Altitude floor

[Snir]

Hi Guy's

I have some Idea that may help and save alot of multicopters from crash,I call it Altitude Floor; the idea is to create an imaginary altitude floor(predefined) for example from ground level up to 5ft activated by AUX switch.
The pilot can fly like crazy above that floor,once the multirotor will hit altitude floor zone the FC will take the controls and will level the multicopter and by predefined time/altitude the controls will return to the pilot.

Of course you have to have a baro and silly pilot

Is it possible?

[mahowik]

I had the same idea and already released this feature with my custom firmware two weeks ago

Code: Select all

/* It helps to protect descending less than specified in define altitude.
     * Activated when MAG activated to make it possible landing in AH. 
     * E.g. It's should be useful for FPV.
     */
    //#define LOW_ALTITUDE_PROTECTOR_DURING_AH 400 // in cm, i.e. 4m

[Snir]

I'm happy to hear that
But I didn't understand what the multirotor will do when its hitting the low altitude? it just gonna land? I will try to translate your page from Russian to English...

[mahowik]

> But I didn't understand what the multirotor will do when its hitting the low altitude? it just gonna land?
no, it will be switched to althold with minimal/low altitude and deny altitude descending by throttle stick...

[felixrising]

"Uncrashability Mode" -->> http://www.rcgroups.com/forums/showthread.php?t=1922403

[BradQuick2]

I see that felix beat me to the punch.

My "Uncrashability Mode" (see link above) works like this: The code anticipates when the aircraft might go below an altitude threshold by monitoring the rate of descent and predicting what the altitude will be one second in the future. If it's going to fall below the minimum altitude, the software takes over control. If it's up-side-down, it kills the trottle. It levels the aircraft, then applies throttle to get it back to the minimum altitude (using altitude hold code). While it is below minimum altitude, the pilot can only tilt it a maximum of 20 degrees, so he still has some control, but can't make it crash.

It also cuts the throttle if the altitude gets above an upper threshold.

If the setup also include a gps, then the system also takes over if you get too far away from where uncrashability was initialized, so you can't accidentally fly away.

[Snir]

Nice job felix!
I will try your code.

[crashlander]

@BradQuick2
Congratulation for your code its behavior looks promising!
May I have two feature requests! Please!
- Crius AIO Pro
- RC control with MSP_SET_RAW_RC

Regards
Andrej

BTW: will test current with Crius SE that seems to be the same as HK 328p