Hi,
I use the word bug loosely here, it may be intentional or a limitation of something.
Setup:
Futaaba Fasst radio (FG8) , Easy star, Ardupilot 2.7.1 with IMU (no thermos) Bloxx GPS.
Nothing fancy in the config at all, I'm a beginner, a few PID tunings but nothing code level or anything else advanced.
If I hold hard left or right rudder while switching between manual (switch pos 1) to Fly By Wire A (Switch Pos 3) I cannot then move the rudder in the opposite direction. It's as if the code takes the current radio position and uses it as center. I can reproduce this every time.
Is centering the sticks when switching modes a requirement?
Grateful if someone could give this a go and let me know, it takes seconds to test for!
Cheers
Dave
Replies
That makes a lot of sense!
A couple of questions:
I'm probably looking in the wrong place but Ive not seen this side effect documented anywhere? Whilst its perfectly logical when you think about it it can have some nasty side effects, is it worth a mention in the wiki?
2. As a trim is normally a relatively small adjustment (x microseconds +- for example) it may be a really nice feature to have a routine that overides auto trim if the trim seems way out? Better to be out of trim than have an up elevator lockout.
Anyway, grateful for your guidance and efforts as always.
Regards
D
Sounds like it is not a bug. You have auto trim turned on, correct?
When you have auto trim turned on and you switch out of Manual mode, the AP looks at the RC input at that time to determine what the current center stick values should be. So, if you are using auto trim you should always switch out of Manual with your hands off the sticks.
This allows you to switch in to manual mode, trim with your transmitter for any trim required to get your airframe flying straight and level, and then switch out of manual and the AP will have the new trim values to work with.