AirWolf 500 на 3D принтере.
Все получилось с Ardupilot. Воздушный волк поднялся в воздух.
К моему удивлению СМИ проявили интерес к проекту о вертолёте и сняли сюжет.
Терминатор Джон Генри рассказывает о строительстве радиоуправляемой модели вертолета Воздушный волк c напечатанным на 3D принтере фюзеляжем и системой стабилизации Ardupilot
Настройки APM
ACRO_BAL_PITCH,1
ACRO_BAL_ROLL,1
ACRO_EXPO,0.3
ACRO_RP_P,3.5
ACRO_TRAINER,2
ACRO_YAW_P,3
AHRS_COMP_BETA,0.1
AHRS_GPS_GAIN,0
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.1
AHRS_TRIM_X,0.045
AHRS_TRIM_Y,0.009
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.1
ANGLE_MAX,1700
ARMING_CHECK,0
ATC_ACCEL_RP_MAX,0
ATC_ACCEL_Y_MAX,0
ATC_RATE_FF_ENAB,0
ATC_RATE_RP_MAX,18000
ATC_RATE_Y_MAX,9000
ATC_SLEW_YAW,1000
BAROGLTCH_ACCEL,1500
BAROGLTCH_DIST,500
BAROGLTCH_ENABLE,1
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,18.0018
BATT_CAPACITY,4800
BATT_CURR_PIN,12
BATT_MONITOR,4
BATT_VOLT_MULT,10.1
BATT_VOLT_PIN,13
BATT_VOLT2_MULT,1
BATT_VOLT2_PIN,-1
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CH7_OPT,0
CH8_OPT,0
CIRCLE_RADIUS,1000
CIRCLE_RATE,20
COMPASS_AUTODEC,1
COMPASS_DEC,0.2468426
COMPASS_EXTERNAL,0
COMPASS_LEARN,1
COMPASS_MOT_X,1.019334
COMPASS_MOT_Y,3.549596
COMPASS_MOT_Z,0.2577
COMPASS_MOTCT,2
COMPASS_OFS_X,30
COMPASS_OFS_Y,-11
COMPASS_OFS_Z,3
COMPASS_ORIENT,0
COMPASS_USE,1
DCM_CHECK_THRESH,0.8
EKF_CHECK_THRESH,0.8
ESC,0
FENCE_ACTION,1
FENCE_ALT_MAX,100
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TYPE,3
FLOW_ENABLE,0
FLTMODE1,0
FLTMODE2,0
FLTMODE3,0
FLTMODE4,0
FLTMODE5,16
FLTMODE6,16
FRAME,0
FS_BATT_ENABLE,0
FS_BATT_MAH,0
FS_BATT_VOLTAGE,0
FS_GCS_ENABLE,0
FS_GPS_ENABLE,0
FS_THR_ENABLE,0
FS_THR_VALUE,925
GND_ABS_PRESS,50314.92
GND_ALT_OFFSET,0
GND_TEMP,32.02296
GPS_HDOP_GOOD,230
GPS_NAVFILTER,3
GPS_TYPE,1
GPSGLITCH_ACCEL,1000
GPSGLITCH_ENABLE,1
GPSGLITCH_RADIUS,200
H_COL_MAX,1750
H_COL_MID,1500
H_COL_MIN,1280
H_COLYAW,0
H_FLYBAR_MODE,1
H_GYR_GAIN,350
H_LAND_COL_MIN,0
H_PHANG,0
H_PIT_MAX,2500
H_ROL_MAX,2500
H_RSC_MODE,0
H_RSC_RAMP_TIME,1
H_RSC_RUNUP_TIME,10
H_RSC_SETPOINT,500
H_STAB_COL_MAX,1000
H_STAB_COL_MIN,0
H_SV_MAN,0
H_SV1_POS,-60
H_SV2_POS,60
H_SV3_POS,180
H_SWASH_TYPE,0
H_TAIL_SPEED,500
H_TAIL_TYPE,0
HLD_LAT_P,1
HS1_DZ,0
HS1_MAX,2000
HS1_MIN,1000
HS1_REV,-1
HS1_TRIM,1520
HS2_DZ,0
HS2_MAX,2000
HS2_MIN,1000
HS2_REV,1
HS2_TRIM,1570
HS3_DZ,0
HS3_MAX,2000
HS3_MIN,1000
HS3_REV,1
HS3_TRIM,1490
HS4_DZ,0
HS4_MAX,2000
HS4_MIN,900
HS4_REV,-1
HS4_TRIM,1400
INAV_TC_XY,2.5
INAV_TC_Z,5
INS_ACCOFFS_X,0.114008
INS_ACCOFFS_Y,0.1988443
INS_ACCOFFS_Z,0.4787274
INS_ACCSCAL_X,0.9974214
INS_ACCSCAL_Y,1.003639
INS_ACCSCAL_Z,0.9853563
INS_GYROFFS_X,-0.01419137
INS_GYROFFS_Y,-0.03864182
INS_GYROFFS_Z,0.01303669
INS_MPU6K_FILTER,20
INS_PRODUCT_ID,0
LAND_REPOSITION,1
LAND_SPEED,50
LOG_BITMASK,13182
LOITER_LAT_D,0
LOITER_LAT_I,0.5
LOITER_LAT_IMAX,1000
LOITER_LAT_P,1
LOITER_LON_D,0
LOITER_LON_I,0.5
LOITER_LON_IMAX,1000
LOITER_LON_P,1
MAG_ENABLE,1
MIS_RESTART,0
MIS_TOTAL,0
MNT_ANGMAX_PAN,4500
MNT_ANGMAX_ROL,4500
MNT_ANGMAX_TIL,4500
