Heading RCADev

 

HOME

PHANTOM UAV

VACUUM FORMING

OpenTX

CONTACT ME

 

Previous Page – App Note 31

Next Page – App Note 33

OpenTX - Application Note 32

Helicopter Set Up - Flybarless

Set up a model for a flybarless helicopter. The CCPM control is done in the flybarless controller so CCPM is not needed in the Taranis radio. Conventional throttle, aileron (roll), elevator (pitch) and yaw (rudder) channels are used with the addition of a collective control channel and a gyro gain channel.

 

Connecting The Components

  Circuit Diagram

Binding The Receiver

Transmitter Set Up

  Flight Modes

  Curves

  Multiple Rates Selection

  Gyro Gain Control

  Mixer Screen

  Model Text File Display

  Switch Check At Model Start Up

Flybarless Controller Set Up

  Instruction Manual

  Receiver Type

  Set Up Menu

  Parameter Menu

  3D-H Normal Operation

 

The helicopter for this project is a HK500GT and its receiver is a FrSky X6R. The flybarless controller is a Turnigy 3D-H V2.

 

 

For more information about the X6R receiver, refer to Application Note 13.

The Turnigy 3D-H is available from here.

https://hobbyking.com/en_us/turnigy-3d-h-v2-3-axis-flybarless-helicopter-control-system-w-s-bus.html

Connecting The Components

The flybarless controller for this helicopter is the Turnigy 3D-H V2. The following extract from the 3D-H manual shows the connections to the receiver and servos.

 

Circuit Diagram

This is the complete circuit diagram.

 

 

The FLVSS is a battery voltage monitor. For more information, refer to application note 19.

 

The power to the four servos is supplied by a 3A UBEC. This isolates the power supply of the receiver and flybarless controller from the servo power supply.

Binding the Receiver

To bind the receiver, refer to Application Note 13.

Transmitter Set Up

The transmitter does not need to create CCPM (Collective, Cyclic & Pitch Mixing) because this is done in the 3D-H flybarless controller. The transmitter only needs to produce roll, pitch, yaw and rudder as if the aircraft was a fixed wing plane, with two added channels to control rudder gyro gain and main rotor blade pitch (collective).

The throttle and collective are both controlled by the throttle stick but each channel has its own curves for the four flight modes. The Flight Modes are set up first.

Flight Modes

Flight modes are enabled by logical switches L1, L2 and L3.

 

 

Logical switches L1, L2 and L3 are true only in switch positions SE↑, SE- and SE↓ respectively AND switch SF is down (throttle enabled). The fade in and fade out times are set to 1.0 second. The fade period is used to slowly change the value of each channel from its value in one flight mode to its value in the other flight mode. This specifically slows the jump that can happen between different throttle and collective values caused by the different curves in different flight modes.

 

 

On the Inputs screen, the flight mode selects which throttle curve is used.

 

Input Name

Source

Weight

Offset

Curve

Modes

Switch

Side

Trim

Line Name

IThr

IThr

-100

0

Diff 0

0-------

---

---

ON

Dsbl

 

IThr

100

0

CV1

-1-------

---

---

ON

Norm

 

IThr

100

0

CV2

--2------

---

---

ON

ST1

 

IThr

100

0

CV3

---3-----

---

---

ON

ST2

 

On the Inputs screen, the flight mode also selects which collective curve is used.

 

Input Name

Source

Weight

Offset

Curve

Modes

Switch

Side

Trim

Line Name

IColl

IThr

-100

0

CV4

0-------

---

---

OFF

Dsbl

 

IThr

100

0

CV5

-1-------

---

---

OFF

Norm

 

IThr

100

0

CV6

--2------

---

---

OFF

ST1

 

IThr

100

0

CV7

---3-----

---

---

OFF

ST2

Curves

Here are the throttle curves.

 

 

 

 

Here are the collective curves.

 

 

Multiple Rates Selection

On the Inputs screen, switch SG is used to select one of three rate settings. Weights and expo settings are selected for roll, pitch and yaw.

