MOT_HOVER_LEARN set to Learn and Save, does it work in all modes?

ArduCopter Copter 3.6
1

As the title suggests, I’m curious whether the ‘learn and save’ function also works if im flying in stabilise mode or only if im using alt hold/pos hold/loiter etc

2

All modes accept Stabilize and Acro.

3

I have a spray drone that I have been tuning and working on using the Pixhawk Cube Black and it has been going well. I did the mot_thst_hover and mot_hover_learn set to learn and save while the drone was half filled with water and mot_thst_hover came out to be @ .3. It seems to be working well. The drone I am using will start with 25 lbs and empty that in about 10 mins so I did all my tuning at half full. Do I now turn the mot_thst_learn to disabled or do I always leave it to learn and save? Thank you.

4

I am running Copter 4.0.3. When it is empty the mot_thst_hover will go to @ .2. Just a little confused on what to do with mot_hover_learn once I keep flying missions. Do I do the mot_thst_hover at half full and disable mot_hover_learn once it is saved? Thank you.

5

You just leave it set to learn and save. The hover learn adapts very quickly.

6

Great…thank you Shawn.

7

And @xfacta assuming you wanted to assign a takeoff button to make life easier. You would be using GPS/Baro and it could take off to a predetermined height and then run mot_hover_learn on the fly subsequently as the UAV depletes spray payload it would adjust mot_hover actively?