeat for pitch (P Determines the amount of control by the human)

   2) Increase I until low frequency oscillation and then back off for pitch and roll
      If I is correct helicopter should stay in tilled position with the joystick
      (influences the percision of the angular position)

   3) D is a damening term which reduces over-correction caused by P





karla

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Re: Documentation for Librepilot on a helicopter
« Reply #32 on: April 16, 2017, 02:54:19 am »
Nice process description John.

Well the thing to make the curves from the TX go to the servos untampered with by the FC is handled by the text you already have in there:
collective Pass throught checked

You may consider to change the word collector to collective? you use that at several places...
The process seem logical when reading it, I think when really following it while setting a heli up would put it to the test.

@admin, if we like to change the wiki for heli, How do we go about that?

Best
/Karl

jwgera

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Re: Documentation for Librepilot on a helicopter
« Reply #33 on: April 16, 2017, 06:11:14 am »
Ok here it is with the latest updates.  I embellished the part where the throttle and pitch
curves are modified.  Check it out. I never actually tried the governor mode.

If this is good enough, what do we do now to share it with others?

Thanks,

John



Setup:
Assemble Quadcopter
remove gyro if installed
Connect receiver to servos
Note: It is recommended that the motor is not attached mechanically to
      the helicopter during setup to avoid an unexpected rotor spin up
********************
Spektrum dx6i transmitter setup:
New model: Helicopter
d/r expo 0 100% inh
    1 100% inh
Travel adj : 100%
   1 Throttle
   2 elevator
   3 aileron
   4 rudder
   5 Gear - used for fmode
   6 Flap - used as collective
sub trim: 0
Gyro: inh
Throttle curve =default (all 1 to 100 except throttlehold=0)
Pitch curve = default   (all 1 to 100)
SwashMix inh
mix1=inh
mix2=inh
revo mix:0
reverse=set directions as desired
swashtype:90
Throttle cut =inh
d/r combo=inh
bind tx to rx
center servos
turn off tx
*********************
mechanically Center swashplate
   After Servos were set at midpoint using tx
        Swashplate at mid point
   connect servo arms close to horizontal (Adjust control rod lengths if necessary)
**********************
disconnect servos from receiver
connect cc3d flight controller
************************
ESC setup:(use instructions beeps, or esc programmer) blades removed
brake:on
Battery type: lipo
CutoffType: cut off
Cutoff voltage : middle
Startmode:soft
Timing mode : low
Governormode: on
************************
Librepilot setup
connect to computer usb and mainport
Upgrade firmware (erase all setting)
select pwm or what applies to your setup
cancel wizard
lp:configuration-Vehicle
   select helicopter
lp:configuration-Vehicle - basic settings:
   SwashplateConfig:  ccpm 3 servo 120
   servow ch1, servox ch2, servoy ch3, tail ch4, engine ch5
   swashplate w=180 x=300 y=60
   collective Pass throught checked
    Collective, Pitch, Roll Slide bars all set at initally at 50%
level flight controller
   lp:configuation-Attitude: see https://librepilot.atlassian.net/wiki/display/LPDOC/CC+Attitude+Configuration

Turn on Tx and battery to Helicopter
lp:configuration-Input
   set channels 1,2,3,4,5,6
   Manual Calibration (move slowly)
lp:configuration-Ouput
   Check directions of all servos
   Reverse if needed so swashplate moves in desired directions

   Setting swashplate travel as collective
       (use lp:configuration-Ouput not lp:configuration-Vehicle-Swashplate Leveling)
   set min and max (narrower than values from lp:configuration-Input to allow cyclic travel at min and max)
   recommend -150 for each (eg if you have 950 - 1900  use 800 - 1750)
   use slider bar on Config-output to set mid points
   test min, mid and max using pitch gauge
        adjust values here for collective pitch control +- 12 Degrees
   increase/decrease min and max values to get +-12degrees
   adjust mid to get 0 degrees at half throttle

   Note: if a change is made on Config-vehicle (select ccpm3servo 140),
         then select ccpm3 servo 120
         Save    (bug in program is corrected with this process)

   To adjust for cyclic blade pitch of +-7 degrees:
   use the Pitch slidebar on config - vehicle-BasicSettings
   Start at 50% and increase for wider spread, decrease for smaller spread
   Note: Values above 90 and below 10 seem non linear.
   
   Repeat process with Roll slidebar for roll +- 7 degrees

*******************
Manually hold helicopter and rotate helicopter in each direction to varify that
the rudder and swashplate are moving in the direction to bring the helicopter back
to its original position.
Note: This may be hard to detect if in Config-Stabilization-Basic-Responsiveness- Rate and RateYaw:
    #1 are set to the default 220.  Change these to a livelier 540 degrees per second and you will
       see movement from cyclics better.

    #2 sometimes the movement is so fast that you can't be sure. To be sure you can put
       your finger between the gear and the the lever to feel the servo. That can be
       better than seeing it move.

