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

E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones


  • Jay, so its already in 3.1.1 firmware?

  • Marco's videos are never boring and this one will develop lot of interest for new and experience pilots.

    Congratulations fot this excellent idea and to developers who made it a reality.

    Is it possible to find the file for my Vrbrain 4.5 (Quadri ,internal GPS,External Compass).

    Best regards

    Jean Louis

  • all you need to do is, go to your full parameter list and assign number 14 in one of your flight modes.

  • OK and how to select the flight modes since the MP doesn't have the selection of Hybrid mode? Do I have to select it through the sketch?

  • @Artem, the mode you describe is exactle the current "LOITER" mode.

    And if you fly using controller based modes like loiter, you'll see it's not so responsive as you want, that's mainly why we've done this hybrid mode.

    For throttle, the idea would be to use the same hybrid principle and, as Sandro said, we are working on it.

    But I'd like to first fix the take-off and disarm bugs there is in the current arducopter code before working on a new throttle mode. We go step by step during our free time so be patient ;)

    To compile the code yourself, there is a tutorial here, only start from STEP 4

    For us, the "git directory" mentionned will be the directory of the hybrid repository.

    To get this repository, clic "clone in desktop and Githubd software will make a copy" or "download ZIP" directly.

  • Anyone can contribute a link to how to upload to the parameters to the board using the arduino software? I would like to be a beta tester and share my thoughts on this newly flight parameter.

  • Reminder: You must have a stable atlhold and loiter before testing.

  • OK guys I know I'm new at this but I want to be a beta tester and I want to contribute I want someone to install this hybrid to my APM and show me how tomdomit and I will pay them $100 dollar via Paypal please thanks 

  • Here's another try. Sorry I'm flying alone so I can't take a better video. This just to show you that it really works!

    @Julien, the roll right problem was already gone by disabling the transmitter mixes. 

  • @Jason, yes I uploaded through arduino using Julien & team code.

This reply was deleted.