I’d like to implement a new flight mode for underwater multicopter based on Stabilized mode.
The main difference is the drone will float and go up when motors don’t spin.
I’d like to implement the stabilize mode with the faculty of spinning motors to go down (and UP with bidirectionnal ESC).
Is there somebody able to tell me where to start in the code?
I never programmed Ardupilot and I’ve some little skills in C++, but I’ve 20 years of programmations in Java.
Then, I put here my research about the subject because it could interest somebody later
I tried to configure ESC with bidirectional function (Blheli ESC).
But it doesn’t work because I don’t found any option to parameter the bidirectionnal configuration
I’ve found Betaflight firmware could manage 3D flight, which could be an option. I’ll try tomorrow.
Are you sure about hold mode in BetaFlight?
As of a year ago it could not… They added a rudimentary fly back in the direction of home mode last year… (I wouldn’t even call it RTL because it only got you in the general area).
But, maybe something has changed while I’ve been focused on Ardupilot for the past year.
I’ve just checked and your’re right, there is no GPS Hold position function.
I’ve seen there is a GPS configuration and deduct there is a GPS position hols function.