I have youtube video of my PXFmini with helicopter swashplate compensation and RC control . The only problem that keeps me from arming and flying the helicopter is the dead compass signal and grayed out ESC range manual input. I will try to fix the code in ardupilot/ArduCopter/ . Any suggestion is welcome.
I am able to arm my helicopter's main and tail rotors and servos if I use ArduCopter.elf to setup the heli as a quad. But, as expected, when a heli is set up as a quad, the servos turn the wrong ways. With ArduCopter.elf , the compass works perfectly, and MissionPlanner allows me to manually enter the ESC pwm range. But, with ArduCopterHeli.elf , the manual pwm range fields are disabled. So, I know there is no hardware problem with my setup. It should be just a software bug.