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
Ok Julien remember im new at this but i just want to make sure i understand.
so if my copter is tune perfect , and calibrated , and trim, when i used hybrid should be the same right.
if different that meant i still have to tune the copter more .
is that correct assumption
Hi Julien,
my mistake.. i connect the external led to a7 port = Arm.
Telemetry is nice to have but my copter is too small for gadgets. Why is it uninteresting to know the sat status during flight?Is it not good to know to have a good signal for rth?
I think/hope it´s not so difficult to implement a satcount with a strobo led. (fet driven or similar)
BR
Frank
Hi Julien,
thx for agree.. i thought i´m blind ...
I have the GPS led connected to A6 and it´s blinking regardless of sat counts.
At first i´m happy when i have GPS lock led ..
edit:
Got it, have to arm copter and led is still on now ... :-)
Where can i found this pde code in arduino?
Next step wil be divide number of sat counts to it´s blink codes.
for example:
5 = 1x blinking
6 = 2x blinking ...
But at first it makes me safer when i see GPS lock with external led... my copter is to small in a housing to see any internal led´s.
BR
Frank
Yesterday i didn´t find any copter led settings.
I want to enable GPS lock with external led.. is it disabled with 3.1.1 hybrid?
Any ideas to enable external Copter led´s in Mission planner or Arduino sources?
I found nothing absolutlely nothin in Mission Planner ...
Thx
could you pls post a working firmware file for a hexa x? I can't seem to get it compiled the make part doesnt work for me.
Could someone pls past a compiled firmware for a hexa and running on a 2.5.2 board? Thanks a lot.
I just tested the hybrid loiter code on an openpilot revolution running 3.1.15. This mode is awesome works great.
Hi guys - I'm on 3.1.2, and still no sigh of hybrid - when's it coming out?
Just installed the hybrid code and find everything seems ok except I no longer have any logs!
I checked the paramiters and sure enough LOG_BITMASK is set to disabled. So I enable this and try again.
However each time I disconnect from planner and re-connect the setting is back at disabled.
Any ideas whats going on?
So what does onion is for? For what I've notice in the demo video I've seen an aggressive flight. Is that the throttle response relative to the copter?
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