I’m flying a quadcopter with a Cube Black and a Here GPS/compass, and it’s important for my particular application to keep the horizontal position as stable as possible when operating in PosHold mode. Are there Arducopter parameters that control the priority given to the accelerometers vs. the GPS that I can set to minimize short-term drift? I can compensate for slow drift in the GPS position if needed, but I don’t want the drone to be subject to more rapid horizontal wanderings of a couple meters or more if I can avoid it.
Use Loiter instead of PosHold, it has better performance and more parameters to configure. And Update to ArduCopter 4.2.1
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what’s the different between poshold and loiter mode ,i am confuse with them .
Introduced in ArduCopter 3.2 and mostly unchanged since then:
https://ardupilot.org/copter/docs/poshold-mode.html
Actively developed and improved:
https://ardupilot.org/copter/docs/loiter-mode.html
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PosHold-2 parameters available for configuration and tuning
Loiter-6 parameters
thank you very much,is very useful .
Is an optical flow sensor an option?
It might be, but I know nothing about it. Is there an off-the-shelf device that isn’t too expensive and can be easily integrated with a Cube running arducopter?
The optical flow docs are here: Optical Flow Sensors (landingpage) — Copter documentation One that’s not listed but should be supported is the Matek 3901-L0X: http://www.mateksys.com/?portfolio=3901-l0x
You might want a separate rangefinder (Rangefinders (landing page) — Copter documentation) since the ones usually included with optical flow sensors are relatively short range.
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Very helpful - thanks! The Hereflow interests me because it integrates nicely with the Cube via the CAN port.