Hello everyone,

In my opinion the ardupilot project made huge steps forward in the last year. Many new features had been implemented.

But I am still missing something. I have an acrobatic plane (Acromaster) and already tested it with Ardupilot. But there is no possibility for acrobatic flight in any mode than manual. A mode that simply does what a normal gyro does would be great. A mode that tries to hold the current attitude. And not going back to level flight.

It would give Ardupilot another interessting function. I am sure that there is a demand for this "half autonomous mode".

I already had some experiences with a gyro in an acrobatic plane on aileron axis. It is helpful for flying very slow and for hoovering.

Everyone, please tell me what you think about. I'm sure the effort for implementing it would be quite small.

Thank you!

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     We've got a new member of the dev team, Leonard Hall and we're very much talking about implementing something like this.  Leonard's done a few blog posts on what he's thinking about.  It won't make 2.7.4 but likely will make the release after that.

Interesting to hear that this mode is already planned. I read that the arducopter has such an acro mode already implemented. Maybe this fragment of code will also work for arduplane.

Another interesting feature for the future could be autonomous acrobatic flight. Just an idea.

Hi Randy

How is the progress of implementing the ACRO mode for the Arduplane?

I was using a KK-Board with openaero in my plane before. I loved the gyro stabilized acro mode for flying FPV.

It would be a real benefit for the FPV people! 




    Leonard's got something together in test form.  There's a discussion going on here.  There's even a video somewhere of a flipping copter.

Do you think that the ACRO mode will be available for the Arduplane too?

I want to have a flying wing stabilized without leveling.

No idea!  you'll have to ping Tridge on that one.

Thanks, I will talk to Andrew Tridgell then :)

Hi Thomas,

Paul Riseborough and I have been planning on adding an ACRO mode to APM:Plane for a while now - we also want to support things like hanging on the prop, knife edge etc.

One of the things we're trying to work out is how the user tells the plane what mode to go into. For example, how to switch from simple attitude hold to knife-edge or prop hang?

Cheers, Tridge


It's not really fun to fly with those "too many" features. I made that once for a different controller but the feeling of piloting (fighting) it was awful.

I suggest a simple rate stabilization over local axes. If somebody wants automated acro flight it belongs in a different airframe than the auto-navigating-photographing-surveying one that ArduPlane IMO seems to be targeted at - and in a different firmware too.



This is my opinion too. I a simple rate stabilisation would be all I need.

A lot of people are using the APM just for flying FPV with RTL. The rate stabilisation would be a great feature.

What do you think, how long will it take to have this feature implemented?

I like that.

My previous plane had a KK2.0 board with openaero flashed onto it, and all it did was a rate stabilisation on all 3 axes. it was very simple but oh boy what was the stabilisation good. I could fly in heavy gusting winds and apart from the plane drifting away due to the wind it would feel like I was flying on a calm day. I still had the feeling I was in complete manual control but as soon as I switched the stabilisation off the plane would be all over the place.
It was a blast flying FPV with that board. I really miss it in the arduplane, but I like having a good RTH function as a failsafe backup, so I stick with the APM.

I now use fly by wire to do FPV, but it just doesn't cut it like the openaero stabilisation.

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