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Hi all,

My motivation to get involved in the development team was to bring a good ACRO mode to ArduCopter. Three or four months ago Robert Lefebvre suggested that we could integrate the rate error and use it to correct the platform in the body frame. He went on to demonstrate this on Heli's. We have since learned that MultiWii use a similar approach and code was developed by Bob Dorion based on MultiWii and discussed here http://www.diydrones.com/forum/topics/flipping-arducopter.

I have taken Robert's approach and integrated it with the current ACRO trainer aids with the help of Robert and Bob. Here is the result:

ArduCopterACRO.zip

This code is based on ArduCopter 3.01rc1 so if you haven't got this flying yet, don't bother with this code.

Changes:

Replace Earth Frame ACRO with Body Frame ACRO

Reduce the dead band on the roll and pitch inputs

In the same way as you could before you can disable all trainer functions by setting
ACRO_BAL_PITCH,0
ACRO_BAL_ROLL,0
ACRO_TRAINER,0

For my flight testing I have been using:
ACRO_BAL_PITCH,50
ACRO_BAL_ROLL,50
ACRO_P,4.5
ACRO_TRAINER,0

Things to discuss are:

Is the performance acceptable?

What additional features are needed? (switched trainer functions, zero throttle doesn't stop motors)

Is there a better algorithm?

Do you see any problems with the code?

How does the performance and feel compare with other systems? (please only comment if you have flown those systems and this system on a well set up copter, anything less is a waist of every bodies time)

I have spent at least 20 minutes doing nothing but flips and rolls of various combinations and mixtures and a similar amount of time doing yank and bank maneuvers. I have not found a problem or any bad habits.

I look forward to your feedback and ideas.