IMPROVEMENT: this is work-in-progress from Allister

ArduPilot · Sep 2, 2024 · db31d1a · db31d1a
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Showing 56 changed files with 187 additions and 305 deletions.
diff --git a/vehicle_templates/Heli/Allister/02_imu_temperature_calibration_setup.param b/vehicle_templates/Heli/Allister/02_imu_temperature_calibration_setup.param
@@ -1,9 +1,9 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
+INS_LOG_BAT_MASK,3  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
-INS_TCAL1_TMAX,65  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL1_TMAX,60  # Pixhawk 6c Mini has an heater that heats up the board to almost 65 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
-INS_TCAL2_TMAX,65  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL2_TMAX,60  # Pixhawk 6c Mini has an heater that heats up the board to almost 65 deg
 INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
 LOG_BITMASK,524416  # Only for IMU and Raw-IMU
 LOG_DISARMED,1  # Gather data for the offline IMU temperature calibration while the FC is disarmed
diff --git a/vehicle_templates/Heli/Allister/04_board_orientation.param b/vehicle_templates/Heli/Allister/04_board_orientation.param
@@ -1,3 +1,3 @@
-AHRS_ORIENTATION,4  # Point forward in the direction of travel
+AHRS_ORIENTATION,4  # Pixhawk 6C Mini must be rotated so the servo connections can fit directly.  Makes a cleaner build.
 BRD_HEAT_TARG,45  # Reset to default after offline IMU temperature calibration
 LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration
diff --git a/vehicle_templates/Heli/Allister/05_remote_controller.param b/vehicle_templates/Heli/Allister/05_remote_controller.param
@@ -1,9 +1,9 @@
-ARMING_RUDDER,2
-RC_OPTIONS,800
+ARMING_RUDDER,2  # Use Rudder Arming/disarming
+RC_OPTIONS,800  # Throttle at zero.  Passthrough telemetry for Yaapu.  Supress the mode messages.
 RC_PROTOCOLS,1  # Selected in the component editor
 RC10_OPTION,0
 RC6_OPTION,0
-RC7_OPTION,32
+RC7_OPTION,32  # Motor Interlock required to get blades turning.
 RC8_OPTION,0
 RC9_OPTION,0
 RSSI_TYPE,3
diff --git a/vehicle_templates/Heli/Allister/07_Heli_airframe.param b/vehicle_templates/Heli/Allister/07_Heli_airframe.param
@@ -0,0 +1,6 @@
+FRAME_CLASS,6
+FRAME_TYPE,1
+FS_CRASH_CHECK,0  # Crash check is unreliable in Trad-Heli
+H_FLYBAR_MODE,0
+H_HOVER_LEARN,2
+H_OPTIONS,1
diff --git a/vehicle_templates/Heli/Allister/07_esc.param b/vehicle_templates/Heli/Allister/07_esc.param
diff --git a/vehicle_templates/Heli/Allister/08_Swasplate.param b/vehicle_templates/Heli/Allister/08_Swasplate.param
@@ -0,0 +1,25 @@
+H_SW_TYPE,3
+SERVO1_FUNCTION,33  # Swashplate Front Left
+SERVO1_REVERSED,1  # Required for OMP M4
+SERVO2_FUNCTION,34  # Swashplate Front Right
+SERVO2_REVERSED,1  # Required for OMP M4
+SERVO3_FUNCTION,35  # Swashplate Aft
+SERVO3_REVERSED,1  # Required for OMP M4
+
+H_COL_ANG_MAX,12  # Non-aerobatic flying
+H_COL_ANG_MIN,-5  # Non-aerobatic flying
+H_COL_HOVER,0.6  # Starting point, will be set during Alt-hold hover.
+H_COL_LAND_MIN,-2
+H_COL_MAX,1640  # Starting point, to be checked during rigging.
+H_COL_MIN,1400  # Starting point, to be checked during rigging.
+H_COL_ZERO_THRST,0  # Symetrical blades
+H_CYC_MAX,1500  # Starting point, to be checked during rigging.
+SERVO1_MAX,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO1_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO1_TRIM,1500  # Adjust all linkages so the swasplate is level at 1500.
+SERVO2_MAX,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO2_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO2_TRIM,1500  # Adjust all linkages so the swasplate is level at 1500.
