g31 flybarless system · 2016-04-15 · setting example : top servo limits for rear center servo...

上海尚古软件有限公司 Shanghai ShangGu Software Co.,Ltd.Shanghai ShangGu Software Co.,Ltd.Shanghai ShangGu Software Co.,Ltd.Shanghai ShangGu Software Co.,Ltd.

www.Robird.net/G31

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G31 Flybarless System

Software Setup & Tuning Guide

Table of contents: Page

� Installation ---------------------------------------------------------------------------------- 02 � Welcome! ------------------------------------------------------------------------------------ 03 � Setup Guide -------------------------------------------------------------------------------- 04

o Receiver ----------------------------------------------------------------------------- 05 o Servo -------------------------------------------------------------------------------- 07

o Swash Type ------------------------------------------------------------------------- 08

o Servo Dir ---------------------------------------------------------------------------- 10

o CollPit ------------------------------------------------------------------------------- 11

o CycPitGeom ------------------------------------------------------------------------ 12

o Direction ---------------------------------------------------------------------------- 13

o SwashServoLimit ------------------------------------------------------------------ 15

o Tail&CyclicLimit ------------------------------------------------------------------- 16

� Performance -------------------------------------------------------------------------------- 17 � Governor ------------------------------------------------------------------------------------ 19

� Vibra Analyse ------------------------------------------------------------------------------ 20


www.Robird.net/G31

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Installation

Download and install ROBIRD software from www.robird.net/g31 to your PC before proceeding to the software setup, please follow the above diagram for proper connections. The reference position of Left and Right servos is to view from the rear of the helicopter. DO NOT connect power to the RS/GainPitAx port as it is for SIGNAL INPUT ONLY, doing so will cause damage to the G31.

BEFORE powering up the system, perform the following steps first:

• Power up the G31 by connecting the provided USB cable to PC, no external power source is needed at this moment and G31 can be programmed by using USB power alone.

• Run the ROBIRD software, all icons will be clickable once the software has detected the G31.

• Click on to enter first page.

• Select the receiver type from the dropdown selections.

• Click to continue to next page.

• Select the correct servo types for cyclic/tail/ESC/throttle from the dropdown selections.

• Lastly click tab on the top to save these settings and exit the setup screen.

• It is safe to power up the system now. Disconnect the motor wires for safety reasons.


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Welcome! : Click on this icon to enter setup screens.

: Click on this icon to enter Performance tuning screen. Can be set with USB power only. : To perform online updates to G31 firmware and PC software, good internet connection

is necessary. USB CABLE ONLY. : To perform updates to G31 firmware using stored update files on local PC without internet connection. USB CABLE ONLY. : To reset G31 back to factory defaults including all settings and tuning parameters. DO NOT perform this with external power due to incompatible

default settings to your present electronics which might cause damages to them. Only power the G31 by the USB port to perform this task.


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Setup Guide - Receiver

Make sure transmitter is already binded to receiver or satellite before connection and power up. On the transmitter, observe the following:

• Heli mode with 1 servo 90º for swash type, no CCPM.

• No sub-trim/trim on all channels.

• No servo reverse needed on all channels except for Futaba user.

• Futaba users will need to reverse throttle channel 3.

• Set end points to 100% for all channels.

• Linear throttle and pitch curves.

• Disable Dual Rate and Expo on all channels.

• Disable all channel mixing, revo mix,etc.

• Refer to the diagrams below for various receiver connection methods. Futaba receiver connections (PWM) Spektrum/JR connections (PWM)


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S.Bus/Satellite/PPM connections Separate servo power bus system

Note on S.Bus/Satellite/PPM/Power Bus connections using the included SRX adapters:

• S.Bus – SRX adapter can be connected to either SRx1 or SRx2 port.

• Satellite – SRX adapter can be connected to either SRx1 or SRx2 port for single satellite configuration. If using two SRX adapters for two satellites, connect each adapter to SRx1 and SRx2 port.

