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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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.