+SERVO3_MAX,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO3_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO3_TRIM,1500 # Adjust all linkages so the swasplate is level at 1500.
diff --git a/vehicle_templates/Heli/Allister/08_batt1.param b/vehicle_templates/Heli/Allister/08_batt1.param
diff --git a/vehicle_templates/Heli/Allister/09_Tailrotor.param b/vehicle_templates/Heli/Allister/09_Tailrotor.param
@@ -0,0 +1,5 @@
+H_TAIL_TYPE,0
+SERVO4_FUNCTION,36  # Tailrotor Servo
+SERVO4_MAX,885  # Highspeed Tailrotor Servo
+SERVO4_MIN,620  # Highspeed Tailrotor Servo
+SERVO4_TRIM,750  # Highspeed Tailrotor Servo.  Adjust mechanical tirm so that the tirm value represents neutral pitch.
diff --git a/vehicle_templates/Heli/Allister/10_esc.param b/vehicle_templates/Heli/Allister/10_esc.param
@@ -0,0 +1,11 @@
+H_RSC_CRITICAL,80
+H_RSC_IDLE,0
+H_RSC_MODE,2
+H_RSC_RAMP_TIME,3
+H_RSC_RUNUP_TIME,4
+H_RSC_SETPOINT,50  # 2000 RPM on the OMP M4 ESC
+H_RSC_SLEWRATE,0
+SERVO5_FUNCTION,31  # Heli RSC (ESC)
+SERVO5_MAX,1900
+SERVO5_MIN,1100
+TKOFF_SLEW_TIME,2
diff --git a/vehicle_templates/Heli/Allister/11_ESC_Calibration.param b/vehicle_templates/Heli/Allister/11_ESC_Calibration.param
@@ -0,0 +1,4 @@
+RC3_MAX,1900  # Set RC 3 to match the MIN/MAX range of the HeliRSC Output
+RC3_MIN,1100  # Set RC 3 to match the MIN/MAX range of the HeliRSC Output
+SERVO5_FUNCTION,53  # RC passthrough temporarily for ESC calibration.
+SERVO8_FUNCTION,31  # temporary as default for HeliRSC.  This can be any serial port without a connection.
diff --git a/vehicle_templates/Heli/Allister/11_initial_atc.param b/vehicle_templates/Heli/Allister/11_initial_atc.param
diff --git a/vehicle_templates/Heli/Allister/12_ESC_Post_calibration.param b/vehicle_templates/Heli/Allister/12_ESC_Post_calibration.param
@@ -0,0 +1,4 @@
+SERVO8_FUNCTION, 0 #No longer needed
+SERVO5_FUNCTION, 31 #HeliRSC
+RC3_MAX, 2011 #RC3 calibration values
+RC3_MIN, 988 #RC3 calibration values
diff --git a/vehicle_templates/Heli/Allister/13_batt1.param b/vehicle_templates/Heli/Allister/13_batt1.param
@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,36.360001
+BATT_ARM_VOLT,23.9  # Don’t allow arming below this voltage
+BATT_CAPACITY,2000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,21.6  # (Critical voltage + 0.0) x no. of cells
+BATT_FS_CRT_ACT,1  # Land ASAP
+BATT_FS_LOW_ACT,2  # Return and land at home or rally point
+BATT_FS_VOLTSRC,0
+BATT_LOW_MAH,0
+BATT_LOW_VOLT,22.2  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4
+BATT_VOLT_MULT,18.454201
diff --git a/...cle_templates/Heli/Allister/10_gnss.param → ...cle_templates/Heli/Allister/14_gnss.param b/...cle_templates/Heli/Allister/10_gnss.param → ...cle_templates/Heli/Allister/14_gnss.param
@@ -1,4 +1,4 @@
-BRD_SAFETY_DEFLT,0  # CubeOrange has no safety switch
+BRD_SAFETY_DEFLT,0  # Pixhawk has no safety switch
 CAN_D1_PROTOCOL,1  # set virtual driver of CAN1 to DRONECAN for Here3
 CAN_P1_DRIVER,0  # Enable CAN1 bus for Here3
 GPS_GNSS_MODE,0  # limit the constellations to ensure an update rate higher than 5Hz

diff --git a/...ster/12_mp_setup_mandatory_hardware.param → ...ster/15_mp_setup_mandatory_hardware.param b/...ster/12_mp_setup_mandatory_hardware.param → ...ster/15_mp_setup_mandatory_hardware.param