• PPM – Directly connect the receiver’s PPM signal cable to SRx2 port, no adapter is needed.

• Power bus – Cyclic servos are powered by SRx1/Motor port while Tail servo is powered by SRx2 port. No power input to the RS/GainPitAx port.

: Receiver type – Choose the suitable receiver type for your application. : Ail/Ele Gain channel selections – Choose the channels to control the gains for

Aileron and Elevator, gain knobs on G31 will be disabled. Value “0” will return gain control to the gain knobs.

: Signal reverse – Tick this to reverse the signal of any channel from the receiver. : Signal display – Real-time display of all input signals.


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Synchronizing input signals to G31 steps by step:

• Reverse - Observe the real-time display on all channels; move Aileron, Elevator, Pitch and Rudder sticks on the transmitter. Reverse the signal of the channel that is moving in the wrong direction by clicking beside it.

• Re-initiate – After confirming all channels are responding to the correct directions, G31 need to be re-initiate to lock in to the new center positions of all channels. By clicking the top tab to exit setup screen, G31 will re-initiate and calibrate itself to the new center positions of all channels.

• End points – After G31 re-initiated, click “Setup Guide” and enter the first setup screen “Receiver” again. Move the Aileron, Elevator, Rudder and Pitch/Throttle sticks on your transmitter to their extreme ends, adjust transmitter channel end points to get 100% full bar readings on both ends in the real-time display for all the channels. Optional for RudGain, AilGain & EleGain.

• Click to continue.


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Setup Guide - Servo : Selection of Cyclic servo type, mount servo horns to neutral center positions. : Selection of Tail servo type, mount servo horn to get nearest 90º. : Selection of ESC/Throttle servo type.



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Setup Guide - SwashType The G31 inbuilt swash mixer is suitable for all common swash configurations in the market, choosing the correct swash type for the helicopter is very important. Selection of swash type: : Select suitable swash type by clicking on the correct icon. : Select this if Elevator/Center servo is located at the front of the helicopter. Icons will switch from to indicating the changes. : The swash should be tilting FORWARD after correct swash selections. If it is not, please go to the ServoDir page to check cyclic servos direction.


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: Select this for multiple blade rotor head; highlight the rotor head type with the correct phasing angle from the dropdown selections next to it. Some multiple blade rotor heads have the same 90º phasing difference as normal two-bladed rotor heads, in this case this selection is not needed.



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Setup Guide - ServoDir The purpose of this setup screen is to configure all cyclic servos to operate in the correct corresponding directions. : Change the cyclic servo directions by clicking “Left Reverse”, “Center Reverse” or “Right Reverse”. The objective is to move the swash UPWARDS to the top position. Setup Tips: By toggling the directions of each cyclic servo, it is possible to check if they are plugged into the correct slots of the G31 servo output ports. Left and Right servo positions are viewed from the rear of the helicopter.



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Setup Guide - CollPit : Move the collective stick of the transmitter to check the moving directions of the swashplate, toggle this icon to change the moving direction of swash to obtain correct collective movement. : Move collective stick to center position, observe “0” reading on pitch signal, adjust trim values of “LeftNeutral”, “CenterNeutral” and “RightNeutral” to obtain 90º servo horn position for all cyclic servos. Adjust servo linkage rods to level the swashplate and also set 0º collective pitch angle for the blades. : Move collective stick to top position, observe “100” on pitch signal and drag the TOP slider bar to obtain maximum collective pitch blade angle. Adjust trim values of “+PitchEleLevel” and “+PitchAilLevel” to level the swashplate for upper swash position hence eliminating swash movement interactions. : Move collective stick to bottom position, observe “-100” on pitch signal and drag the BOTTOM slider bar to obtain minimum collective pitch blade angle. Adjust trim values of “-PitchEleLevel” and “-PitchAilLevel” to level the swashplate for lower swash position hence eliminating swash movement interactions.



