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4.8:32437/copter: document swashplate phase angle available for all types #7964

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24 changes: 16 additions & 8 deletions copter/source/docs/dual-helicopter.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -52,15 +52,17 @@ These are only needed for the forward swashplate if :ref:`H_SW_TYPE<H_SW_TYPE__A
- :ref:`H_SW_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Dual>`
- ``H_SW_H3_PHANG``

:ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Dual>` can also be set for the forward swashplate to correct control coupling issues, regardless of swashplate type.

These are only needed for the aft swashplate if :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic.

- :ref:`H_SW2_H3_ENABLE<H_SW2_H3_ENABLE>` - Do Not Set Manually! This is set automatically once :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic
- :ref:`H_SW2_H3_SV1_POS<H_SW2_H3_SV1_POS>`
- :ref:`H_SW2_H3_SV2_POS<H_SW2_H3_SV2_POS>`
- :ref:`H_SW2_H3_SV3_POS<H_SW2_H3_SV3_POS>`
- ``H_SW2_H3_PHANG``

:ref:`H_SW2_PHANG<H_SW2_PHANG>` can also be set for the aft swashplate to correct control coupling issues, regardless of swashplate type.

This parameter is not used for the longitudinal configuration
- :ref:`H_YAW_REV_EXPO<H_YAW_REV_EXPO>`
Expand Down Expand Up @@ -98,15 +100,17 @@ These are only needed for the left swashplate if :ref:`H_SW_TYPE<H_SW_TYPE__AP_M
- :ref:`H_SW_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Dual>`
- ``H_SW_H3_PHANG``

:ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Dual>` can also be set for the left swashplate to correct control coupling issues, regardless of swashplate type.

These are only needed for the right swashplate if :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic.

- :ref:`H_SW2_H3_ENABLE<H_SW2_H3_ENABLE>` - Do Not Set Manually! This is set automatically once :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic
- :ref:`H_SW2_H3_SV1_POS<H_SW2_H3_SV1_POS>`
- :ref:`H_SW2_H3_SV2_POS<H_SW2_H3_SV2_POS>`
- :ref:`H_SW2_H3_SV3_POS<H_SW2_H3_SV3_POS>`
- ``H_SW2_H3_PHANG``

:ref:`H_SW2_PHANG<H_SW2_PHANG>` can also be set for the right swashplate to correct control coupling issues, regardless of swashplate type.

This parameter is not used for the longitudinal configuration

Expand Down Expand Up @@ -143,15 +147,17 @@ These are only needed for the left swashplate if :ref:`H_SW_TYPE<H_SW_TYPE__AP_M
- :ref:`H_SW_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Dual>`
- ``H_SW_H3_PHANG``

:ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Dual>` can also be set for the left swashplate to correct control coupling issues, regardless of swashplate type.

These are only needed for the right swashplate if :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic.

- :ref:`H_SW2_H3_ENABLE<H_SW2_H3_ENABLE>` - Do Not Set Manually! This is set automatically once :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic
- :ref:`H_SW2_H3_SV1_POS<H_SW2_H3_SV1_POS>`
- :ref:`H_SW2_H3_SV2_POS<H_SW2_H3_SV2_POS>`
- :ref:`H_SW2_H3_SV3_POS<H_SW2_H3_SV3_POS>`
- ``H_SW2_H3_PHANG``

:ref:`H_SW2_PHANG<H_SW2_PHANG>` can also be set for the right swashplate to correct control coupling issues, regardless of swashplate type.

These parameters are not used for the intermeshing configuration

Expand Down Expand Up @@ -190,15 +196,17 @@ These are only needed for the counter clockwise swashplate if :ref:`H_SW_TYPE<H_
- :ref:`H_SW_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Dual>`
- ``H_SW_H3_PHANG``

:ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Dual>` can also be set for the counter clockwise swashplate to correct control coupling issues, regardless of swashplate type.

These are only needed for the clockwise swashplate if :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic.