*******************
Config-Input-ArmingSettings:  recommend set arming Yaw Right
*******************
Go to your tx and modify the throttle and pitch curves
Suggested curves:
   Throttle
   Normal mode:     0 40 70 90 100
   Idle Up (stunt): 100 90 80 90 100

   Pitch
   Normal mode:      48 49 50 75 100
   Idle Up (stunt):  0 25 50 75 100

Using Governor
   throttle curves:
      Normal mode:     0 40 70 75 75
      Idle Up (stunt): 75 75 75 75 75

See video: 

*******************
Mount the motor if it was removed during setup
*******************
Set PID Values:
Config-Stabilization-Advanced- Rate stabilization (inner loop)
Suggested initial values:
p= roll=0.002  Pitch=0.0045  Yaw= .005
i= 0, 0, 0
d= 0, 0, 0

Proceedure:
   1) increase values of p in roll until high frequency oscillation occurs then back off some
      Repeat for pitch (P Determines the amount of control by the human)

   2) Increase I until low frequency oscillation and then back off for pitch and roll
      If I is correct helicopter should stay in tilled position with the joystick
      (influences the percision of the angular position)

   3) D is a damening term which reduces over-correction caused by P





daveapplemotors

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  • 245
  • Helis rule
Re: Documentation for Librepilot on a helicopter
« Reply #34 on: April 16, 2017, 12:29:44 pm »
Looks like your work is pretty much ready to post to the Wiki and as another thread here--Like it is!

Good job!

Maybe a little clearer on the "Jerry Save":
 Note: if a change is made on Config-vehicle (select ccpm3servo 140), [ADD a save HERE]
         then select ccpm3 servo 120  [then another save HERE]       
             (bug in program is worked around with this process)
Else the servos freeze.
Happy Landings!

jwgera

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  • 24
Re: Documentation for Librepilot on a helicopter
« Reply #35 on: April 16, 2017, 10:33:30 pm »
Thanks David,

I will incorporate that; however I have found that you don't need to save the 140, just selecting it and then selecting 120 and has always worked for me.

John


here it is with latest modifications. 



Setup:
Assemble Quadcopter
remove gyro if installed
Connect receiver to servos
Note: It is recommended that the motor is not attached mechanically to
      the helicopter during setup to avoid an unexpected rotor spin up
********************
Spektrum dx6i transmitter setup:
New model: Helicopter
d/r expo 0 100% inh
    1 100% inh
Travel adj : 100%
   1 Throttle
   2 elevator
   3 aileron
   4 rudder
   5 Gear - used for fmode
   6 Flap - used as collective
sub trim: 0
Gyro: inh
Throttle curve =default (all 1 to 100 except throttlehold=0)
Pitch curve = default   (all 1 to 100)
SwashMix inh
mix1=inh
mix2=inh
revo mix:0
reverse=set directions as desired
swashtype:90
Throttle cut =inh
d/r combo=inh
bind tx to rx
center servos
turn off tx
*********************
mechanically Center swashplate
   After Servos were set at midpoint using tx
        Swashplate at mid point
   connect servo arms close to horizontal (Adjust control rod lengths if necessary)
**********************
disconnect servos from receiver
connect cc3d flight controller
************************
ESC setup:(use instructions beeps, or esc programmer) blades removed
brake:on
Battery type: lipo
CutoffType: cut off
Cutoff voltage : middle
Startmode:soft
Timing mode : low
Governormode: on
************************
Librepilot setup
connect to computer usb and mainport
Upgrade firmware (erase all setting)
select pwm or what applies to your setup
cancel wizard
lp:configuration-Vehicle
   select helicopter
lp:configuration-Vehicle - basic settings:
   SwashplateConfig:  ccpm 3 servo 120
   servow ch1, servox ch2, servoy ch3, tail ch4, engine ch5
   swashplate w=180 x=300 y=60
   collective Pass throught checked
    Collective, Pitch, Roll Slide bars all set at initally at 50%
level flight controller
   lp:configuation-Attitude: see https://librepilot.atlassian.net/wiki/display/LPDOC/CC+Attitude+Configuration

Turn on Tx and battery to Helicopter
lp:configuration-Input
   set channels 1,2,3,4,5,6
   Manual Calibration (move slowly)
lp:configuration-Ouput
   Check directions of all servos
   Reverse if needed so swashplate moves in desired directions

   Setting swashplate travel as collective
       (use lp:configuration-Ouput not lp:configuration-Vehicle-Swashplate Leveling)
   set min and max (narrower than values from lp:configuration-Input to allow cyclic travel at min and max)
   recommend -150 for each (eg if you have 950 - 1900  use 800 - 1750)
   use slider bar on Config-output to set mid points
   test min, mid and max using pitch gauge
        adjust values here for collective pitch control +- 12 Degrees
   increase/decrease min and max values to get +-12degrees
   adjust mid to get 0 degrees at half throttle

   Note: if a change is made on Config-vehicle
              select ccpm3servo 140
         then select ccpm3 servo 120
         Save   
         A bug in LP program is worked around with this process
              otherwise the servos freeze will freeze and not respond.

