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Re: [Paparazzi-devel] multirotor mode for attitude control and current 3

From: Felix Ruess
Subject: Re: [Paparazzi-devel] multirotor mode for attitude control and current 3D position hold
Date: Tue, 13 May 2014 22:54:19 +0200

For the horizontal part the difference is that if you switch between attitude mode and hover (position hold), the integrator terms are reset and hence if you fly in wind the integrator of the position controller first needs to compensate for that again (after switching from attitude).
In that case simply using HOVER_Z_HOLD and commanding velocities should be more stable in wind, since in end-effect you move the position setpoint (roughly speaking).

On Tue, May 13, 2014 at 2:29 AM, alonso acuña <address@hidden> wrote:
Hi. I am not sure if I really need it but this is the way the Naza ap works and I am told by its users that this is a good thing. See page 9  it basically says that the GPS Atti mode has attitude control and when sticks are released position is locked. To me it sounds very intuitive and safe. If you for example drop the control, are distracted or need to use another control for a gimbal then you can just release sticks and you know the a/c will not drift away. 
Isn't it just the same as switching to HOVER_Z_HOLD? Something like if the sticks are released after 1 second it changes to HOVER_Z_HOLD and when sticks are moved again it immediately switches back to ATTITUDE_DIRECT ?

On Mon, May 12, 2014 at 11:52 AM, Felix Ruess <address@hidden> wrote:
Hi Alonso,

we don't have exactly the mode you are describing, but in master the HOVER_Z_HOLD and HOVER_RC_CLIMB modes let you control the horizontal (and in RC_CLIMB also vertical) velocity via RC sticks.
(If GUIDANCE_H_USE_SPEED_REF is TRUE, which is the default).

Do you really need direct attitude control mixed with position hold (when there is a zero input command)? This would mean often switching between attitude only control and position control and probably this is not so nice if you have wind...

Cheers, Felix

On Mon, Apr 28, 2014 at 10:48 PM, alonso acuña <address@hidden> wrote:
Hello. Multirotor newbie question: I am looking for a mode where one can control attitude (roll, pitch and yaw angles) but when controls are left at neutral the a/c will maintain its current 3D position.

In the wiki I see that AP_MODE_ATTITUDE_Z_HOLD only holds altitude.  Also it says it holds the position it had when entering the mode, not the current position.

I am told this is a standard and very commonly used mode with recent multirotors.

It seems one would be able to emulate this by moving the a/c with ATTITUDE_DIRECT and then change to HOVER_Z_HOLD to hold and then go back when movement is needed again. But my pilot says this is too much trouble and 2 positions on the mode switch are used for what could be essentially a single mode?

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