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54 ratings
ZE Coaxial Flight Controller
Description Discussions0 Comments50 Change Notes
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Vehicles: Air, Mechanical
Microcontrollers: Navigation, Microcontroller
Tags: v1.1.17
File Size
Posted
Updated
96.504 KB
15 Feb, 2021 @ 9:52am
28 Mar, 2021 @ 6:06am
13 Change Notes ( view )
Created by
Uran_Wind
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ZE Coaxial Flight Controller

Description
Description
A full-fledged flight controller for helicopters with coaxial rotors only. Providing smooth tilt and yaw stabilization, automatic and target altitude hold, idle position hold, autopilot, and has optional engine control.
  • Engine, target altitude hold and autopilot should be enabled manually through the composite node. Their On/Off channel numbers are set in the microcontroller properties. Stabilization will be disabled if the engine is turned off.

  • Engine control maintains the constant engine RPS and shut it down when overheating. Can handle with both diesel and jet engines. Target RPS can be set with lever or constant number.
  • Stabilization is configured to automatically hold the current altitude and hold the current position when idle. The inputs for Pitch/Lift and Roll/Yaw are switchable between WASD and arrows. The gyro is capable of turning across the yaw axis with a roll tilt when flying forward.
  • Autopilot has a destination zone radius of 100 meters. When autopilot is on, you can manually change the altitude or enable the target altitude hold.

Setup order
  • Balance the helicopter that way the center of mass should be as close as possible to the main rotor axis. Fuel tanks are considered empty.
  • Rotors should rotate in opposite directions and their main direction arrows should pointing forward. The straightforward way is to place the bottom rotor as is, and place the top rotor mirrored with U hotkey. Set both rotors blade pitch to neutral and an equal blade count.
  • Create a control instrumental panel and assign its boolean channels for the engine and other features.
  • Install this gyro and connect all logic nodes according their labels. Altimeter should be placed close to the rotors. Linear speed sensors should be set to directional mode. Angular speed sensor should not be mirrored.
  • Set the seat axis bindings, tune pitch trim and other settings in the controller properties.
  • Connect pilot seat to the gyro with a composite link. Set all axis to the reset mode and their trim to 0. Disable the joystick mode.

All done, but my helicopter...
  • Tilts too fast or too slow - adjust respective PILOT SEAT axis sensitivity.
  • Tilts too much - reduce the respective axis max tilt.
  • Tilt overreacts - reduce respective axis PID sensitivity.
  • Turns too slowly - increase yaw max speed or the sensitivity of PILOT SEAT yaw axis.
  • Shakes while hovering or ascending - reduce the main rotor RPS or lift PID sensitivity.
  • Does not lift off - increase main rotor thrust with higher RPS or gearboxes.
  • Swinging around the equilibrium while hovering - reduce the position hold max tilt.
  • Constantly tilting or moving on side while hovering - check the weight balancing and tune the MICROCONTROLLER PITCH TRIM. Do not change the pilot seat axis trim because its nonzero values disables the automatic position hold.
  • Autopilot overshoots its destination - increase the autopilot deceleration value.

Slim down basic gyro
50 Comments
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MeandMysecondME 27 May @ 9:19am 
how u turn on a maus aiming??
Wolves Hero 17 Jan @ 1:53pm 
This is Coaxial. Need make one for tail rotor because can't find on workshop only few tail rotor microcontroller
Ozruul 6 Nov, 2024 @ 6:52pm 
why is the autopilot not go exactly where the waypoint is? and why does it not hold it's position very well
Gibson 27 Oct, 2024 @ 7:13am 
Make tiltrotor version pleeease 🥺
D3adly 8 Oct, 2024 @ 11:33am 
@Ozruul that happens with very light helis. Try adding more weight or use trim controls
Ozruul 4 Oct, 2024 @ 9:49am 
help, it rolls left to right very slowly
Gibson 29 Sep, 2024 @ 3:11pm 
Yeah I'm also having problems with the AP. (Yeah I know that post is 2½ months old)
XombyeGamer 16 Jul, 2024 @ 3:08pm 
Hi, The thing works great, but when activated (The autopilot) it goes to a very different direction
i´ve checked the gps coords, the keypad and the conexions but nothing
Desired 12 May, 2024 @ 3:57pm 
Please make a non-coaxial flight controller pls pls pls pls pls
Ames 19 Feb, 2024 @ 3:07am 
What value do I change to decrease the autopilot destination zone radius?