A group of friends and I set out on a project for school. We're extremely ambitious and face a tight deadline. I am really keen on accomplishing this and was hoping to find some support here.
Basically, we would like to merge the body of a quadcopter with a wing and enable a function for it to fly like a plane (stabilized horizontally from its regular vertical position). Looking at introducing a programmed "Transit mode" for it to automatically pitch forward (it will start to fly forward) and hold it's pitch.
We are using an APM2 and an xBee, not sure what else you'd need. We have our quad flying pretty well, both manually and automatically by waypoints (using Mission Planner).
The other guys are now working on a prototype wing as our custom frame.
I have been trying to code a brand new function in ArduCopter 2.7.3 but to no avail. I have followed the recent webinar set up by Andreas M. Antonopoulos. I think I have sufficient knowledge of how the code works but I was wondering if anyone would like to help in our endeavor.
My first few questions would be:
- Where do I insert a new function? In the UserCode.pde?
- Where are the limiters that ensure the quad does not flip over? Is it:
target_angle = constrain(target_angle, -4500, 4500);
- How do I go about giving the motors a programmed function/behavior (to get it to transit from quad to "plane" mode)?
- If we want to re-position the motors on our prototype wing, would we have to create a new AP_Motors class file (since the frame is different, as mentioned during the webinar)?
I am sure more questions will come as we progress in our project.
I have seen how helpful this community is, especially with the webinar, and am really hoping to find the support and guidance my friends and I need to succeed.
Thanks for spending your time reading all this and any help/suggestions you have would be greatly appreciated.
[Attached is a picture of our first prototype, the final design will differ]