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
@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
Greetings, Ms Julien i totally understand i just want to check it out and be able to give you guys some help :)
Hi Bruce,
mind this is not the final release. This code should not be given to newbies as it is a beta version, so do not install it on the copters you sell until it's not available with official ardupilot master.
About Naza comparison, imo, we can't fully compare it to Naza's GPS while the following issue have not been fixed/improved:
- barometer disturbances (at least on APM)
- Loiter->manual little twitch <= Very little issue due to hybrid code
- throttle_hold improved
guys if the weather permits and if i feel better tomorrow would be the day that i would give a full blown test to the apm 2.5 with hybrid mode running. thanks to Ms. julie, jay, and many other on this forum i would be able to run a full test tomorrow.
my name is bruce and i work on a hobby shop called extreme hobbies miami, i build quadcopters for a living pretty much i build like 4 to 5 nazas or phantom every day. so i hope i can be of some assistance to be able to test this new hybrid mode and be able to give my 2 cents .
once again thank you guys and see you tomorrow. ;)
Oh, that would be great if it's not to much trouble. I've spent all day flying APM in alt-hold and stabalize just because I don't like loiters "dead band" and flight characteristics. Then I flew one last flight for the day with NAZA and the difference is significant. I would really like to test and see how hybrid mode compares.
Maybe Marco could share his compiled code for PixHawk, he did the first try with it.
Ok after re-reading through everything I see you said the code you compiled for Bruce will not work for pixhawk. Would someone mind compiling the code for me for pixhawk? I've downloaded github software and I'm trying to figure out exactly what I need to download and compile but it's all very confusing for someone that has never dealt with code before. I will continue trying to figure this out.
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