[2014] altitude hold + throttle angle correction

[treym]

A demo video of altitude hold + throttle angle correction with baseflight

With a smoother correction curve near the center and a configurable angle , we can now make some maneuvers while retaining the same altitude.



If your are not sure how this works then start with the default value, make a quick test flight to ensure your multirotor is ok.

Then Adjust with how fast your motor and esc can react, multirotor size , weight and battery discharge, flying style and expected behaviour.

Those values act as a starting point :

for fpv without altitude hold : add +40 to throttle input when the copter is at 45°

Code: Select all

set throttle_correction_value = 40
set throttle_correction_angle = 450

for Gps PositionHold or Loitering ; add +10 to throttle input when the copter is at 80°

Code: Select all

set throttle_correction_value = 10
set throttle_correction_angle = 800

Here are the values from this demo video in altitude hold + throttle angle correction + horizon mode , all other values set to factory expect a custom mixer.
add +150 to throttle input when copter is at 30°:

Code: Select all

set throttle_correction_value = 150
set throttle_correction_angle = 300

the maximum value for correction 150 throttle

to disable

Code: Select all

set throttle_correction_value = 0

have fun !

ps : there is no throttle angle correction if the copter is vertical or inversed, Next step is a full loop with Altitude Hold mode.

[Andy7]

Not seeing a video here, or is it just me and my iPad?

[treym]

https://vimeo.com/91660889

[Rusty105]

Can this get ported to Multiwii? or is it already there??

[Vertigo]

I tried this out yesterday, with mixed results. I tried the FPV settings (+40 / 450). It does work well if you fly at reasonable angles, but if you approach (possibly exceed) 90 degree angles, something is wrong. A few times I was at such very steep angle in acro mode, I wanted to bring the nose back up a little bit, and instead of coming back a little bit it violently rotated backwards, 90 to over 180 degree. You can see one such occurance in the very beginning of this youtube clip:
https://www.youtube.com/watch?v=CbD0YOhmjJ8

Note I was flying acro mode and my stick was pretty much centered, only a little bit back stick to bring the nose back. Instead of I ended up inverted .

Also, Im under the impression in horizon mode, my flips are considerably faster. Thats not necessarily a bad thing, just an observation. THe speed is pretty insane tbh .