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双直升机

说明

Dual Heli Frame需要**传统直升机**作为基地固件. 该手册可从秘书处下载。固件服务器当为固件服务器生成Copter时,它同时生成多旋转器和传统的直升机(向受害者提供-heli后缀)固件.

连接和配置

  • 发动机的ESC应连接到自动驾驶8频道输出
  • ** 传统的直升机固件在委员会上应装上。
  • **FRAME CLASS **至11(赫尔辛基)
  • **H DUAL MODE **

类似传统直升机 ** 一个**辅助开关 ** 应设置为"Motor Interlock"以开启/关闭发动机. 通常这里是8频道,所以可以设置**RC8 OPTION改为32。

说明

见traditional-helicopter-swashplate-setup for basic information on how to setup each swashplate using the parameters below.

Tandem (Longitudinal)

../images/dual_heli_chinook.jpeg

This setup assumes that the forward rotor swashplate is controlled by servo output 1, 2, and 3 and the aft rotor swashplate is controlled by servo output 4, 5 and 6.

Parameter Settings:

  • H_DUAL_MODE - Set to 0 for the longitudinal configuration
  • H_DCP_SCALER - Scales the differential collective output to the rotors for a pitch axis input
  • H_DCP_YAW - Feedforward input to yaw axis for pitch axis (DCP) inputs
  • H_YAW_SCALER - Scales the differential lateral cyclic based on yaw axis input. This is a positive number for this setup.
  • H_COL_MAX- PWM for maximum collective pitch on forward rotor head that corresponds to H_COL_ANG_MAX
  • H_COL_MIN - PWM for minimum collective pitch on forward rotor head that corresponds to H_COL_ANG_MIN
  • H_SW_TYPE - Swashplate type for forward rotor head
  • H_SW_COL_DIR - Swashplate collective direction for forward rotor head
  • H_SW_LIN_SVO - Enables linear servo feature for forward rotor head
  • H_COL2_MIN - PWM for minimum collective pitch on aft rotor head that corresponds to H_COL_ANG_MIN
  • H_COL2_MAX- PWM for maximum collective pitch on aft rotor head that corresponds to H_COL_ANG_MAX
  • H_SW2_TYPE - Swashplate type for aft rotor head
  • H_SW2_COL_DIR - Swashplate collective direction for aft rotor head
  • H_SW2_LIN_SVO - Enables linear servo feature for aft rotor head
  • H_DCP_TRIM - Removes pitch I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If pitch axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.

These are only needed for the forward swashplate if H_SW_TYPE is set to H3 Generic.

  • H_SW_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW_TYPE is set to H3 Generic
  • H_SW_H3_SV1_POS
  • H_SW_H3_SV2_POS
  • H_SW_H3_SV3_POS
  • H_SW_H3_PHANG

These are only needed for the aft swashplate if H_SW2_TYPE is set to H3 Generic.

  • H_SW2_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW2_TYPE is set to H3 Generic
  • H_SW2_H3_SV1_POS
  • H_SW2_H3_SV2_POS
  • H_SW2_H3_SV3_POS
  • H_SW2_H3_PHANG

This parameter is not used for the longitudinal configuration - H_YAW_REV_EXPO

Side-by-Side (Transverse)

../images/dual_heli_transverse.jpg

This setup assumes that the left rotor swashplate is controlled by servo output 1, 2, and 3 and the right rotor swashplate is controlled by servo output 4, 5 and 6.

Parameter Settings:

  • H_DUAL_MODE - Set to 1 for the transverse configuration
  • H_DCP_SCALER - Scales the differential collective output to the rotors for a roll axis input
  • H_DCP_YAW - Feedforward input to yaw axis for roll axis (DCP) inputs
  • H_YAW_SCALER - Scales the differential longitudinal cyclic based on yaw axis input. This is a positive number for this setup.
  • H_COL_MAX- PWM for maximum collective pitch on left rotor head that corresponds to H_COL_ANG_MAX
  • H_COL_MIN - PWM for minimum collective pitch on left rotor head that corresponds to H_COL_ANG_MIN
  • H_SW_TYPE - Swashplate type for left rotor head
  • H_SW_COL_DIR - Swashplate collective direction for left rotor head
  • H_SW_LIN_SVO - Enables linear servo feature for left rotor head
  • H_COL2_MIN - PWM for minimum collective pitch on right rotor head that corresponds to H_COL_ANG_MIN
  • H_COL2_MAX- PWM for maximum collective pitch on right rotor head that corresponds to H_COL_ANG_MAX
  • H_SW2_TYPE - Swashplate type for right rotor head
  • H_SW2_COL_DIR - Swashplate collective direction for right rotor head
  • H_SW2_LIN_SVO - Enables linear servo feature for right rotor head
  • H_DCP_TRIM - Removes roll I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If roll axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.

These are only needed for the left swashplate if H_SW_TYPE is set to H3 Generic.

  • H_SW_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW_TYPE is set to H3 Generic
  • H_SW_H3_SV1_POS
  • H_SW_H3_SV2_POS
  • H_SW_H3_SV3_POS
  • H_SW_H3_PHANG

These are only needed for the right swashplate if H_SW2_TYPE is set to H3 Generic.

