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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  • > "Now i think it's time to add "Hybrid" in the APM Copter code, "


  • Would it be possible to change the input throttle so it also responds more quickly?

  • I've just flown a few batteries in hybrid mode on a QAV540g, and it seems to work well so far.

  • Developer

    Thanks all for your report! All positive feedback, from all the testers.
    Now i think it's time to add "Hybrid" in the APM Copter code, Julien please pm Randy about this, thanks!

  • I have been tried hybrid mode on my arducopter quad APM 2.5 yesterday, it is very cool feature, thanks to Julien, Marco and their team. I Salute.

  • Great work guys! Just the mode i was asking for! Auto tune and hybrid mode are surely game changers. Beats the competition by miles...  

  • this afternoon I have compiled the code to my APM 2.6. I was a little nervous to change flight mode but it behaved as expected. This flight mode will be my loiter from now on. Having a tarot 650 quad with 15x5 props, I was afraid the auto switching between loiter and alt hold would have too much twitch but it had none. Very smooth transitions!

    One thing I found was if you make lots of small movements in roll/pitch, you notice the "switch" between the 2 flight modes but overall the feeling is very smooth. After some testing, I even felt the same bored feeling I had when flying the DJI NAZA :p

  • I am so eager to try this mode, but i had a bad crush right after I asked for the code (flying between houses, trees and at night). I've just received new CF hope I will have time after I am done with the repairs over this weekend! 

  • Yaw drifting in the garden, are you joking?

    My neighbours killing me, if i hit any car or house .... ;-)

    More testing in a wider area @ weekend, also drifts and more speed.

    But what i´ve seen in a short minute was awesome ..

  • Thanks for testing!

    it's good you confirm the default params work well for you too.

    But you've not tryed the drift-like yaw in your video, you'll see how fine it is to fly your copter like a car :)

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