Questions about "Auto" mode

Today I tried out "auto" mode after making sure that everything else works well (alt hold, position hold, loiter, land, RTL).  Auto works wonderful with a couple of small issues:

  - First, if the quadcopter is at rest on the ground (armed, but propellers not spinning), and I flip it in auto mode, the propellers do not start. They are stopped and the quad just sits there waiting for something. If I give it a little throttle from the RC Transmitter (I believe while still in auto mode), it suddenly jumps into action and rockets up to the takeoff altitude. First question - is it a way to avoid the need for the throttle kick from the RC transmitter?

 - Second, when the throttle kicks in (i.e., "auto" takes control) it kicks very abruptly - like it has a lot of pent-up frustration (I was supposed to be 10 feet up!) - so much so as once it flipped on take-off. Second question: is there any way to make it take off gradually rather than jumping like crazy when it kicks in?

Finally, is there a way to arm the autopilot remotely? Is there a mavlink command that would do that? My eventual goal is to fly the copter without input from the RC transmitter.

BTW, it was pretty cool seeing the quad going through the waypoints!

Thanks again for your help!


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  • T3
    The latest code does what you want. You can try the beta code and see. At arming the props spin slowly and you can flip auto mode it goes. If you have telemetry you can use a laptop or android in the field and issue commands. I, on the other hand like having a tranitter in hand if things go south I can take control and manual fly and hopefully save my copter.
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