@@ -1,14 +1,6 @@
 AHRS_TRIM_X,-0.033033
 AHRS_TRIM_Y,-0.023843
-ATC_ACCEL_P_MAX,110000
-ATC_ACCEL_R_MAX,110000
-ATC_ACCEL_Y_MAX,80000
-ATC_RAT_PIT_FLTD,0  # INS_GYRO_FILTER / 2
-ATC_RAT_PIT_FLTT,20  # INS_GYRO_FILTER / 2
-ATC_RAT_RLL_FLTD,0  # INS_GYRO_FILTER / 2
-ATC_RAT_RLL_FLTT,20  # INS_GYRO_FILTER / 2
-ATC_RAT_YAW_FLTE,20
-ATC_RAT_YAW_FLTT,20  # INS_GYRO_FILTER / 2
+
 COMPASS_EXTERNAL,1
 COMPASS_ORIENT,6
 COMPASS_PRIO1_ID,658961
@@ -18,14 +10,15 @@ FENCE_ACTION,1
 FENCE_ALT_MAX,100
 FENCE_ENABLE,1
 FENCE_RADIUS,300
-FLTMODE1,0
-FLTMODE2,2
-FLTMODE3,5
-FLTMODE4,5
-FLTMODE5,15
-FLTMODE6,6
-FRAME_CLASS,6
-FRAME_TYPE,1
+FLTMODE1,0  # Stabilized
+FLTMODE2,2  # Alt-Hold
+FLTMODE3,5  # Loiter
+FLTMODE4,5  # Loiter
+FLTMODE5,15  # Autotune
+FLTMODE6,6  # RTL
+
+
+
 INS_ACC1_CALTEMP,44.806763
 INS_ACC2_CALTEMP,47
 INS_ACC2SCAL_X,0.982365
@@ -76,7 +69,4 @@ RC8_TRIM,1500
 RC9_MAX,1900
 RC9_MIN,1100
 RC9_TRIM,1500
-SERVO1_FUNCTION,33
-SERVO2_FUNCTION,34
-SERVO3_FUNCTION,35
-SERVO4_FUNCTION,36
+
diff --git a/...i/Allister/13_general_configuration.param → ...i/Allister/16_general_configuration.param b/...i/Allister/13_general_configuration.param → ...i/Allister/16_general_configuration.param
@@ -15,4 +15,4 @@ RTL_ALT,2000
 RTL_LOIT_TIME,5000
 SCHED_LOOP_RATE,400
 SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation
-SERIAL7_PROTOCOL,2  # Do not use CubeOrange ADSB receiver
+SERIAL7_PROTOCOL,2
diff --git a/..._templates/Heli/Allister/14_logging.param → ..._templates/Heli/Allister/17_logging.param b/..._templates/Heli/Allister/14_logging.param → ..._templates/Heli/Allister/17_logging.param
@@ -1,5 +1,5 @@
 INS_LOG_BAT_CNT,1024  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+INS_LOG_BAT_MASK,3  # Log IMU 1 and 2
 INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
 INS_RAW_LOG_OPT,0
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals

diff --git a/vehicle_templates/Heli/Allister/18_notch_filter_setup.param b/vehicle_templates/Heli/Allister/18_notch_filter_setup.param
diff --git a/...emplates/Heli/Allister/17_remote_id.param → ...emplates/Heli/Allister/18_remote_id.param b/...emplates/Heli/Allister/17_remote_id.param → ...emplates/Heli/Allister/18_remote_id.param
diff --git a/vehicle_templates/Heli/Allister/19_Initial_test_hover_results.param b/vehicle_templates/Heli/Allister/19_Initial_test_hover_results.param
@@ -0,0 +1,5 @@
+AHRS_TRIM_Y,-0.023843  # To be adjusted so heli does not drift longitudinaly
+ATC_HOVR_ROL_TRM,350  # To be adjusted so heli does not drift laterally
+SERVO1_TRIM,1500  # To be adjusted if i-term is Stabilized at ATC_RAT_xxx_ILMI
+SERVO2_TRIM,1500  # To be adjusted if i-term is Stabilized at ATC_RAT_xxx_ILMI
+SERVO3_TRIM,1480  # To be adjusted if i-term is Stabilized at ATC_RAT_xxx_ILMI
diff --git a/vehicle_templates/Heli/Allister/20_notch_filter_setup.param b/vehicle_templates/Heli/Allister/20_notch_filter_setup.param
@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3
+INS_GYRO_RATE,1
+INS_HNTCH_ATT,40  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,10  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
+INS_HNTCH_FREQ,33.3  # Rotor RPM (2000)
+INS_HNTCH_HMNCS,3  # First and Second harmonics.
+INS_HNTCH_MODE,0  # Fixed filter as Heli Rotor RPM is fixed. 