  • H_SW2_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW2_TYPE is set to H3 Generic
  • H_SW2_H3_SV1_POS
  • H_SW2_H3_SV2_POS
  • H_SW2_H3_SV3_POS
  • H_SW2_H3_PHANG

This parameter is not used for the longitudinal configuration

  • H_YAW_REV_EXPO

Intermeshing

../images/dual_heli_intermeshing.jpg

This setup assumes that the left rotor swashplate is controlled by servo output 1, 2, and 3 and the right rotor swashplate is controlled by servo output 4, 5 and 6.

Parameter Settings:

  • H_DUAL_MODE - Set to 2 for the intermeshing configuration
  • H_DCP_SCALER - Scales the differential collective output to the rotors for a yaw axis input. For a positive value the left rotor would spin counter clockwise to give the proper yaw response.
  • H_YAW_SCALER - Scales the differential longitudinal cyclic based on yaw axis input. This is a positive number for this setup.
  • H_COL_MAX- PWM for maximum collective pitch on left rotor head that corresponds to H_COL_ANG_MAX
  • H_COL_MIN - PWM for minimum collective pitch on left rotor head that corresponds to H_COL_ANG_MIN
  • H_SW_TYPE - Swashplate type for left rotor head
  • H_SW_COL_DIR - Swashplate collective direction for left rotor head
  • H_SW_LIN_SVO - Enables linear servo feature for left rotor head
  • H_COL2_MIN - PWM for minimum collective pitch on right rotor head that corresponds to H_COL_ANG_MIN
  • H_COL2_MAX- PWM for maximum collective pitch on right rotor head that corresponds to H_COL_ANG_MAX
  • H_SW2_TYPE - Swashplate type for right rotor head
  • H_SW2_COL_DIR - Swashplate collective direction for right rotor head
  • H_SW2_LIN_SVO - Enables linear servo feature for right rotor head
  • H_YAW_REV_EXPO - Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.

These are only needed for the left swashplate if H_SW_TYPE is set to H3 Generic.

  • H_SW_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW_TYPE is set to H3 Generic
  • H_SW_H3_SV1_POS
  • H_SW_H3_SV2_POS
  • H_SW_H3_SV3_POS
  • H_SW_H3_PHANG

These are only needed for the right swashplate if H_SW2_TYPE is set to H3 Generic.

  • H_SW2_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW2_TYPE is set to H3 Generic
  • H_SW2_H3_SV1_POS
  • H_SW2_H3_SV2_POS
  • H_SW2_H3_SV3_POS
  • H_SW2_H3_PHANG

These parameters are not used for the intermeshing configuration

  • H_DCP_YAW
  • H_DCP_TRIM

Coaxial

../images/dual_heli_coaxial.jpg

This setup assumes that the counter clockwise rotor swashplate is controlled by servo output 1, 2, and 3 and the clockwise rotor swashplate is controlled by servo output 4, 5 and 6.

Parameter Settings:

  • H_DUAL_MODE - Set to 2 for the intermeshing configuration
  • H_DCP_SCALER - Scales the differential collective output to the rotors for a yaw axis input.
  • H_YAW_SCALER - This parameter is set to zero for the coaxial configuration.
  • H_COL_MAX- PWM for maximum collective pitch on counter clockwise rotor head that corresponds to H_COL_ANG_MAX
  • H_COL_MIN - PWM for minimum collective pitch on counter clockwise rotor head that corresponds to H_COL_ANG_MIN
  • H_SW_TYPE - Swashplate type for counter clockwise rotor head
  • H_SW_COL_DIR - Swashplate collective direction for counter clockwise rotor head
  • H_SW_LIN_SVO - Enables linear servo feature for counter clockwise rotor head
  • H_COL2_MIN - PWM for minimum collective pitch on clockwise rotor head that corresponds to H_COL_ANG_MIN
  • H_COL2_MAX- PWM for maximum collective pitch on clockwise rotor head that corresponds to H_COL_ANG_MAX
  • H_SW2_TYPE - Swashplate type for clockwise rotor head
  • H_SW2_COL_DIR - Swashplate collective direction for clockwise rotor head
  • H_SW2_LIN_SVO - Enables linear servo feature for clockwise rotor head
  • H_YAW_REV_EXPO - Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.

These are only needed for the counter clockwise swashplate if H_SW_TYPE is set to H3 Generic.

  • H_SW_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW_TYPE is set to H3 Generic
  • H_SW_H3_SV1_POS
  • H_SW_H3_SV2_POS
  • H_SW_H3_SV3_POS
  • H_SW_H3_PHANG

These are only needed for the clockwise swashplate if H_SW2_TYPE is set to H3 Generic.

  • H_SW2_H3_ENABLE - Do Not Set Manually! This is set automatically once H_SW2_TYPE is set to H3 Generic
  • H_SW2_H3_SV1_POS
  • H_SW2_H3_SV2_POS
  • H_SW2_H3_SV3_POS
  • H_SW2_H3_PHANG

These parameters are not used for the coaxial configuration

  • H_DCP_YAW
  • H_DCP_TRIM

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Dual Helicopter」· 查看原文 · CC BY-SA 3.0