Heli: Tuning of Raptor 720

ArduPilot / SITL_Models

Models of aircraft for SITL

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Heli: Tuning of Raptor 720 #12

Closed MattKear closed 5 years ago

MattKear commented 5 years ago

This PR is for parameter tuning done to Tridge's pre-existing Raptor 720 model in Real Flight. This video shows the differences pre-/post-tuning by executing the same auto mission: https://youtu.be/FfzAzXf7ffU

The tune still isn't perfect, but is an improvement.

Summary of changes:

Non-linear collective mapping added
Rate PIDs tuned
Yaw Angle PID tuned
Position P terms tuned
Navigation P terms adjusted

bnsgeyer commented 5 years ago

@Gone4Dirt You can tune the Raptor RF model just like a real helicopter. I've been meaning to PR my RF Raptor param file.
raptor MP param file Try this and let me know what you think.

MattKear commented 5 years ago

@bnsgeyer just tried your parameters and they are great! Heli flies very well. You should definitely PR your .param file. Thanks for sharing.

tridge commented 5 years ago

thanks Bill! I've pushed your new params to the repo I'll close this PR