MNT_ANGMIN_PAN,-4500
MNT_ANGMIN_ROL,-4500
MNT_ANGMIN_TIL,-4500
MNT_CONTROL_X,0
MNT_CONTROL_Y,0
MNT_CONTROL_Z,0
MNT_JSTICK_SPD,0
MNT_MODE,0
MNT_NEUTRAL_X,0
MNT_NEUTRAL_Y,0
MNT_NEUTRAL_Z,0
MNT_RC_IN_PAN,0
MNT_RC_IN_ROLL,0
MNT_RC_IN_TILT,0
MNT_RETRACT_X,0
MNT_RETRACT_Y,0
MNT_RETRACT_Z,0
MNT_STAB_PAN,0
MNT_STAB_ROLL,0
MNT_STAB_TILT,0
OF_PIT_D,0.12
OF_PIT_I,0.5
OF_PIT_IMAX,100
OF_PIT_P,2.5
OF_RLL_D,0.12
OF_RLL_I,0.5
OF_RLL_IMAX,100
OF_RLL_P,2.5
PHLD_BRAKE_ANGLE,2000
PHLD_BRAKE_RATE,7
PILOT_ACCEL_Z,50
PILOT_VELZ_MAX,1
POSCON_THR_HOVER,18
RATE_PIT_D,0
RATE_PIT_FF,0.28
RATE_PIT_I,0.08
RATE_PIT_IMAX,5000
RATE_PIT_P,0
RATE_RLL_D,0
RATE_RLL_FF,0.3
RATE_RLL_I,0.08
RATE_RLL_IMAX,5000
RATE_RLL_P,0
RATE_YAW_D,0.002
RATE_YAW_FF,0.06
RATE_YAW_I,0.07
RATE_YAW_IMAX,2000
RATE_YAW_P,0.19
RC_FEEL_RP,100
RC_SPEED,125
RC1_DZ,30
RC1_MAX,1919
RC1_MIN,1070
RC1_REV,1
RC1_TRIM,1493
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,0
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,0
RC2_DZ,30
RC2_MAX,1918
RC2_MIN,1070
RC2_REV,1
RC2_TRIM,1493
RC3_DZ,10
RC3_MAX,1919
RC3_MIN,1068
RC3_REV,1
RC3_TRIM,1073
RC4_DZ,15
RC4_MAX,1919
RC4_MIN,0
RC4_REV,1
RC4_TRIM,1493
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1755
RC5_MIN,1103
RC5_REV,1
RC5_TRIM,1553
RC6_DZ,0
RC6_FUNCTION,7
RC6_MAX,1986
RC6_MIN,979
RC6_REV,1
RC6_TRIM,1498
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1986
RC7_MIN,1482
RC7_REV,1
RC7_TRIM,1498
RC8_DZ,10
RC8_FUNCTION,0
RC8_MAX,1986
RC8_MIN,1482
RC8_REV,1
RC8_TRIM,1498
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_PIN,13
RELAY_PIN2,-1
RNGFND_GAIN,0.8
RSSI_PIN,-1
RSSI_RANGE,5
RTL_ALT,1500
RTL_ALT_FINAL,30
RTL_LOIT_TIME,60000
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SIMPLE,0
SR0_EXT_STAT,2
SR0_EXTRA1,2
SR0_EXTRA2,2
SR0_EXTRA3,2
SR0_PARAMS,0
SR0_POSITION,2
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,2
SR1_EXTRA2,2
SR1_EXTRA3,2
SR1_PARAMS,0
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,2
STB_PIT_P,3.5
STB_RLL_P,4
STB_YAW_P,1.7
SUPER_SIMPLE,0
SYSID_MYGCS,255
SYSID_SW_MREV,120
SYSID_SW_TYPE,10
SYSID_THISMAV,1
TELEM_DELAY,0
THR_ACCEL_D,0
THR_ACCEL_I,0
THR_ACCEL_IMAX,0
THR_ACCEL_P,0
THR_ALT_P,0
THR_DZ,300
THR_MAX,1000
THR_MID,500
THR_MIN,0
THR_RATE_P,0
TRIM_THROTTLE,39
TUNE,0
TUNE_HIGH,1000
TUNE_LOW,0
WP_YAW_BEHAVIOR,3
WPNAV_ACCEL,70
WPNAV_ACCEL_Z,70
WPNAV_LOIT_JERK,1000
WPNAV_LOIT_SPEED,100
WPNAV_RADIUS,200
WPNAV_SPEED,50
WPNAV_SPEED_DN,10
WPNAV_SPEED_UP,10
Александр, будет продолжение по проекту? Поделитесь с нами своими планами!
Продолжение проекта однозначно будет. Но из за невнимательности случилась авария. Не увидел мигающий светодиод обозначающий отсутствие 3DFix. Вертолет резко полетел в сторону, перевернулся и врезался в землю. Занимаюсь печатью нового фюзеляжа. Механику полностью восстановил. Пока в ожидании сделал из ранее напечатанных деталей воздушного волка в масштабе 450-ки. Но пока не запускаю. Сначала восстановлю AirWolf 500.
Оба воздушных волка снова в строю. Теперь очередь за 600-кой. Это максимальный масштаб фюзеляжа, который можно распечатать.