 

Input Name

Source

Weight

Offset

Curve

Modes

Switch

Side

Trim

Line Name

 

 

IRoll

IAil

80

0

Exp 40

012345678

---

---

ON

Low Rate

 

 

IAil

90

0

Exp 30

012345678

---

---

ON

Med Rate

 

 

IAil

100

0

Exp 20

012345678

---

---

ON

HighRate

 

IPtch

IEle

80

0

Exp 40

012345678

---

---

ON

Low Rate

 

 

IEle

90

0

Exp 30

012345678

---

---

ON

Med Rate

 

 

IEle

100

0

Exp 20

012345678

---

---

ON

HighRate

 

IYaw

IRud

80

0

Exp 40

012345678

---

---

ON

Low Rate

 

 

IRud

90

0

Exp 30

012345678

---

---

ON

Med Rate

 

 

IRud

100

0

Exp 20

012345678

---

---

ON

HighRate

Gyro Gain Control

Input Name

Source

Weight

Offset

Curve

Modes

Switch

Side

Trim

Line Name

 

 

IGyr

MAX

-35

0

Diff 0

012345678

SB↑

---

ON

Rate

 

 

MAX

35

0

Diff 0

012345678

!SB↑

---

ON

HeadHold

 

The weights of the two gyro gain lines set normal rate mode gain (-35) and heading hold mode (+35). These two numbers are adjusted for optimum yaw control.

Mixer Screen

The mixer screen passes each channel value on to the outputs without modification.

 

Channel Number

Mix

Name

 

Source

 

Weight

 

Offset

 

Trim

 

Switch

 

Multplx

Delay

Up

Delay

Down

Slow

Up

Slow

Down

CH1

Throttle

IThr

100

0

tick

---

Add

0.0

0.0

0.0

0.0

CH2

Roll

IRoll

100

0

tick

---

Add

0.0

0.0

0.0

0.0

CH3

Pitch

IPtch

100

0

tick

---

Add

0.0

0.0

0.0

0.0

CH4

Yaw

IYaw

100

0

tick

---

Add

0.0

0.0

0.0

0.0

CH5

GyroGain

IGyr

100

0

-

---

Add

0.0

0.0

0.0

0.0

CH6

Pitch

IColl

100

0

-

---

Add

0.0

0.0

0.0

0.0

Outputs Screen

 

Model Text File Display

This file is displayed whenever the model is started to remind the pilot which switch has which function.

 

 

Refer to Application Note 1 for more information on creating text files.

Switch Check At Model Start Up

At model start up, the switches should be in the following positions.

SA↑ Timer 1 reset.

SB-  Heading Hold.

SC↑ Data logging disabled.

SF↑ Throttle disabled.

SG↑ Rates low.

On the Model Setup screen under ‘Preflight Checks’, set the switch positions as follows.

 

Flybarless Controller Set Up

Follow the instructions in the 3D-H Controller instruction manual to set the Receiver Type, the Set Up Menu items and the Parameter Menu items. In the tables below, ‘D’ indicates the default setting and ‘S’ indicates the setting I have made for my helicopter.

Instruction Manual

IMPORTANT NOTE: Some Set Up Menu items in the manual do not match the mode letter. The quick start guide, however, is correct and the list below is also correct. Also, the Microbeast manual, found in the documents folder with the 3D_H manual, is correct and describes things in better English.

Receiver Type

To display and/or change the Receiver type, press and hold the button while applying power. Release the button when LED A flashes. Press and hold the button for at least 2 seconds to change the selection.

 

Status LED

Selection

Def

Set

Off

Standard receiver

D

S

Blue flash

PPM composite signal

 

 

Red

SRxL

 

 

Red flash

Futabe S-bus

 

 

Purple

Single Spektrum/ORx satellite

 

 

Set Up Menu

To enter the set up menu, press and hold the button for about 3 seconds until LED A stops flashing and remains on.

Use the rudder stick to change a selection in some menu items. Select the next menu item by pressing the button briefly.

 

 

A. Mounting Orientation

Status LED

Selection

Def

Set

Red

Vertical

 

 

Blue

Horizontal

D

S

 

 

 

B. Swashplate Servo Frequency

Status LED

Selection

Def

Set

Off

User defined

 

 

Purple

50 Hz

D

S

Red

120Hz

 

 

Blue

200 Hz

 

 

 

 

C. Tail Servo Centre PWM

Status LED

Selection

Def

Set

Purple

960 uS

 

 

Red

760 uS

 

 

Blue

1520 uS

D

S

 

 

 

D. Tail Servo frequency

Status LED

Selection

Def

Set

Off

User defined

 

 

Purple

50 Hz

D

S

Red

120Hz

 

 

Blue

200 Hz

 

 

 

 

E. Tail Rotor Limits

Manual setting required.

