Specification: Feiwing H2 Helicopter 3D Flight Control System* *I. System Overview* The Feiwing H2 3D Flight Control System is a cutting-edge fly-by-wire (FBW) solution designed for high-performance RC helicopters. It integrates high-precision sensors, adaptive algorithms, and intelligent positioning technologies to achieve precise control and stability during complex 3D aerobatic maneuvers. Key design objectives include: *Full-Attitude Control*: Enables inverted flight, pirouettes, and rapid directional changes through real-time attitude calculation and synchronized motor/servo coordination. *Environmental Adaptability*: Combines GPS, Time-of-Flight (ToF) visual positioning, and barometric data to ensure altitude hold and positional accuracy in dynamic environments. *II. Technical Architecture* *1. Hardware Configuration* *Main Control Unit*: ARM Cortex-M7 MCU (216MHz clock speed) with 512KB onboard memory, supporting high-speed data processing and multitasking. *Sensor Suite*: *6-Axis IMU*: Integrates a 3-axis gyroscope and accelerometer with 0.01 attitude measurement accuracy. *Dual-Mode GPS*: Combines satellite positioning and ground-enhanced signals for 0.1m precision. *ToF Visual Sensor*: Facilitates low-altitude hovering and obstacle detection (0.110m range). *Communication Interfaces*: Dual-mode Bluetooth 4.0 and WiFi for real-time parameter adjustments and telemetry data transmission. *2. Control Algorithms* *Omnidirectional INS Fusion Algorithm 2.0*: Merges IMU and visual data to dynamically compensate for vibration and turbulence, enhancing stability during inverted flight and rolls. *Flight Envelope Protection*: Prevents loss of control by enforcing preset attitude angles and RPM thresholds. *Adaptive PID Tuning*: Automatically optimizes control parameters based on flight conditions, reducing manual calibration efforts. *III. Flight Modes & Features* *Operational Modes* *3D Aerobatic Mode*: Full manual control for 360 continuous rotations and extreme pitch/roll maneuvers. *Smart Assist Modes*: Altitude Hold: Combines barometer and ToF sensors for stable hovering. Inverted Flight Stabilization: Automatically maintains inverted orientation and altitude. *Training Mode*: Simulator-compatible with flight data logging and maneuver playback. *Extended Capabilities* *Modular Design*: Supports add-ons like gimbals and FPV transmitters for aerial photography and mapping. *Multi-Model Compatibility*: Preconfigured templates for 450700-class helicopters, compatible with electric and nitro engines. *IV. Key Innovations* *Ultra-Low Latency*: 1kHz control frequency with servo response times <5ms, ensuring seamless high-speed maneuvers. *Vibration Suppression*: Dual-layer shock absorption and digital filtering algorithms to minimize mechanical interference. *User-Centric Interface*: Mobile Tuning App: Visual adjustment of PID curves, servo limits, and swashplate mixing ratios. LED Status Indicators: Real-time monitoring of GPS signal strength, battery voltage, and system health. *V. Applications* *Competitive 3D Flying*: Executes championship-level maneuvers like "pendulum flips" and "hurricane spins." *Aerial Cinematography & Shows*: Enables precision formation flying and dynamic trajectory tracking. *