Arducopter Traditional Heli set-up: V1.08.5 :20/08/11
Code : 2.0.39 from mission planner
Note Its been reported that you need to use a magnemometer if you run a GPS.
Parts Needed
Helicopter Flybarless – The *ACM acts as a Flybarless controller : Note i had to use a flybar on my 600 size setup, but others have achieved good results with a 450 size heli with out a flybar
With the New code in the ACM i am going to try flybarless.
Must have CCPM
6 Channel or more receiver
Flat Mounting Surface for ACM
ArducopterMega 2560
GPS
Optional Sonar
Optional Mag
http://code.google.com/p/arducopter/wiki/AC2Assembly
Once you have built your ACM and cables it’s easy enough to refer to the wiki for this, and then before you fit it, I strongly suggest you test it.
1) Software Installation
First off download, a copy of mission planner (MP). A huge thank you to Michael Oborne for the MP :) http://code.google.com/p/ardupilot-mega/downloads/list
After that you might need to download the USB com port drivers. http://www.ftdichip.com/Drivers/VCP.htm
Start the mission planner without plugging in the ACM
Then go to the HELP tab and press update. This will make sure you are using the most current version of MP.
Once updated, restart the software, you don’t have to, but I think it’s best to restart (as this resets everything related to the software) after every update.
Start MP, set to Arducopter and set the COM port and the Baud Rate of the COM port to 115200.
You are now ready to install the firmware on your ACM. The firmware is the software program that runs the ACM and is the heart of the whole project. This software is constantly being worked on and it is important to get the latest version installed on the ACM. Move the Flight switch to the Firmware update mode (switch towards the servo header pins). Please Note: You must press the Reset button on the ACM every time after you change the Flight Switch.
Plug-in the USB cable into your computer and start Mission Planner.
Go to the firmware Tab and press the helicopter icon.
You should see the latest firmware being downloaded from the net.
You should now see a loading ACM, and after that a verify ACM.
Now your ACM is loaded with the correct software and basic setting for a traditional Helicopter.
Close down the software and unplug the ACM.
* ACM = ArducopterMega
2) Connecting Radio gear and ACM
Note: Use either channel 5 or Channel 7 out of the reciever for mode NOT BOTH!
All the following set-up was done with a Futaba 10CG and 7 channel 2.4ghz receiver.
The signal wire (white for Futaba) must be on the top pin.
Now Plug in you receiver connections, some guys use Acro mode (aeroplane mode) on their Transmitters but I like to use Heli mode in H-1, which is standard non CCPM (the ACM does all the mixing for you).
Plug in your connections as shown below. Refer to image above noting the forward direction of the ACM. The above is for Heli mode H-1 (Non CCPM)
FUTABA RECEIVER
RX. ACM
Channel 1 ------Channel 1 aileron
Channel 2 ------Channel 2 elevator
Channel 6 ------Channel 3 pitch
Channel 4 ------Channel 4 tail/rudder
Channel 5 Gyro Gain not connected to ACM Channel 5 Gyro Gain Optional
Channel 7 or 5 three position switch ----- Channel 5 mode
Note : If you are using a Spektrum Transmitter then set your Heli swash setting mode to 1 Servo. I dont know what the receiver channel out numbers are but your radio manual will tell you. Refer to the above Figure for connections for reference only as the numbers on a Spektrum RX will be different.
For this set-up you will need an ESC With governor mode!! Most ESC come with a governor function, if you are flying a Nitro/Gas Heli then CSM, model Avionics throttle jockey, Futaba GV-1 are all good governors for the Engine.
Remove the CCPM linkages from your servos!! You don’t want them to bind if the ACM throws a full servo signal. Once you have leveled your swashplate (later in this doc) you will reattach them.
3) Programming the ACM
We are going to use a mix of MP (Mission Planner) and AP (Arduino Programmer) to get the ACM ready for flight. Both programs will make changes to the firmware. However, the reason for using the serial monitor rather than the Mission Planner for all the changes is MP cannot accept commands in full strings. This may be fixed in some future version of MP, but until then we need to use a mix of the two programs to get the programming done right. Every time you swap from AP to MP or vice versa remove the USB, power down and close the software.
Preparation before programming
Note: You can jump to Programming. Although downloading and setting up Arduino22 is not a bad thing to do as it can come in handy if you use the SVN.
Before starting this process, you will need to download Arduino Programmer http://arduino.cc/en/Main/Software. Once downloaded, open the software and select TOOLS/BOARD/ARDUINO MEGA 2650 for the correct Arduino board.
Next, in the same TOOLS Menu, select SERIAL PORT and choose the COM Port that corresponds to the USB port which the ACM is connected to
Once those are set, click on the Serial Monitor icon (furthest on the right). At the bottom of the COM window that opens, make sure “Carriage Return” is selected from the pull-down list. If done correctly, <Enter> (press the Enter Key) on your keyboard and you should get a response something like:
AC 2.0.39Beta]
Make sure your cursor is in the box at the top and echoes what you type. Type “setup” <Enter> and you should see a response similar to this:
AC 2.0.39Beta] setup
Setup Mode
setup]
If so, then congratulations! All was done correctly and you can close everything down and continue with programming the ACM.
Programming
To start the programming process, attach the ACM to your computer via the USB cable as described above, making sure the Flight switch is in the programming mode (switch must be towards the servo headers), then start MP (mission planner). Press the Terminal tab (CLI). Press ok on the small window that opens and you should have your ACM connected to the Mission Planner CLI.
