Tau Labs has MultiWii style Horizon Mode

For those of you flying Tau Labs or just looking to re-invigorate a CC3D and get some more fun, we implemented a "Horizon mode" based on the MultiWii code. What this does is when you keep the sticks near the middle, it will be in attitude mode (self leveling) and as you move the sticks further out it transitions into a rate mode. This is really fun for FPV because you have the ability to flips and more aggressive maneuvers while having the safety of a self leveling mode. I think the video above from Oso shows it off best.

Tau Labs Horizon working from Oso Grande on Vimeo.


If you want to try it out, here are the builds:

To enable it, just select "Horizon" for your roll and pitch axis modes for one of the stabilization switch settings.  A few other tips if you want to have fast flips:
1. set your gyro rate to 2000 deg/s
2. set you manual rate to >300 deg/s

Views: 1964

Comment by John Church on November 24, 2013 at 6:39pm
Thanks James- anxious to wring it out.
On a side note, how is navigation going in Tau?
Comment by James Cotton on November 24, 2013 at 6:49pm

Actually pretty well. The last few weeks I busted out Freedom and started getting some logs and really working on the code. Oso actually triggered that too - we were chatting and he described the Naza RTH behavior so I got that implemented and working last weekend.

Tau Labs - Return to home and landing from James Cotton on Vimeo.

with more notes here http://buildandcrash.blogspot.com/2013/11/return-to-home-and-landin...

I've also implemented a inertial filter similar to the one in arducopter after seeing some of their videos, and am currently comparing that against the INS-EKF we have been running. It is certainly a lot simpler to tune! And I wrote some code to segment the quad from video 

So hopefully that will provide something close to ground truth.  In short going well and I hope to have something really solid for people to test in the next few weeks.

Comment by James Cotton on November 24, 2013 at 6:50pm

BTW here is my demo of horizon mode 

Horizon Mode - Flipping from James Cotton on Vimeo.

not as impressive flying as the video above but it lets you see how precisely the flips stop.

Comment by Gary Mortimer on November 24, 2013 at 9:38pm

Is it worth trying this on a CC James?

Comment by F1P on November 25, 2013 at 1:33am

Nice for 3d fans!

Comment by F1P on November 25, 2013 at 1:40am

A propos - best even seen combination for agressive 3D "KK2+ simplecopter frame"


Comment by James Cotton on November 25, 2013 at 5:16am

Gary - yeah a few guys have tried it on original CC and it works. You can't push the rates above 450 on it though because the gyros limit at 500 deg/s.

F1P - that is some solid flying. We have another mode that is an extreme rate mode called "VirtualFlybar" which will flip about that fast, but I'm not quite the pilot to really show it off.

Comment by Evan-cs on November 26, 2013 at 4:06am

nice horizon mode~ looking forward to test it on my sparky :)

finally, i find CCT6 in stock on element :] thanks James~

Comment by Mike Cress on December 6, 2013 at 2:33pm

Great flying F1P!

I'm Oso from the above video.  This Horizon mode really does make things simpler and more fun for those of us who can't seem to stay off the ground in acro mode.


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