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Hello

Im currently working on a project to add altitude hold for my tricopter with Arduino and a Ping sensor. The tricopter is controlled by a HK KK board and my transmitter is a basic 6ch HK-T6A. The idea for the code is that when my channel 6 knob on TX is turned all the way up the Arduino enters altitude hold mode. The arduino is plugged in between ch4 on RX and THRO ch on KK board. When its not in altitude hold mode the arduino just passes the throttle signal from RX to KK board.

The logics of the code in altitude hold mode:

When entering altitude hold mode, save the current ping distance and keep it as a reference. Also save the current throttle signal level.

Enter a loop which will in every cycle

1. Take ping distance and compare it to the the reference.

2. If it's lower than the reference distance - Increase throttle signal level by 5 and send to THRO on KK.

3 If it's higher than the reference distance - Decrease throttle signal level by 5 and send to THRO on KK.

Note that some checks are done in order to prevent the Arduino from decreasing or increasing the throttle level to 0 or max.

Here is the full code

http://pastebin.com/c1G8qDCm

I havent really tried the code live in freeflight, only holding the Tri firmly in my hand and moving it up and down. What to you think of it?

Please leave feedback.