 

 

 

 

F. Tail Sensor direction

Status LED

Selection

Def

Set

Red

Normal

D

 

Blue

Reversed

 

S

 

 

 

G. Swashplate Servo Centring

Status LED

Selection

Def

Set

Off

Swashplate servos at centre position

D

S

Purple

Elevator centre

 

 

Red

Aileron centre

 

 

Blue

Pitch centre

 

 

Manual setting required.

 

 

H. Swashplate Mixing

Status LED

Selection

Def

Set

Off

Mechanical

 

 

Purple

Mechanical

 

 

Red

120°

D

S

Blue

140°

 

 

 

 

 

 

I. Swashplate Servo Direction

Status LED

Selection

Def

Set

Off

Nor, rev, rev

 

 

Purple

Nor, nor, rev

D

S

Red

Nor, rev, nor

 

 

Blue

Nor, nor, nor

 

 

 

J. Cyclic Pitch Geometry

Status LED

Selection

Def

Set

Off

Not optimal

 

 

Purple

Not optimal

 

 

Red

Not optimal

 

 

Blue

Optimal

 

S

Manual setting required.

 

 

 

K. Collective Pitch Range

Manual setting required.

 

 

L. Swashplate Limits

Manual setting required.

 

 

 

M. Swashplate Sensor Directions

Status LED

Selection

Def

Set

Off

Ele nor, Ail nor

 

 

Purple

Ele rev, Ail rev

 

 

Red

Ele rev, Ail nor

D

S

Blue

Ele nor, Ail rev

 

 

 

N. Pirouette Optimisation Direction

Status LED

Selection

Def

Set

Red

Normal

D

S

Blue

Reversed

 

 

 

 

 

Parameter Menu

To enter the parameter menu, press the button briefly and LED A flashes quickly.

Use the rudder stick to change a selection in some menu items. Select the next menu item by pressing the button briefly.

 

 

A. Swashplate Trim

Manual setting required.

 

 

 

 

 

 

 

 

B. Control Behavior

Status LED

Selection

Def

Set

Purple

Normal

 

 

Red flash

Sport

D

 

Red

Pro

 

S

Blue flash

Extreme

 

 

Blue

Transmitter

 

 

Off

User defined

 

 

 

 

 

C. Swashplate Pitching Up Behavior

Status LED

Selection

Def

Set

Purple

Very low

 

 

Red flash

Low

 

 

Red

Medium

D

S

Blue flash

High

 

 

 

 

 

 

D. Adjust Tail Heading Lock Gain

Status LED

Selection

Def

Set

Purple

Very low

 

 

Red flash

Low

 

 

Red

Medium

D

S

Blue flash

High

 

 

Blue

Very High

 

 

Off

User defined

 

 

 

 

E. Stick Deadband

Status LED

Selection

Def

Set

Purple

1

 

 

Red flash

2

D

S

Red

3

 

 

Blue flash

4

 

 

Blue

5

 

 

Off

User defined

 

 

 

 

 

F. Tail Torque Compensation

Status LED

Selection

Def

Set

Purple

Off

D

S

Red flash

Low normal

 

 

Red

High normal

 

 

Blue flash

Low reverse

 

 

Blue

High reverse

 

 

Off

User defined

 

 

 

 

G. Cyclic Response

Status LED

Selection

Def

Set

Purple

Normal

D

S

Red flash

Slightly increased

 

 

Red

Increased

 

 

Blue flash

High

 

 

Blue

Very high

 

 

Off

User defined

 

 

 

 

 

H. Pitch Boost

Status LED

Selection

Def

Set

Purple

Off

D

S

Red flash

Low

 

 

Red

Medium

 

 

Blue flash

High

 

 

Blue

Very high

 

 

Off

User defined

 

 

3D-H Normal Operation

LEDs A Through N

On power up, one of the LEDs A through N indicate the tail gain setting. A = 0% up to N = 100%.

Status LED

The Status LED indicates the tail gyro mode.

Status LED

Mode

 

 

Off or blue

Heading hold mode

 

 

Purple

Normal (rate) mode

 

Pot 1 – Swashplate Gain

Default setting is 100%.

Pot 2 - Swashplate Direct Gain

Default setting is 50%.

Pot 3 – Tail Dynamic

Default setting is 50%.

Tail Gyro Gain

The tail gyro gain is controlled by channel 5 from the transmitter. Switch SB sets preset values for channel 5.

SB↑ selects normal (rate) mode. SB- or SB↓ select heading hold mode.

 

Phantom Divide

 

Previous Page – App Note 31

Next Page – App Note 33

 

Footer RCADev