TradHeli - get RATE mode working

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ACRO mode doesn't work for the heli.  It hasn't been tested much either but it 
seems like vibration from the main blade may make it very difficult for the 
rate PID controller to keep the rate to what the pilot wants.  Perhaps more 
filtering or accounting for the servo delay may help this.

Requested by Robert Lefebvre.

Original issue reported on code.google.com by rmackay...@gmail.com on 4 Jan 2012 at 6:16

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Mounting may solve this problem. The Skookum SK-720 has 3 gyros and 3 
accelerometers and requires the use of a metal plate and a foam vibration 
dampener to work properly. If vibration resistance could be improved that's 
great but likely it cannot without sacrificing sensitivity therefore the focus 
should be on mounting. In a trad. heli it's unlikely that the APM can be 
mounted with standoffs. In the FPV heli I'm building I'm using mounting 
techniques that have worked well for me with the SK-720. I'm a couple of weeks 
away from a test flight - I'll let you know.

Original comment by Wingspin...@gmail.com on 8 Jan 2012 at 2:28

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I have another idea about what to do here.  Perhaps we could simply turn the 
"acro" mode in to a "flybarred acro" mode.  No stabilization, no gyros.  Simply 
use the APM to do the CCPM mixing and output direct to the servos.

Won't work for flybarless, but it can probably get a rudimentary acro mode 
working.

Original comment by robert.lefebvre on 9 Jan 2012 at 6:27

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We should probably disable the throttle boost when in ACRO mode.

Original comment by rmackay...@gmail.com on 12 Jan 2012 at 12:32

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Original comment by rmackay...@gmail.com on 10 Feb 2012 at 3:17

• Changed title: TradHeli - get RATE mode working

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Original comment by robert.lefebvre on 1 Mar 2012 at 8:41

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working in 2.9.1

Original comment by rmackay...@gmail.com on 5 Mar 2013 at 6:42

• Changed state: Done