How difficult would adding a new mode be? I’d like an auto takeoff mode that doesn’t require any waypoints. I would like the APM to take the launch position and add a configurable amount of altitude as the target. After throwing the plane, the autopilot would set a temporary target waypoint of the launch position plus the target altitude and circle up to that target. Once at the target, the autopilot would switch to loiter.
Another possible feature for this option is to start with the motor(s) off until the GPS detects the aircraft is moving in a forward direction and then spin up to full power or whatever is required to manage the climb.
I programmed a mix on my transmitter for use with FBW-A mode, it holds 70% down elevator… I power up and launch works great… FBW-A will hold the angle of ascent to no more than the angle you setup for the plane in the parameters
Currently when a takeoff command has finished and there are no further waypoints the aircraft will loiter around the point at which it achieved the take off altitude, (ie just a takeoff command as the mission).
Exactly. Allow configuration variables for the destination altitude above the launch point, circle radius, etc., depending on the aircraft.
Is there enough room in the APM 2.6 for this code to be added to Ardupilot? I’m tempted to see if I could write this but fear my aircraft would turn into an expensive lawn dart.
If you dont want waypoints than simply add autotakeoff command.
It is not place dependent. After you did this, you will never have to touch it. It will work the same way everywhere, anytime. It is true that it is linked to a WP but that wp can even be on the north pole.
The way i use it is i always add landing too.
Like when flying at our r/c airport, i have a takeoff command, than 2 turn loiter in front of me, than landing from left.
This i have saved to my phone, just as the same mission but landing from the right. (also stored on my phone.)
It is a few moments to load it to APM. Only thing you need is a BT modul, and an Android phone.
[quote=“azjulian”]I dont like having to do that either…
I programmed a mix on my transmitter for use with FBW-A mode, it holds 70% down elevator… I power up and launch works great… FBW-A will hold the angle of ascent to no more than the angle you setup for the plane in the parameters[/quote]
Why do you use 70% down elevator for launch? Wouldn’t you want up elevator to keep a FBW climb?
[quote=“ken95357”]How difficult would adding a new mode be? I’d like an auto takeoff mode that doesn’t require any waypoints. I would like the APM to take the launch position and add a configurable amount of altitude as the target. After throwing the plane, the autopilot would set a temporary target waypoint of the launch position plus the target altitude and circle up to that target. Once at the target, the autopilot would switch to loiter.
Another possible feature for this option is to start with the motor(s) off until the GPS detects the aircraft is moving in a forward direction and then spin up to full power or whatever is required to manage the climb.
Thoughts?[/quote]
I think your auto takeoff idea is a nice one to have. I currently stumbled across the ACRO mode with ATTITUDE-LOCK. That works great for launching in a couple simple steps:
aim your plane at the launch angle/direction
activate ACRO mode which initializes the ATTITUDE-LOCK
apply throttle
give it a throw
…and off it goes. I tried it Sunday with my Bixler on a very windy day and it worked like a charm - didn’t have to touch elevator or aileron. After it reached the wanted altitude I switched into my flight mode and continued. I know its not as fully programmable and automatic as you suggested but with current firmware its a semi auto takeoff which is already functioning. I really don’t know what else I would need the ACRO mode for? If I want to fly freely I use MANUAL.
