Discussions

Flight modes

Posted by Ritchie on July 30, 2010 at 4:34am

The Ardupilot allows you to have multiple flight modes of which I would actually only need 2 and downsizing has already been discussed but downsizing irrelevant code is not what I want/need.

 

Could I have two sets of autopilot code one setup for fast servo control, the other setup for slow servo control? (Space permitting or if not remove another mode for space)

Could I add altitude based servo variables? the higher she goes the slower the servos react

 

I will be using a glider first off (because I dont care if it breaks) so motor control is not needed. Is there a variable for this or do I delete/adjust a section of code

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Tags: flight, glider, servo, variables
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Replies

  • Joe LaMantia September 20, 2010 at 8:13pm
    I would also like to increase my mode options. to use the mixing option to get 6 modes, will this require reprogramming of the Atiny?

    Thanks for all your help
  • Tom Busey September 12, 2010 at 1:34pm
    Does anyone know if it is possible to add more than three modes to the control modes? I have a proportional dial on channel 7 on my hitec eclipse 7 and I would love to be able to do manual, stabilize, waypoints and RTL on the same flight.
  • Developer
    Jason Short July 31, 2010 at 1:24pm
    I do this when testing....
    void read_control_switch(){
    
        byte switchPosition = readSwitch();
    
        if (oldSwitchPosition != switchPosition){
    
                
    
                switch(switchPosition)
    
                {
    
                        case 1: // 
    
                        set_mode(POSITION_1);
    
                        break;
    
        
    
                        case 2: // 
    
                        set_mode(POSITION_2);
    
                        // set a variable here such as a PID value
    
                        break;
    
        
    
                        case 3: // 
    
                        set_mode(POSITION_3);
    
                        // set a variable here such as a PID value
    
                        break;
    
                }
    

    
                oldSwitchPosition = switchPosition;
    

    
                // reset navigation integrators
    
                // -------------------------
    
                reset_I();
    
        }
    
}
  • Developer
    Doug Weibel July 31, 2010 at 1:07pm
    You can certainly implement this in your code. Look at the roll slew rate limiter. If you set up a similar pitch slew rate limiter and then set up modes which change the limiter parameters that would do what you want.

    If you are not using a motor then use the airspeed sensor. Elevator will be based on airspeed hold. You can just ignore the throttle parameters.
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