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
"Hybrid" is now called "PosHold" in the Planner.
As far as I know the rings are just there for planning info. You can turn them on and off via the "Show Airports" checkbox on the Planner page of Mission Planner.
Hahaha haha man I really like hybrid heh heh eh ok thank u guys
One more question In the last I think 3 updates I have notice that I can see the airports circle does that affe c the US in any way like DJI that has restrictions or is that measly a reference that there is a airport near by?
It wasn't removed. It's the same mode. The name was merely changed to something more descriptive for newcomers. Hybrid? Hybrid what?
Yes I notice that too I thought I was crazy why they moved it it was working Great I regret making that update is there a way to fixed that???????
Hybrid mode is no longer in the flight mode list. Now it is 'PosHold'. Does anyone know what this is? Why was Hybrid mode removed?
Yeah,
actually hybrid is 3 submodes :
- Alt_Hold : so here you have to tune properly roll/pitch PIDs and Altitude controller too
- braking transition (if previous are well tuned, that's OK)
- loiter : have to tune Loiter PID
http://copter.ardupilot.com/wiki/tuning/
If your copter flies well in alt_hold and loiter, it will be fine for hybrid as it's a combo of these 2 modes.
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
If hybrid is sluggish, that means your copter is sluggish as the roll/pitch dynamics should be the same as stabilize mode...
BTW, you should try the 3.2-rc2 as versions purposed in this thread are outdated.
Please join a log, the is maybe something wrong with your param.
Thx for testing
Can Hybrid mode be tuned in any way to give me more control as mine is kind of sluggish and is only a small bit better than loiter alone.
Randy
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