+INS_HNTCH_OPTS,0
+INS_HNTCH_REF,0
diff --git a/vehicle_templates/Heli/Allister/20_throttle_controller.param b/vehicle_templates/Heli/Allister/20_throttle_controller.param
diff --git a/vehicle_templates/Heli/Allister/21_ekf_config.param b/vehicle_templates/Heli/Allister/21_ekf_config.param
diff --git a/...li/Allister/19_notch_filter_results.param → ...li/Allister/21_notch_filter_results.param b/...li/Allister/19_notch_filter_results.param → ...li/Allister/21_notch_filter_results.param
@@ -4,4 +4,4 @@ INS_HNTCH_FM_RAT,0.9  # Allowed undercutting of the base frequency of the first
 INS_HNTCH_FREQ,33.299999  # the minimum frequency that the motors are expected to operate at
 INS_HNTCH_HMNCS,3  # the motors produce secondary harmonics on this vehicle
 INS_HNTCH_OPTS,0
-INS_HNTCH_REF,0  # MOT_THST_HOVER * SQUARE(min_freq / hover_freq)
+INS_HNTCH_REF,0
diff --git a/...plates/Heli/Allister/15_initial_yaw.param → ...plates/Heli/Allister/22_initial_yaw.param b/...plates/Heli/Allister/15_initial_yaw.param → ...plates/Heli/Allister/22_initial_yaw.param
diff --git a/vehicle_templates/Heli/Allister/22_quick_tune_setup.param b/vehicle_templates/Heli/Allister/22_quick_tune_setup.param
diff --git a/...mplates/Heli/Allister/16_initial_PR.param → ...mplates/Heli/Allister/23_initial_PR.param b/...mplates/Heli/Allister/16_initial_PR.param → ...mplates/Heli/Allister/23_initial_PR.param
diff --git a/vehicle_templates/Heli/Allister/23_quick_tune_results.param b/vehicle_templates/Heli/Allister/23_quick_tune_results.param
diff --git a/...eli/Allister/30_autotune_roll_setup.param → ...ter/24_autotune_roll_pitch_ff_setup.param b/...eli/Allister/30_autotune_roll_setup.param → ...ter/24_autotune_roll_pitch_ff_setup.param
diff --git a/vehicle_templates/Heli/Allister/24_inflight_magnetometer_fit_setup.param b/vehicle_templates/Heli/Allister/24_inflight_magnetometer_fit_setup.param
diff --git a/vehicle_templates/Heli/Allister/24_inflight_magnetometer_fit_setup.pdef.xml b/vehicle_templates/Heli/Allister/24_inflight_magnetometer_fit_setup.pdef.xml
diff --git a/vehicle_templates/Heli/Allister/25_autotune_roll_pitch_ff_results.param b/vehicle_templates/Heli/Allister/25_autotune_roll_pitch_ff_results.param
@@ -0,0 +1,2 @@
+ATC_RAT_PIT_FF, 0.109717
+ATC_RAT_RLL_FF, 0.128279
diff --git a/vehicle_templates/Heli/Allister/25_inflight_magnetometer_fit_results.param b/vehicle_templates/Heli/Allister/25_inflight_magnetometer_fit_results.param
diff --git a/...li/Allister/32_autotune_pitch_setup.param → ...ster/26_autotune_pitch_RatePD_setup.param b/...li/Allister/32_autotune_pitch_setup.param → ...ster/26_autotune_pitch_RatePD_setup.param
diff --git a/vehicle_templates/Heli/Allister/26_quick_tune_setup.param b/vehicle_templates/Heli/Allister/26_quick_tune_setup.param
diff --git a/vehicle_templates/Heli/Allister/27_autotune_pitch_RatePD_results.param b/vehicle_templates/Heli/Allister/27_autotune_pitch_RatePD_results.param
@@ -0,0 +1,3 @@
+ATC_RAT_PIT_D,0.000267
+ATC_RAT_PIT_I,0.054859
+ATC_RAT_PIT_P,0.028604
diff --git a/vehicle_templates/Heli/Allister/27_quick_tune_results.param b/vehicle_templates/Heli/Allister/27_quick_tune_results.param
diff --git a/...Heli/Allister/34_autotune_yaw_setup.param → ...ister/28_autotune_roll_RatePD_setup.param b/...Heli/Allister/34_autotune_yaw_setup.param → ...ister/28_autotune_roll_RatePD_setup.param
diff --git a/vehicle_templates/Heli/Allister/28_evaluate_the_aircraft_tune_ff_disable.param b/vehicle_templates/Heli/Allister/28_evaluate_the_aircraft_tune_ff_disable.param