ArduCopter with Raspberry Pi: Takeoff without remote control

Hello all!

I am making a quadrocopter (APM2.6) with self control with ability to fly witout remote control.

I am using a Raspberry Pi and mavproxy to make it.

It works good except one thing. To start the fly, I have to short press accelleration on the 

remote control. After it quadrocopter can fly independently. How can I to avoid this short time manually accelleration?

For my understanding, I can to generate PWM on raspberry and send it to APM2.6 to third INPUTS pin with mark "S", right? Like here:

Maybe, there are other solutions?

Thank  you!

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