Type “setup” if you have not configured your radio before you will get a warning telling you to do so.
Now type “Radio” and follow the on screen messages. This will teach the ACM your min and max radio values, don't forget to toggle the switch on your transmitter selected to control your flight modes. After moving the controls <Enter> and the ranges for each channel will be displayed. They should have a minimum around 900-1100 and a maximum around 1900-2000. Although some radios may differ. The channels you are not using will show a default of 1500 for both the minimum and maximum.
Once you have done this type “help” and you will get a list of options.
Fig1
Important: You will need to power the servos from a flight battery connected to the header pins, any of the pins will do. The USB connection WILL NOT power the servos.
Also, make sure to power the ACM with 5.0 VOLTS, ANY MORE AND YOU COULD DAMAGE the ACM board.
If you have a magnetometer Type “Compass on”.
This will turn on the compass but you will need to set the declination to the area you live http://www.magnetic-declination.com/, just change the mins and secs to decimal i.e. 1° 45' would be 1.45 decimal.
So to input the declination type “declination 1.45”
If you have a sonar type “sonar on”
If you look at fig 1: there are two options, one is listed as “heli” and the other is “gyro”. We are going to focus on “heli” initially. Type “heli” at the prompt.
Your servos should now move with stick inputs from your TX. If your helicopter uses a 120Degree CCPM. Looking the the Heli from the back looking forward, Servo 1 will be on the front left, servo 2 will be on the front right and servo 3 will be on the center back fig3, this is the most common type, but if you have a different setup for the 3 servos, the position can be changed in the AP serial monitor.
Setting up the Servos:
In order to program the servos, you will need to enter the CLI. Disconnect the USB from ACM close MP and Start AP
(Note: As of 08/08/11 you do not need to use AP for this part you can stay in MP)
Reconnect the ACM
Type “setup”
Type “heli”
You will see a screen with the Heli CCPM settings.Fig2
Fig2
My servos for 120 Degree CCPM are as follows.
Fig3
1position -60 front left 300 degrees
2p 60 front right 060 degrees
3p 180 rear 180 degrees
So to program this, we type “1p-60” press Enter
For the second servo, we type “2p60” press Enter
And for the third servo, type “3p180” press Enter
Once you have set your servos move the transmitter and sticks and make sure your swashplate is moving correctly.
If not then you can reverse the swashplate on the transmitter by using your reverse function. You can also reverse the servos in the ACM:
Type “1r” to reverse servo 1 “2r” for servo 2 etc.
Note: I had an issue with the swashplate moving the wrong way when I tested my Heli. The swash should move the opposite way the ACM is moved. If this happens then you will need to reverse settings in the MP Heli setup and then reverse the settings on your TX.
Now the ACM knows the position of the servos, close down AP and start MP.
Go back to the Heli command in setup. (See Fig2) Perform the following tasks:
Leveling your swashplate:
Move the collective to midway.
Note: you have to tap a or z to move the servo, i now use “t” and enter a value
So to move a servo type “1” then t-30 this will move the number 1 servo down by 30
To adjust midpoint for servo one press “1” and then either hold down a or z to move servo 1. The same thing to adjust servos 2 and 3. Do this until your swashplate is level. And the servo arms are at 90 degrees.
Reattach your swash linkages.
Maximum throws, I use a pitch gauge for this and set a maximum of 10 Degrees+ and 10 Degrees- your Heli manual will advise you of the best pitch to set.
Again see your Heli manual for degree settings for the elevator, aileron and tail.
I may well change my collective settings if the Heli falls to fast, maybe a -5degree pitch.
Next we are going to set the min and max throws for the pitch, roll, collective pitch and tail.
Press “m” and follow on screen prompts
Press “c” to set zero pitch
(One thing I need to mention, if you are new to Heli’s set all your servo angles at 90degree to the swashplate at zero pitch, roll, elevator and collective set up will be a lot easier this way.)
Press x to end Heli setup, all your values will now be saved.
If you are using an external gyro you can turn the gain channel on/off (channel 6 ACM) by typing “gyro on” or “gyro off” Fig1 to set the gain to 1100 you would type “gyro 1100” <enter>
This will free up the gain channel on your receiver for something else.
If you haven’t fitted your ACM yet then you should do so now, it needs to be on a level plate securely attached using 3mm nylon screws, you will need to provide vibration insulation if you’re fitting this in a Nitro/Petrol powered model.
Note: I used gyro pads underneath the polycarb plate, this stops a lot of viabration getting to the ACM
At this point we are going to calibrate the ACM to know what level is and therefore the ACM must be attached to the helicopter frames and level. Make sure the compass and/or sonar are plugged in (though they do not need to be mounted on the Heli yet).
Put a bubble level or similar on the gyro pad or gyro if fitted and level the helicopter.
Type “level” the ACM will respond confirming the process while storing the absolute level position in the ACM, you can fine tune this with your TX trims when you fly the Heli.
So by this point you should have a helicopter with the ACM fitted and the most of the settings stored.
Mounting and Calibrating the Compass:
You will need to find a good place to mount your compass if you have one, keep it away from all metal parts, batteries wiring, anything that could cause a magnetic field.
Once fitted you can check you are pointing the correct direction.
Go back to MP: Type “exit” <enter> (to move back a level) and then type “test” <enter> then “compass” <enter> and you should see the direction that your Heli is pointing (in degrees). I used my i-phone to check if it was pointing in the correct direction. If you have an old compass around that will also work.