Traditional Helicopter Parameter List at a Glance¶
This list is provided as a quick means to explore all the unique Single and Dual Rotor Helicopter parameters at a glance. To see the parameter description, click on it.
These are basic setup parameters that need to be set in all cases.
FRAME_CLASS Note: only Single Heli and Dual Heli are valid with TradHeli firmware
General Swashplate/Collective Setup¶
These set the cyclic max, allow bench testing of blade angle set up, and set features of the swashplate/collective.
Single Swashplate/Collective Setup¶
These set up the configuration of the swashplate and collective travel.
H_SW_H3_ENABLE Never manually set this parameter!
H_COLYAW<H_COLYAW>This parameter will be eliminated in versions after 4.3
H_COL_MIDThis parameter was used in versions prior to Copter 4.3.0
Dual Rotor Helicopter¶
If Dual Heli frame type is selected, these additional parameters for the second rotor and rotor interactions are enabled and visible.
H_COL2_MIDThis parameter was used in versions prior to Copter 4.3.0
Custom Swashplate Configuration¶
ArduPilot allows custom swashplate servo placement for three servo swashplates. These parameters are active if H_SW_TYPE = 0 (single heli):
and if H_SW2_TYPE = 0 (dual helis only):
Rotor Speed Control Setup¶
The speed of the rotor, or rotors in the case of Dual Heli, is controlled by ArduPilot using the following RSC modes: RSC channel passthrough (not recommended), external governor, internal throttle curve, or internal governor. Parameters are provided for rotor spool time, throttle slew rate, and critical rotor speed. The internal throttle curve and governor are mainly for use with ICE or turbine engines but can be used for electric-powered helis without ESC governing.
H_RSC_AROT_PCTCurrently only available in SITL
Parameter for an external rotor speed governor like an ESC governor, if used.
Internal Throttle Curve¶
Parameters for internal throttle curve, if used.
ArduPilot Provided Rotor Speed Governor¶
Parameters for internal rotor speed governor, if used. The transmitter’s throttle curve will need to be set up to use this mode. See the Setup section of Internal RSC Governor.
H_RSC_GOV_DISGAGThis parameter was used in versions prior to Copter 4.3.0
H_RSC_GOV_SETPNTThis parameter was used in versions prior to Copter 4.3.0
H_RSC_GOV_TCGAINThis parameter was used in versions prior to Copter 4.3.0
The type of tail rotor/control used is determined by these parameters.
External Tail Gyro¶
Parameters are provided for external tail gyro, if used.