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Setup Guide - CycPitGeom

The swashplate will tilt automatically on this setup page, position the rotor head with the blades pointing towards the front or rear, parallel to the tail boom. : Slide this bar to obtain 8º cyclic pitch angle with measurement from the blades. G31 FBL needs to know the transmission ratio to calculate the head geometry from this pitch angle. Maintain in green zone for best performance, adjust servo horn lengths if necessary. Note: This adjustment is not for the maximum cyclic pitch; do not set it to other angles.



www.Robird.net/G31

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Setup Guide - Direction G31 mounting orientation: Specify the correct mounting orientation of the G31 by selecting one of the following: Setup Tip: G31 prefers to be hard-mounted, use harder mounting tape for best performance.


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Tail gyro direction: Choose the tail gyro direction AFTER selecting G31 mounting orientation described on the previous page. Fig 1 Fig 2

Rotate the helicopter clockwise slowly, observe the tail slider movement, it should be moving outwards like Fig 1 has shown, otherwise click to reverse it. Rotate the helicopter counter-clockwise slowly, observe the tail slider movement, it should be moving inwards like Fig 2 has shown, otherwise click to reverse it. Note: The above applies to most helicopters in the market but there are some manufacturers using different tail control mechanism for example: left side tail rotor, trailing edge tail blade grip controls or clockwise spinning tail rotor. In that case observe the air flow directions to counter the helicopter movements.



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Setup Guide - SwashServoLimit G31 needs to know the mechanical travel limits of each cyclic servo to prevent servo binding during swashplate movements. Swashplate leveling does not affect this adjustment. Setting example: Top servo limits for Rear center servo swash types:

• Move and maintain Pitch stick at full positive collective.

• Hold Elevator stick at full Forward.

• Slide the bar of Center servo Top limit to achieve maximum travel before binding.

• Hold Elevator stick at full Backward and Aileron stick at full Left.

• Slide the bar of Right servo Top limit to achieve maximum travel before binding.

• Hold Elevator stick at full Backward and Aileron stick at full Right.

• Slide the bar of Left servo Top limit to achieve maximum travel before binding. Similarly, with Pitch stick at full negative collective, position and hold the cyclic stick(s) to move each individual servo to their lowest position to set the lower limits.



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Setup Guide – Tail&CyclicLimit Tail setup:

• Sub-trim to obtain at neutral position if necessary.

• Adjust tail linkage rod length to get 7-8º tail blades angle to compensate the torque from the main rotor.

• Move rudder stick to full right position , slide the bar to achieve maximum throw without binding.

• Move rudder stick to full left position , slide the bar to achieve maximum throw without binding.

Setup Tip: Obtain tail limits between 80%-100% for best tail performance. Too low % value means servo horn need to be shorter and too high % value means servo horn need to be longer. Cyclic ring setup: : Move cyclic stick(s) to observe the maximum deflection of the swashplate, slide the horizontal and vertical bars to adjust the cyclic ring for Aileron and Elevator. Obtain maximum throw on both axis without binding the swashplate. : Increase this value to make the cyclic ring more “square” for increase Aileron and Elevator movements when cyclic stick is at or near the corners.

• Click to end setup.


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Performance : Click either of this to load the preset parameters for Sport or 3D flying. Swashplate parameters: : Maximum Elevator and Aileron roll rates, each unit represents 10º/sec rolling speed. Set by changing these values or by dragging the sliding bars below it. : Agility level of Elevator and Aileron. Higher values result in faster responses and movements to cyclic stick input, which also means faster acceleration to maximum roll rate. Be careful not to go too high on these values as they will make the helicopter hyper-active and hard to control. : Cyclic expo, negative values for slower and smoother feel around center stick. : Due to the increased air resistant of the tail rotor section which is not under the downwash of the main rotor, it is natural for the helicopter nose to pitch up slightly during fast ascending and pitch down slightly during fast descending. Use this setting to inject some Elevator swash tilt to counter this phenomenal. The higher the value the more tilting angle achieved. : Increase this value to have harder stops on Elevator or Aileron roll movements, snappier cyclic stops but too much will cause cyclic bounce after the stops.


