Logo 500 helicopter airframe

Hi all.

I an trying to configure the Pixracer in a Logo 500 helicopter.

The problem I have is that I have not found the method to include a new airframe in the PX4 firmware.

I have prepare the init.de file (Firmware/ROMFS/px4fmu_common/init.d/16002_Logo_helicopter) and I have tried to upload it to the firmware repository but it dosn’t apear.

Now, I don’t know how to proceed to load the firmware with the new airframe.

I have tried also to include this airframe in sd card but I have no found results.

Can somebody help me in this issue?

Thank you in advance.

Cool! Please share a video when you have it flying. Make sure to read the complete page: https://dev.px4.io/en/airframes/adding_a_new_frame.html

Let us know if its missing information you need.

Happy Flying!

Thank you Meier.

At the end I reach to upload a new configuration.

I have download the Firmware, edited it and uploaded by QGroundControl.

I am having some difficulties because the mixer file I am using as reference is blade130.main.mix.

It is not well explained in the page you suggest.

The second option I have is to use different mixer (CPPM.main.mix) and prepare its config file.

I will test and I will keep you informed but for sure I will need more support.

Thanks again.

Hi, olucena.
Is your Logo 500 flying?
I have some questions about the throttle and the collective pitch:
1)main1 channel control the throttle , but the throttle change the speed ? or collective pithc? or all?
2) relationship between throttle and the collective pitch?

Dear L3Y1Q2.

So sorry for the big delay.

Yes I have flied it 3rd with good results. It requires more fine tuning, but it is working.

  1. I have not tested the main1 control loop. On my helicopter I have controlled the throttle directly through RC Joystick. As I am using governor ESC, no more adjust is required.

  2. The autopilot is controlling only pitch. I have not tested the throttle control.

Please feel free to contact me for any further information.

Next, will not have this delay.



Thank you for your reply, olucena.
About blade130.main.mix and CPPM.main.mix, is there any other differences besides servo angle ?:slight_smile:

Dear L3Y1Q2.

Yes, the Blade 130 has different servo location and servo arm length.

In the Blade 130 the front swashplate servo arm is shorter than left and right. This means that the control movement of the front servo is reduced according the difference.

The CPPM.main.mix, has the same servo arm length with the only variation in control movement regarding the position.

Please, feel free to reply if I have been not clear.


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Hi, olucena
I do only get Disarm PWM output on 5th channel when using blade130.main.mix:

Could you give me some suggestions?

Hello L3Y1Q2.

The tail rotor works even when the system is disarmed.

Arm the system and you may have controls in every channels.


After the safety switch is turned on in the px4, the channel 5, 6 works even when the system is disarmed.
Developer think this is better.:joy:

Hello L3Y1Q2.

Yes the channel 5 works even when the system is disarmed.

Think about that. When you disarm, r¡the rotor is still spinning. The tail rotor will compensate it. Otherwise you can have a big problem.

The channel 6 is not identified in standard Helicopter airframe.



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Because of the recent debugging of the swashplate.
I want to confirm my understaning about collective pitch is not wrong.

H: <number of swash-plate servos, either 3 or 4>
T: <throttle setting at thrust: 0%> <25%> <50%> <75%> <100%>
P: <collective pitch at thrust: 0%> <25%> <50%> <75%> <100%>

H: 3
T: 0 3000 6000 8000 10000
P: 500 1500 2500 3500 4500

So, the throttle-curve reach 6000 (0.6) at 50% thrust, the collective pitch is 0.25.
Does 0.6 indicate that the throttle is open 60%?
And the 0.25 indicate that the collective pithc is open 25%? or just 0.25 degree(almost impossible)?
If it is 25%, actually whtat degree is it ? why is 0.45 when the maximum throttle?
If there is a problem with my understanding above, please let me konw.
Thanks !