During the alpha testing phase with the "APM Copter V3" code i immediately reported to the Dev Team that the Loiter mode was very accurate but is not allowed to fly normally, like with other system as DJI and Mikrokopter, Zero-UAV, etc.
We preferred to make the Loiter mode that would serve to accurately reposition the multirotor, and to help beginners to fly slowly and safely.
An italian friend and developer, Sandro Tognana, collected my challenge and started to develop a flight mode as I wanted, in line with the other famous flight control board.
Another awesome programmer, Julien Dubois, has joined our team and has worked actively to implement the complicated wind compensation.
After several months of development and testing are pleased to present the "Hybrid flight mode", in two words a "flyable Loiter" with wind compensation, the code virtually switches from "Loiter" to "Alt-Hold" and viceversa when you exit and enter a sticks deadband (configurable), considering of course the compensation of the wind, therefore complies with the tuning of your multirotor.
You can configure some parameters but already with the default works perfectly, my video speaks for itself.
This new mode is currently being debugged (in alpha phase), it is therefore not available to the public, of course, will have to go into the hands of APM Copter Dev Team who will decide whether to adopt it in an upcoming release.
The results in my video are great, sorry but the audio is bad because it was very windy today, however, is clearly seen as a "Hybrid" works, is almost perfect.
In the second video by Julien you can see the Hybrid in action vs a "DJI Phantom 2" quad with "Naza 2" inside, imho Hybrid work better than the "GPS Position Hold" of DJI, especially on braking.
The tests were carried out on APM and VR Brain, but of course will work on any board that installs "APM Copter" as PX4 and Pixhawk.
I will keep you updated on the "Hybrid" developments, i'll open a discussion about this with other APM Copter developers to assess any changes in the code.
I want to say thanks to Sandro and Julien for their great work!
Bests, Marco
Comments
Brilliant work guys, I've been requesting for this style flight mode (on behalf of our pilot) for awhile now... You've done an amazing job.
IMO now Arducopter is the no.1 flight controller, without question, available. Thanks to all the hard work of the devs etc. Cheers!
@Balloon: Hybrid will be offered to the dev team when it has passed all the testing and debug phase.
@Carlos: sure, you can always fly using Simple, I personally prefer to fly "manually", a good pilot should be able to do.
Use less automation can save you from unpleasant or dangerous situations.
Marco, I can see you are an expert pilot, but I'm not so good.
Are there significant differences between Stabilize and Stabilize in Simple Mode ? Is it more acrobatic ? I don't understand the reason for not flying allways in Simple Mode or Super Simple Mode.
I edit my first post with a new video by Julien, that contains (at 05:42) a comparison in flight with a DJI Phantom 2 quad (Naza 2 inside).
Hi Carlos, i don't use Simple mode in this video, only pure Stabilize, Loiter and the cool Hybrid.
The frame is a DJI F450 clone, the battery is LiPo 4s 4A 45C, you can found all the specs of this little quad in the description of this video.
@Marco, really very nice the new flight mode. I would like to know if you are flying in simple mode or just stabilize. Also which frame and battery are you using. Regards from Uruguay (Cavani's home)
@Balloon: yes, is pretty much the same thing!
There's a little drift on a stop but is quite normal, we tried with a Phantom (Naza), same behavior, indeed, perhaps the Phantom stops after a while.
Great new mode thanks!
+1 for calling it position hold, as hybrid does not really describe what it does.
Hybrid Mode. It is feeling same DJI with GPS Mode right? Because, I saw you have controlled your Quad very fast and have hold position when you stop moving.
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