Auto Center Line tracking during Auto Takeoff

Dear all,

I have been trying to implement a ground tracking code to use the front wheel to help keeping he plane at center line during the takeoff, and finally got it working! wohoo!

I am sure many of you who use fixed wings rc planes have faced this annoying problem of getting the plane off track (probably crashed) during the auto takeoff phase (using APM 2.x)

So here is the video that i made to show the change.

https://www.youtube.com/watch?v=M6horkOeQpE

If you are interested to test the code just let me know!

Basically I introduced a PID controller in the AUTO mode to control the front wheel steering in order to keep the current heading. The feedback signal is the integrated value of the z-axis of the gyroscope. Yes, it seems simple, but it worked great with me, and solved a lot of trouble.

Cheers,

Mohamed

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Mohamed Abdelkader Zahana November 26, 2013 at 4:27am

Yes, I am using they Gyro to correct for angle drifts during takeoff. I don't have a rudder, but may work too. It's working great with the front wheel!
Warren Purnell November 26, 2013 at 3:55am

I believe the RC Jet guys have been using Gyros to keep their planes straight on takeoff. Not sure if they link the rudder & front wheel on the same channel but would guess so.
Is this what you are doing but throught the APM?
Scott Reid November 25, 2013 at 2:59pm

We'll done. I am impressed.
Mohamed Abdelkader Zahana November 25, 2013 at 5:27am

BTW, here I am using APM 2.5 with firmware version 2.76.

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Auto Center Line tracking during Auto Takeoff

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