What strategy are people using for stick position on mode transitions?
In inav they have a few option of how this works with having mid stick be set when you make transitions or having the controls fade. I cant find any reference to anything like this in ardu.
So far what I have been doing is just trying to setup different curves and settings in the controller so the heli hovers around ish mid stick in all modes. That includes acro mode with full negative pitch so the curve makes it so the bottom 25% of stick is the negative and the top 75% is the positive. This makes transitions sorta smooth as long as I am not climbing or descending when transitioning.
What are others doing? Just not transitioning in flight? Are there some settings I missed to tune the fade between the modes or something?
So far its working for me but is probably not ideal so I just wanted to see how others are addressing this. I couldn’t find much previous discussion with the search but I might not know what search terms I should be using.
For clarity, I am referring to collective stick position when transitioning between flight modes like stabilized to althold, or loiter to acro. Where the stick position for hover might be different. In acro hover will be part way through the positive half where in loiter or althold it just mid stick.
Currently I have stabilized setup with the same collective stick settings as acro but I would like to make stabilized stick all positive pitch side instead and that would further complicate transitions between modes for the collective stick position.
In my experience PosHold, Loiter, AltHold, etc. all maintain a steady height when the collective is at 50% plus or minus a bit, so transitioning between them is not an issue. So the key to a smooth transition to/from Stabilise mode, or any other mode where the pilot controls the height, is to tune/configure the heli so that a steady hover is achieved at 50% collective. That’s covered in the wiki.
Right but this is not possible with acro on a traditional 3d heli collective configuration.
50% stick is zero thrust usually or 0 degree pitch in acro mode.
What you describ though is how I have roughly configured even with acro mode. This causes a loss in fidelity for inverted fliggt collective pitch control. Probably that doesnt matter but i wanted to see how others do it.
@spova I have a custom code that does smooth transition between non-manual and manual collective modes. I use a timer parameter (usually set to 1.5s) that does a very smooth transition.