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ArduPilot / SITL_Models

Models of aircraft for SITL
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Add Raptor720-flightaxis model to Released #28

Closed Hwurzburg closed 4 years ago

Hwurzburg commented 4 years ago

needs a tester before merge @kd0aij ? @IamPete1 ?

note: mode is on ch8 SWB, interlock is on ch6 SWD so that mode sw position is consistent across models per the README...

MattKear commented 4 years ago

I will test for you later this evening @Hwurzburg

MattKear commented 4 years ago

@Hwurzburg I have tested this using master. All looks good to me. I have committed a changed to the H_COL_MAX and H_COL_MIN params to reduce how aggressive the collective is and to get it hovering around mid-stick for a smooth hand over to auto-throttle flight modes, whilst maintaining the same blade pitch curve for acro and stabilise. See what you think of the difference. Otherwise I would say good to merge.

Hwurzburg commented 4 years ago

well I thought it was a bit touchy, but its been quite a while since I flew....I was surprised at how sloppy my modest 3D attempts were...so decreasing the range is good..unfortunately, it wont hover inverted any more....and the col curve is not symmetric....but changing to 1800/1500/1200 feels nice in ACRO and STABILIZE....try it...

MattKear commented 4 years ago

I must say, that is a nice col curve in ACRO. I had some fun with that :-). I messed around with the stabilise curve to try and find a best of both worlds. I found setting IM_STAB_COL_X to 42/57/71/100 works nice with 1800/1500/1200 col curve. You do get a nasty drop when changing from Stab to acro in the hover but it is much smoother in stab and hovers around mid stick. I figured it gives a nice demo to newcomers picking up the model as to what IM_STAB_COL_X params do. What do you think?

Hwurzburg commented 4 years ago

guess its a mater of taste....1) dont like the drop in mode switch, mid stick is hover always in my opinion...2) but just changing IM_STAB_COL_MIN to 35 smooths the STAB a bit, yet still gives enough for good auto descent control....

MattKear commented 4 years ago

Agreed, it does just come down to personal preference. Do you want to merge it as it is or would you prefer to return the col curve back to as you had it, for the acro performance.

Hwurzburg commented 4 years ago

I think that the change to IM_STAB_COL_MIN=35 and the new overall coll limits would be my choice

Hwurzburg commented 4 years ago

thanks for testing...merging