Yaw Test

Had the first successful heading hold using software. With a week to go on new blades, Vicacopter was hung from a test stand for further testing. She could remain connected to the computer through the entire tests, much faster than disconnecting and running outside every time. There was also less danger of getting damaged in a crash.

Unfortunately we didn't have torque from the main rotor so she had very little clockwise thrust.

The trick was making the Kalman filter overshoot as much as possible, enabling proportion + integration feedback, and drastically clamping the output.

Yaw is really loose but stable. It should be as tight as a $100 CSM.

Category:

Howto & Style

Tags:

• helicopter
• uav

[InceroVideos]

Which sensors are you using? ardupilot?

[heroineworshipper]

This was 3 years before Ardupilot

[InceroVideos]

@heroineworshipper I see. Well, good work then, not sure what all the rude comments on this page are about. Thanks for sharing your video.

[mdivinc]

I agree,what did you accomplish? And whats with the foam rubber on the tailboom? The more I see of this, the more I feel like I am wasting my time.

[pinoydad0811]

what do you accomplish?

[elit3elit3]

god what a newb

[angelooliveira]

great test