- :ref:`H_SW2_H3_ENABLE<H_SW2_H3_ENABLE>` - Do Not Set Manually! This is set automatically once :ref:`H_SW2_TYPE<H_SW2_TYPE>` is set to H3 Generic
- :ref:`H_SW2_H3_SV1_POS<H_SW2_H3_SV1_POS>`
- :ref:`H_SW2_H3_SV2_POS<H_SW2_H3_SV2_POS>`
- :ref:`H_SW2_H3_SV3_POS<H_SW2_H3_SV3_POS>`
- ``H_SW2_H3_PHANG``

:ref:`H_SW2_PHANG<H_SW2_PHANG>` can also be set for the clockwise swashplate to correct control coupling issues, regardless of swashplate type.

These parameters are not used for the coaxial configuration

Expand Down
5 changes: 2 additions & 3 deletions copter/source/docs/traditional-helicopter-parameter-list.rst
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Expand Up @@ -44,6 +44,7 @@ These set up the configuration of the swashplate and collective travel.
- :ref:`H_COL_MIN<H_COL_MIN>`
- :ref:`H_SW_COL_DIR<H_SW_COL_DIR__AP_MotorsHeli_Single>`
- :ref:`H_SW_LIN_SVO<H_SW_LIN_SVO__AP_MotorsHeli_Single>`
- :ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Single>`

Dual Rotor Helicopter
=====================
Expand All @@ -64,7 +65,7 @@ If Dual Heli frame type is selected, these additional parameters for the second
- :ref:`H_SW2_H3_SV1_POS<H_SW2_H3_SV1_POS>`
- :ref:`H_SW2_H3_SV2_POS<H_SW2_H3_SV2_POS>`
- :ref:`H_SW2_H3_SV3_POS<H_SW2_H3_SV3_POS>`
- ``H_SW2_H3_PHANG``
- :ref:`H_SW2_PHANG<H_SW2_PHANG>`
- :ref:`H_DCP_TRIM<H_DCP_TRIM>`
- :ref:`H_YAW_REV_EXPO<H_YAW_REV_EXPO>`

Expand All @@ -76,14 +77,12 @@ ArduPilot allows custom swashplate servo placement for three servo swashplates.
- :ref:`H_SW_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Single>`
- :ref:`H_SW_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Single>`
- :ref:`H_SW_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Single>`
- ``H_SW_H3_PHANG``

and if :ref:`H_SW2_TYPE<H_SW2_TYPE>` = 0 (dual helis only):

- :ref:`H_SW2_H3_SV1_POS<H_SW_H3_SV1_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW2_H3_SV2_POS<H_SW_H3_SV2_POS__AP_MotorsHeli_Dual>`
- :ref:`H_SW2_H3_SV3_POS<H_SW_H3_SV3_POS__AP_MotorsHeli_Dual>`
- ``H_SW2_H3_PHANG``

Rotor Speed Control Setup
=========================
Expand Down
7 changes: 6 additions & 1 deletion copter/source/docs/traditional-helicopter-swashplate-setup.rst
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Expand Up @@ -62,7 +62,7 @@ For the dual heli frame, the fourth servo (Servo 7) on swashplate 1 defaults to
Swashplate Types
================

- H3 Generic - Allows servo positions and phase angle to be set by user. Assumes all swashplate ball links are the same distance from the main shaft.
- H3 Generic - Allows servo positions to be set by user. Assumes all swashplate ball links are the same distance from the main shaft.


- H1 non-CCPM - Servo1 is aileron, Servo 2 is elevator and Servo 3 is collective
Expand Down Expand Up @@ -108,6 +108,11 @@ Other swashplates types that can be supported
- H3-90 - Use H4-90. Don't use one of the servo outputs.


Phase Angle Compensation
=========================

:ref:`H_SW_PHANG<H_SW_PHANG__AP_MotorsHeli_Single>` can be set for any swashplate type to correct control coupling issues, for example if pitching the swash forward also induces an unwanted roll.

Check Proper Swashplate Movement
================================

Expand Down
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