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Rudder/Tail parameters: : Maximum rudder yaw rate, each unit represents 10º/sec rotating speed. Set by changing this value or by dragging the sliding bar below it. : Rudder expo, negative values for slower and smoother feel around center stick. : Cyclic to Tail pre-compensation gain, increase this value to pre-load the tail during heavy cyclic movements to counter the main rotor torque for solid tail holding. Example: Tic-toc maneuvers. : Similar to the above, this is for Collective to Tail pre-compensation. Increase this value to pre-load the tail during heavy collective movements to counter the main rotor torque for solid tail holding. Example: Pitch pumping. : Increasing this value will give you a harder stop after left pirouette. : Increasing this value will give you a harder stop after right pirouette. : CW acceleration and CCW deceleration proportional gain for constant yaw rate. Higher value to obtain stable tail performance. Too high value will cause oscillation in high speed side and tail first maneuvers. : CCW acceleration and CW deceleration proportional gain for constant yaw rate. Higher value to obtain stable tail performance. Too high value will cause oscillation in high speed side and tail first maneuvers. Governor parameters: : The number of signal per cycle. For electronic phase sensor, number of motor poles divided by 2. Example for 8 pole motors, enter value 4 in this field (8/2 = 4). For magnet-hall sensor, number of magnet per cycle. : Tick this box to enable the G31 internal governor. : Governor gain value (0-255). Too high value causes rpm hunting and too low value causes rpm not holding and dropping constantly. : Cyclic to Motor pre-compensation gain, increase this value to pre-load the motor during heavy cyclic movements to counter the main rotor torque to prevent bogging. Example: Tic-toc maneuvers. This feature works even with governor disabled, ESC must be connected to G31. : Similar to the above, this is for Collective to Motor pre-compensation. Increase this value to pre-load the motor during heavy collective movements to counter the main rotor torque to prevent bogging. Example: Pitch pumping. This feature works even with governor disabled, ESC must be connected to G31. : Click this button to clear the internal governor rpm to throttle range calibrations.


www.Robird.net/G31

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Governor - Electric Step by step instructions to setup the governor:

• Disable the governor.

• Disable the pre-compensations.

• Set full linear throttle curve 0 – 100% in transmitter. 0-25-50-75-100.

• Calibrate ESC throttle range according to the ESC manual using the above throttle curve.

• Set transmitter throttle curve to 90% flat with low stick 0% in Normal mode. 0-90-90-90-90.

• Set transmitter normal pitch curve with 0º pitch around mid-stick.

• Enable the governor.

• Spool up the helicopter on the ground in normal mode, maintain mid-stick without lifting.

• G31 will self-calibrate its governor with a few rpm increases automatically.

• RPM will drop to about 40% once calibration is done.

• Cut throttle, unplug battery.

• Example of successful governor calibration in performance screen. � Before After

• Set throttle curve % by hovering with an optical tachometer in all flying modes.

• Adjust pre-compensation values accordingly.

• DONE. Note: G31 governor will only be active above 60% throttle, ensure flat throttle curve and no throttle mixing in transmitter. Disable governor function in ESC and select the fastest response mode available (plane mode). ESC slow start is optional as G31 governor has its own slow starting sequence.


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Vibration Analyses : Live view vibration analyses while USB cable connected. Use long USB cable and weight it down, keep a safety distance away from the helicopter. : Click this button to download the vibration log of the previous flight. : Logged interval of main rotor rpm with the highest vibration level. : Logged interval of tail rotor rpm with highest vibration level. : Logged vibration level from the previous flight. Listing shows the overall peak vibration level during every 6 seconds period of time with highest main/tail rotor in each interval. Bonus feature: Since the G31 vibration analyses “Live View” feature can be operated by USB power alone, it can be used for checking vibration level/rpm very handily. Run the software, stick G31 to object surface, plug in the USB cable and there you have it, a vibration/rpm analyses tool.

g31 flybarless system · 2016-04-15 · setting example : top servo limits for rear center servo...

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