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
hey, had anyone encoutered this message in the arduino arducopter IDE:
Building for ArduPilot Mega 2.x
Excluding arduino core from include paths
F:\Desktop\ArduPilot-Arduino-1.0.3-windows\hardware\tools\avr\bin\avr-g++ -c -g -Os -Wall -fno-exceptions -ffunction-sections -fdata-sections -mmcu=atmega2560 -DF_CPU=16000000L -MMD -DUSB_VID=null -DUSB_PID=null -DARDUINO=103 -mcall-prologues -DCONFIG_HAL_BOARD=HAL_BOARD_APM2 -DEXCLUDECORE C:\Users\nikitins\AppData\Local\Temp\build3044539542151441016.tmp\ArduCopter.cpp -o C:\Users\nikitins\AppData\Local\Temp\build3044539542151441016.tmp\ArduCopter.cpp.o
Loaded it up today and took it for a fly. Need to do something with the alt hold part. Dont really like having such a deadband on throttle when you fly around.
Is there a way that the deadband can be smaller? I find it hard to pull out of the way of tree tops with the big dead band
Ok jay in witch column can u show me like a screen shot?
Bruce, select one of your flight modes then replace it with number 14.
@Julien, Sandro and Marco, my sincere gratitude for your work on these new flight modes. Can't wait to try the throttle variant!
for example i connect my apm. then i start the mission planner i connect them both.
then i go to advance parameters section . and i see an bunch of stuff.
and this is the section where im not sure what to look for and im not sure where is that i have to change it. i dont want to make a mistake!!
yes i understand that you can not see it on the flight mode sections.
but im not sure about is how to set it on the advance parameters section.
that is my worries.
@franko
Never mind. Because, In tab or HUB on MP is no have name mode. when your move switch to Hybrid mode is still working but it not show name mode only. But, If Hybrid mode move to Release I think them have insert hybrid show in MP.
Hybrid is No. 14, configure it in Advanced Parameters, but you can´t see it in Flightmode tab.
ok guys im almost there
i was able to do the whole list. but im stuck in the section of assign the number to the flight mode
can anyone help me please.
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