Operation Manual

ROYAL pro
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The Collective pitch value (Collect. / last line) can-
not be changed, as it simply shows the current posi-
tion of the collective pitch stick, and serves as an aid
when setting-up. This value is set in the
Zero point
parameter.
d. Differential yaw (rudder) travel
The purpose of the Yaw (rudder) differential para-
meter (
Rudd.Diff.) is to reduce the tail rotor travel in
one direction. This is necessary if the model behaves
differently when yawing (yaw commands) to left and
right (angular velocity). Since the tail rotor has to
counteract the torque generated by the main rotor,
“Yaw” is usually weaker when the model is required to
turn against the direction of the main rotor.
A separate value can be set for each flight phase.
16.2.4.
Rotor head (swashplate mixer)
The ROYAL
pro features a universal swashplate mixer
(CCPM) which can be used to control all types of
swashplate fitted with three or four linkage points /
servos.
Three parameters are required to set up the mixer.
Geometry, Rotation, Lever +/-:
Note:
The main menu
Mixer is a dynamic menu, i.e. it only
displays those mixers which are used for the current
model. The mixer
Rotor head only appears if you
have selected the model template
HELIccpm.
To ensure that the swashplate moves in the required
manner, the swashplate servos must be connected to
the receiver in the correct sequence. The channel as-
signment varies according to the selected servo con-
figuration and can be viewed at any time in the menu
Servo, Assignment (Î 17.2.):
Servo Note
HEAD f/b
Front or back swashplate servo
HEAD le
Left swashplate servo
(as seen from the tail)
HEAD ri
Right swashplate servo
(as seen from the tail)
HEAD 4
Fourth swashplate servo
Parameter: Geometry
Adjustment
range:
90q ... 150q / -90q ... -150q
Default
120q
The parameter Geometry describes the angle between
the swashplate servo
HEAD f/b and the two symmet-
rically positioned servos
HEAD le and HEAD ri.
Note:
The angle must be entered with a negative prefix “
- ”
if the servo
HEAD f/b is at the front when seen from
the tail, looking forward (Example 2).
Example 1: 3-point 120q swashplate
Geometry
+120
q
Rotation
+0
q
Example 2: 4-point 90q swashplate
Geometry
-90
q
Rotation
+0
q
Parameter: Rotation
Adjustment
range:
Range
-100q ... 0q ... 100q
Default
0q
The Rotation parameter (also known as virtual swash-
plate rotation) must be used if:
a. the swashplate is positioned physically in the model
in such a way that the servo
HEAD f/b is not lo-
cated on the centreline,
b. the model (typically) tends to roll when a pitch-axis
(elevator) command is given.
Virtual rotation required in the clockwise* direction
Æ negative values for
Rotation
Virtual rotation required in the anti-clockwise* direction
Æ positive values for
Rotation
*Swashplate viewed from above
Forward
HEAD 4
90q
HEAD ri HEAD le
HEAD f/b
Forward
HEAD f/b
120q
HEAD ri
HEAD le