er9x heli 450 heli set up (flybar)
I am posting this to help with setting up a CCPM heli under er9x. It is a bit different to do than on "regular" radios, so I hope this helps.
Start with a new model. You can do it on the radio, or in eePe. I did it all on the radio, but it would be easier to do it in eePe.
In the Heli setup page choose 120 as the swash type (120X would have one servo on the side and two fore and aft)
While there select ch11 as the collective source.
The next thing you have to do is decide where you are going to plug in your servos.
Unlike most radios you can actually put them into any available channel.
The template assumes the following assignments
ch1 "elevator" servo - i. the one in front or back of the swash
ch2 one of the roll cyclic servos
ch3 the other roll cyclic servo
ch6 gyro gain
and it also assigns (virtual) ch11 to the collective mixing function
The resulting mixes look like the image below.
But what does it all mean?
Last edited by pmackenzie; Feb 23, 2013 at 10:27 PM.
Now just to comlicate things a bit, i did not use the channel order in the template, but instead used the standard JR order
ch2 one of the roll servos
ch3 elevator servo
ch5 gyro gain
ch6 the other roll servo
Two reasons for this:
1) I already had the servos plugged in this way and the heli set up with a JR radio
2) The only failsafe on the receiver is on ch1, so throttle must be in that slot.
Moving the mixes around I ended up with:
Now to explain each channel.
Start with the easy ones
ch4 100% RUD
Not much to explain here.ch4 is simply the rudder stick.
Next would be ch5, gyro gain
ch5 30% FULL Switch (!GEA)
FUll will go to one side of neutral or the other by the amount set in the %, depending on the direction of the switch. The switch used is the gear switch, and the exclamation mark simply reverses the direction. This could also have been done with
ch5 -30% FULL Switch (GEA)
One way will be 30% gain in rate mode, the other 30% in HH mode. This would be something like 35 and 65 in the common 0/50/100 scale used in some radios.
If you want different rates in each direction then use something like
ch5 -35% HALF Switch(GEA)
+40% HALF Switch(!GEA)
Next is the throttle, ch1
There are 4 lines to the mix.
Only one line at a time is "active", based on the position of the switches.
The first three take the throttle stick as the input and pass it through one of the curves, depending on the position ID0/ID1/ID2
The last line is the throttle hold becoming active when the throttle hold switch is pulled.
It is a "replace" type which means that it cancels everything else before it, moving the throttle to full off at -100%
The default Heli curves are a reasonable starting point if you don't have governor mode on your ESC. If you do then you would replace C2 and C3 with flat lines at the desired value.
Next is ch11, the collective channel.
It looks a lot like the throttle channel, main difference being it points to different curves.
There is also no separate "hold" curve. If you are planning on doing autos it might be worth adding a line like
+100% THR noTrim Curve(C7) Switch(THR) to select a throttle hold curve that you would set up as desired. But if you mainly use the throttle hold to reduce crash damage you probably don't need one
Why ch11, when the receiver is only six channels?
Collective must be mixed into all three cyclic servos, so if we did not use ch11 as a sort of "virtual" channel in which to calculate the collective input to them you would have to have all three of its mixes in each of the three cyclic channels.
This would work fine, but would mean the model would take up more eeprom to store, it would take longer to do the calculations, and if you made changes you would have to make them in three places.
This use of the high channels is a common trick in er9x, whenever you have a complex function that will be added into multiple outputs.
More gyro stuff - way more :)
Done with FULL like in my snap shot you don't need the second line, Full will go from -30 in one switch position to +30 in the other. This is how the basic heli template sets it up.
The way you did it with two lines both FULL would actually end up doubling the value to +/- 60 when you flip the switch.
In the third post I showed a version using HALF that has the minus sign and lets you set gains in both directions by having two lines in the mix for the gain channel.
ch5 -35% HALF Switch(GEA)
+40% HALF Switch(!GEA)
You can also put the gain on a pot if you want so you can fine tune it in flight. There are several ways to do this. There is a template for one of them
ch5 +50% P2 Switch(!GEA) Offset(100)
-50% P2 Switch(GEA) Offset (100)
Again the gear switch selects rate/HH but this time the pot will change the value from 0 to 100. same in both directions.
Another way that shows some of the power in er9X to do complicated stuff would be:
ch5 100% FULL Switch(GEA)
* 50% P2 Offset(100) - note this is a MULTIPLY mix, not an add
Again the pot would allow you to go from 0 (no gain) to 100 ( full gain), same value in both HH and rate.
And if you only wanted to pot to fine tune the gain by say 10% then you could use
ch5 50% FULL Switch(!GEA)
+10% P2 Switch(!GEA)
-10% P2 Switch(GEA)
Or using two pots you could get different values for each direction:
ch5 50% HALF Switch(!GEA)
+10% P1 Switch(!GEA)
-50% HALF Switch(GEA)
-10% P2 Switch(GEA)
A lot of radios use the flight mode switch to select gyro gain,
this is also easy to do in er9X. Assuming 4 flight modes
ch5 40% HALF Switch(ID0)
+35% HALF Switch(ID1)
+30% HALF Switch(ID2)
R -20% HALF Switch(THR) <- note this is a replace mix
Everything so far would be the same, except collective would be on a "real" channel as defined by the controller.
Usually this is ch6 since both Futaba and JR use this as standard. same thing for rudder and gyro gain, both JR and Futaba generally agree here.
The difference would be that instead of the three mixed cyclic channels (That I have not talked about yet) you would just need the direct aileron and elevator signals.
For JR order which is pretty common it would be:
ch2 +100% AIL
ch3 +100% ELE
That would at least get everything responding to the correct sticks, but you might have to adjust directions and throws.
Sorry, don't know much about the stock firmware
Back to explaining the rest of the lines in the mixes - the cyclic servos.
We make use of the only in-built mixes in er9X, swash mixing. Most radios have these but also things like V tail, elevons, dual ailerons, etc. er9X only has cyclic mixing
You could do a heli completely with the basic mixes, so why does er9X have these special heli ones? Short answer is that erraz who started the er9X development bought a heli so he added them in
They do make things a lot simpler and eliminate a lot of repeated mixes.
Just to illustrate, here is what the three channels would look like without using the CYC functions.
ch2 43% AIL
+ 25% ELE
+ 50% ch11
ch3 50% ELE
ch6 -43% AIL
Or something like that.. Get one sign or one percent wrong and things would not work correctly.
Instead we have simply
and all the guesswork and sources of errors are taken care of.
There is another feature we can use - swash ring. Not a lot of other radios have this. The idea is that if you combine full roll with full elevator the total swash movement could be enough to cause binding.
Swash ring if enabled simulates the effect of having a round ring on the gimbal and prevents excess movement in the corners. You can actually buy rings to mount on your radio:
er9X does it in the firmware, a feature found mainly on high end radios like the 14MZ. . Personally I have never used it, but it is there if you want it.
Hopefully that explains everything in the mixes and the curves, so next step would be to actually do the mechanical setup on the heli.
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