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

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  • All loaded with latest commit from Julien & Sandro, can't wait to try. Thank you guys.

  • Developer

    "Hybrid" now is ready for testing with Pixhawk, aligned with the latest commit (but not in the APM Copter master at the moment), tomorrow my feedback here (thanks Julien and Sandro).

  • Great job!


  • And Thanks also to the French team, Julien is the author of most of the Hybrid code!

  • thanks marco and all italian team for you hard working on this new mode

    i think it was a real missing on apm to have a mod like dji

  • Developer

    Thanks for your feedback masam, much appreciated!
    We advise you to never takeoff and land in Hybrid at the moment, we are debugging the code because there is some very little problem about this, so expect the final version or to be careful in flight at the moment.

  • Hi Marco, I have flown the flight mode both los and fpv, very nice and smooth! Smoother than dji gps mode. This mode should be adopted in ac imo.

  • Great work guys, any chance to try this mode?

  • I totally agree Marco, the difference between "hybrid" mode and loiter mode, as seen in your video, is significant and amazing... Loiter mode is sluggish and quite honestly terrible to fly around in, the hybrid mode certainly looks to have resolved the gripes I had with loiter mode.  Let's hope it gets implemented into the firmware for public use asap! :)
    I'm happy to doing any testing etc. if that is off any use to you. We have a quad, hex, and a large octo all running APM's.

  • Developer

    Thanks Cam! Now all depends on the Dev Team, not necessarily whether something works well is adopted, it must pass the scrutiny of many, let's see what happens, if it were up to me it would be already on the master branch.

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