   To adjust for cyclic blade pitch of +-7 degrees:
   use the Pitch slidebar on config - vehicle-BasicSettings
   Start at 50% and increase for wider spread, decrease for smaller spread
   Note: Values above 90 and below 10 seem non linear.
   
   Repeat process with Roll slidebar for roll +- 7 degrees

*******************
Manually hold helicopter and rotate helicopter in each direction to varify that
the rudder and swashplate are moving in the direction to bring the helicopter back
to its original position.
Note: This may be hard to detect if in Config-Stabilization-Basic-Responsiveness- Rate and RateYaw:
    #1 are set to the default 220.  Change these to a livelier 540 degrees per second and you will
       see movement from cyclics better.

    #2 sometimes the movement is so fast that you can't be sure. To be sure you can put
       your finger between the gear and the the lever to feel the servo. That can be
       better than seeing it move.

*******************
Config-Input-ArmingSettings:  recommend set arming Yaw Right
*******************
Go to your tx and modify the throttle and pitch curves
Suggested curves:
   Throttle
   Normal mode:     0 40 70 90 100
   Idle Up (stunt): 100 90 80 90 100

   Pitch
   Normal mode:      48 49 50 75 100
   Idle Up (stunt):  0 25 50 75 100

Using Governor
   throttle curves:
      Normal mode:     0 40 70 75 75
      Idle Up (stunt): 75 75 75 75 75

See video: 

*******************
Mount the motor if it was removed during setup
*******************
Set PID Values:
Config-Stabilization-Advanced- Rate stabilization (inner loop)
Suggested initial values:
p= roll=0.002  Pitch=0.0045  Yaw= .005
i= 0, 0, 0
d= 0, 0, 0

Proceedure:
   1) increase values of p in roll until high frequency oscillation occurs then back off some
      Repeat for pitch (P Determines the amount of control by the human)

   2) Increase I until low frequency oscillation and then back off for pitch and roll
      If I is correct helicopter should stay in tilled position with the joystick
      (influences the percision of the angular position)

   3) D is a damening term which reduces over-correction caused by P





karla

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  • 204
Re: Documentation for Librepilot on a helicopter
« Reply #36 on: April 17, 2017, 04:48:26 am »
Great John, that video was really informative.

jwgera

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  • 24
Re: Documentation for Librepilot on a helicopter
« Reply #37 on: April 17, 2017, 06:58:16 pm »
If David and Karla are happy with this, (I think I am). We should put it out where it can help others.

I don't know how to do this. I consider this a three-some project and you
are both are free to publish this where ever it would help and make sense.

Thanks you both for all you contributions to this write-up. I hope it will be able to help others.

John

daveapplemotors

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  • 245
  • Helis rule
Re: Documentation for Librepilot on a helicopter
« Reply #38 on: April 18, 2017, 01:59:43 am »
John,

You wrote well. Good on you, mate! You put it together as well as anyone. I hope you get to fly your 450 a lot. I flew both of my 250s today.

I read a some of the Wiki pages on submissions. It doesn't look too hard to upload properly. If I do that I want to credit you-- John (top billing!) and Karla. What names should I use for you two? Proper first and last names?

thanks,
Dave Dutton
Happy Landings!

karla

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  • 204
Re: Documentation for Librepilot on a helicopter
« Reply #39 on: April 18, 2017, 03:04:57 am »
John and Dave, I am all fine with this. Good job!

Finally something coherent for Helis again.
Please go ahead and change the Wiki Dave, I think you and John did most of this so no worries.

Just a note, in next version of LP the Jerry Save bug is fixed. Its done already in the Next source, according to f5soh I think.

/Karl Alberts

jwgera

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  • 24
Re: Documentation for Librepilot on a helicopter
« Reply #40 on: April 18, 2017, 03:32:50 am »
Go ahead Dave and publish it where ever you think is a good place.
John Gera

Re: Documentation for Librepilot on a helicopter
« Reply #41 on: May 30, 2017, 03:18:21 pm »
Many thanks guys for your hard work.
I am struggling with mine.
I can get the servos to move when moving the fc but not with tx.  When doing tx calibration only the throttle moves I can never get a flicker from chan 6 collective.

Will persevere but any ideas would be helpful. I'm using a cc3d atom , dx8 and trying to launch a trex500 clone

Mark

Re: Documentation for Librepilot on a helicopter
« Reply #42 on: May 30, 2017, 06:04:14 pm »
ive just tried following this and nothing makes sense!

Sorry guys, i am going to need an idiots guide to doing this :(

karla

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  • 204
Re: Documentation for Librepilot on a helicopter
« Reply #43 on: May 31, 2017, 02:38:14 am »
check if you have set the correct Type in the input configuration table ex PWM (same as throttle since that works for you). It has to be set for each channel...
« Last Edit: May 31, 2017, 09:23:10 am by karla »

Re: Documentation for Librepilot on a helicopter
« Reply #44 on: June 20, 2017, 07:13:23 pm »
Hi Karla, thanks for your reply.
Im afraid i gave up and got my Kbar to work.
Will try and have another crack one day when i get some more nerves ;)