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

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  • 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.

  • Sandro pointed me to his post-onion version (thanks, that looks like it was hard work!). I have merged it with master and also made a few small tweaks (mostly switching to AHHYBRID, which I personally prefer). You can grab it here if you are a developer and you want to play with it:

  • Hi,

    Soon hopefully, Randy (arducopter lead developper) is currently working on merging it to master!

    I have no idea of the delay but now it's more a matter of time :)

  • Hi guys - I'm on 3.1.2, and still no sigh of hybrid - when's it coming out?

  • Cam do you have your 3.1.2 build on github?

  • Arhhhh silly me, I forgot to remove the "#" when I defined the frame type :)  All sorted now.

  • Could I please bother someone for some advice.
    I am attempting to load the 3.1.2 firmware with hybrid mode merged into it however every time I do the APM thinks it is a quad and not an octo. 4 of the ESC's continually beep and the motors will not spin.

    I am sure it is something obvious that I am missing to put it into octo mode but for the life of me I can't see what. Could someone please point me in the right direction.


  • 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?

  • Awesome!, works like a dream!!! Thanks guys, it would be great if you could get it merged into the main build.

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