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
Hi Marco, is this the sample of EKF?
https://www.youtube.com/watch?v=T0cfWlsWhng
@Wolke: the drop altitude problem when translate is normal and not affect only the Hybrid, is a problem inside APM Copter.
When release 3.2 will be inside the new EKF which promises very well, even on solving this problem.
@Arfin: is officially available only when 3.2 go out.
Hello Julien,
if you look immediately after the first attempt, I tried again and then putting in Alt Hold Landing, the landing strip was carried out smoothly without any problems (as you can see from the line 9000).
I was flying in Hybrid mode activated with the CH7 the Landing, the Quadricopter started to decline to make the landing with the right speed, up to here everything is ok, when I reset the throttle (to activate the procedure disarm once landed) at this point the engines have decreased the number of turns very quickly.
Repeating the same procedure soon after but then AltHold CH7 Landing, reset the throttle landed without problems.
greetings
Hello @ marco,
Sure, I'll send you the log file of the problem occurred approximately at line number 8500.
greetings
https://drive.google.com/file/d/0B9fql43ddpMebG5uTERmZEZCRkE/edit?u...
Hi Jay, wait the 3.2 release with Hybrid inside.
Hi Marco, I want to try this in pixhawk. Can you guide me on how to do it?
@Fabio: have you dataflash log of the bad event?
i know is not ready for commercial used but at least for me and a couple of my closes friend is working great.
guys after trying the great APM just like Fabio commented im very happy with the performance not only the holding but also the altitude hold etc.
i fly gps with naza all the time but let me tell you if it wasn't because of the slight delay or lag on the stick . the rest is the best system i have seen in a long time.
not only is acuare but the holding is about inches of margin error if not less.
i have to congratulation all off you guys for the great work i can not wait until you guys figure it out how to tune that last issue.
but so far at least for me is the best ever
thank you.
Hello to all,
Saturday I tried the fw 3.1.2 Alpha , the hybrid mixed by fw 3.1.1 Wolke between the hybrid and the new release 3.1.2 , I am very pleased with the performance of my quadcopter , it was very windy as you can see from the movie. Note that every time I did a maneuver and I stopped hovering the quadcopter did not move in the wind while remaining firm enough fighting against the wind while maintaining a great Althold .
There is still to be refined a bit abrupt transitions from flying and loitering , and other flight mode where the engines have sudden changes of speed and then stabilized .
I noticed that leaving in Hybrid mode and then switch to Landing with the switch of CH7 when I reset the throttle stick ( as you can see in the video 5:30) the quadcopter came down like a stone , I took fortunatamento I do not know if it is a bug, but I think it is to take account for possible verification.
Thanks to the team for excellent work
Fabio
https://www.youtube.com/watch?v=JlENjy6b6wk
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