Quadcopter with wing

[Knox]

Hi!

Me and four other students are building a quadcopter with a wing (picture: http://tinyurl.com/nrynp8b) and we are pretty new to C++ so we need some help.

The following things are stuff we havent figured out how to implement in the code:

• A hover-mode and a flying-mode that you can toggle between with one of the switches on the RC (eg. AUX2). The FC needs needs to have vertical orientation in hover-mode and horizontal orientation in flying-mode.
• A 90 degree transition-phase between hover-mode and flying-mode.
• We also want to change so that PITCH is the rotation around the X-axis and ROLL around the Y-axis.

Any suggestions on how to implement this? What changes do we need to do in the code?

We are doing this project as our bachelor, but unfortunately neither one of us are skilled in C/C++. Here is a draft of the report on how far we've come (http://tinyurl.com/paoxpq8). It's in swedish but some of the pictures in the report may be of some interest.

Thankful for any kind of help/suggestions!

[waltr]

I am doing this project as my bachelor

Then you should know how to do searches on the web and within these forums.
Board ornamentation changes have been discussed so search to find them.

[Knox]

Then you should know how to do searches on the web and within these forums.
Board ornamentation changes have been discussed so search to find them.

Okey, sorry, I should have been more clear about it. I've figured out how I change the orientation, what I don't have figured out is how I should do if I want two different standard orientations (horizontally for fly-mode and vertically for hover-mode). And sorry if I might bring up a topic that has been discussed somwhere else. I just wanted to present my concept and see if anyone could give me some nice suggestions on how I could do.

[PatrikE]

You need to create a mixer that combine motors and control surfaces.
The transformation can be done in several ways.
Either you can switch from transmitter or you can use the sensors to handle the switching.
I have done about same on SingleCopter once.
I think i still have the code somewhere.

[Knox]

Either you can switch from transmitter or you can use the sensors to handle the switching.
I have done about same on SingleCopter once.
I think i still have the code somewhere.

That would be interesting if I could take a look at it. Do you think I somehow could use QUADX for hover-mode and FLYING_WING for fly-mode and toggle between them from one of the switches on the transmitter?

[PatrikE]

That would be interesting if I could take a look at it. Do you think I somehow could use QUADX for hover-mode and FLYING_WING for fly-mode and toggle between them from one of the switches on the transmitter?

Mwii cant handle multiple models like that.
You need to create a new model and add both servo/motor mixes and make it possible to switch modes with switch.
Maybe even make it more advanced and scale the value to a float ranging 0.0 to 1.0 (using cos() F.ex)

I have made a model but want to bench test it so it works first.
Is a little buzzy eating eggs and candy during ester.

I can PM you hen i have something to share.
I saw in he report you're at Chalmers, is swedish ok in PM?