Plane launch dolly build with maintaining straight line of launch

ArduRover
1

Since few months im trying to make motorized rc plane dolly. Its simple three wheel construction with one turning rear wheel

Img: https://imgur.com/a/vaPfrnE

The main idea is to use the dolly to accelerate the plane to take-off speed, meanwhile it should stabilize and maintain straight line of launch.

For now dolly is working fine in manual mode without any stabilization. In final version i want to operate with throttle manually and in the same time autopilot should countersteer rear wheel. I am completly new to ardupilot and i cant find specific flight mode that will work as my needs, maybe someone can help me.

At this point i found that loiter mode is creating virtual line and dolly follows it, but i cant operate with throttle in that mode

Ps. I am using ArduRover 4.5.6
Matek f405 wmn
Matek M10Q GPS QMC5883 Compass

2

Acro mode will maintain a heading until you steer it otherwise. Let go of the stick and you now have a new heading. You should start in Acro Mode anyway for configuration.

3

Okay i will give ot a try today, but i remember that ive tested it already. I remember also that in acro i cant slow down, i dont know if it was trying to achieve some cruise speed or something. Can i turn off this option somehow? I want to use throttle only with gimbals

4

That doesn’t make sense.
Acro mode

5

If you can try to operate the dolly with Arduplane firmware, I would recommend to use the ground steering function of Arduplane:
https://ardupilot.org/plane/docs/tuning-ground-steering-for-a-plane.html

This keeps the heading on the ground constant up to an adjustable height. It also works without rudder if you have a steerable tail wheel, as you do.

I am impressed by the directional stability. Take-off and landing without any rudder input :

Rolf

Addendum: Perhaps a passive tail wheel on the trolley is sufficient if the aircraft can develop sufficient rudder effect to steer the trolley while it is still on the trolley