This was a really simple addition to the code; maybe 6 lines. But the effect was quite dramatic. AUTO, RTL, and LOITER now sense if the plane is in a dive and enter a simple stability mode for 4 seconds. Enough time to recover from the worst dive.
I fly an EZ Star and this has always been my biggest safety concern and need to flip to manual control. Now I don't need to.
In the video you can see me put the plane into a dive. This can happen when the plane turns too hard and the GPS refresh can't keep up. Once the plane begins to stall, it drops like a rock.
Update is on the SVN in Ardupilot 2.7 for Beta testers.
Comments
But what did you decide was a "dive"?
I'm thinking out loud here, but would it be possible to limit the pitch, or the velocity vector's decent, and roll angles based inversely proportional to altitude?...Above 200' AGL I can do as I wish; below 200' AGL velocity vector or pitch limited to 45 degrees negative, roll limited to 60 degrees; below 100' AGL limit to 22.5 degrees negative, roll 45 degrees; below 50' AGL limit to 11.25 degrees negative, 30 degrees roll?...
Maybe also nice for the fly by wire modes?
Yes I did the simulate AP with X-plane. Personal thanx for #Jason #Michael.
But I have some problem.
1. How to interpolate WP for correct path. I mean take off, auto and landing. As I see it depend from airport. But how to calculate it more accuracy?(I mean lon, lat and alt)
2. How to make complex automatic fly (automatic take off, auto and landing) for pure AP board? I did a two different situation: or it work in AUTO mode and was going from WP to WP without take-off and landing, or it take a take off, but without WP destination (infinity unmanagement taking off).
Thanx for any advices
Did you test this using thermopiles or the arduIMU+ in the video, because i was wondering if the IMU would max out or be able to keep up with the crazy aerobatics in a stall/spin? Perhaps the new APM IMU would be able to handle this abit more I guess someone will have to test it at some point. But still its a great safety feature and well done.
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