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Testing APM Flight modes - Stabilize, Altitude hold, Land, Loiter and RTL | apm drone LIVE testing
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- Опубликовано: 26 фев 2021
- #FlightModes#apmflightmodes#RTL
APM 2.8 Quadcopter building tutorial : • Quadcopter drone with ...
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Flysky fsi6 3-mode switch setup | Flight Modes setup : • Flysky fsi6 3-mode swi...
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![Flysky fsi6 3-mode switch setup | Flight Modes setup in mission planner [Altitude hold,RTL,flip]](http://i.ytimg.com/vi/wezRWqgSyb4/mqdefault.jpg)
![Flysky fsi6 3-mode switch setup | Flight Modes setup in mission planner [Altitude hold,RTL,flip]](/img/tr.png)
RTL mode increases the altitude of the vehicle for a specific reason. That is when it is put in the RTL mode the vehicle climbs up to a pre-set altitiude to "clear off from all obstacles" before starting to return to home positions. This is done to keep the vehicle from hitting any object if it is flying low before the RTL is initiated.
exactly!
Thanks for clarification!
sir by default when we set drone to RTL mode it goes 20 metres up and than come to its initial position from where it take off. Thats the solution on it.😊
Thank you, we will try it then
@@techathome 😊👍
Right bro
How can I contact you plz I need help
Instagram, Id is in description
In parameters settings u can change the rtl height as per ur choice. Its important to take consideration about the height of max object in ur flying area. So that if somehow RTL enabled in failsafe its cross the max height object easily and crashed into it.
Thanks
But In my case, My drone flies up in RTL mode and instead of gowing straight up, it tilts and goes up. So, I have to instantly disable it from RTL and enable stabilize. My drone has also been crashed due to all this....
rtl default value of mission planner [ARDUPILOT] have 15 mtr alt, so after trigger rtl drone increase the alt go to 15 and come to starting launch loction and land
Can you please help my drone is not taking off, it flip one side even properly assembled propeller as per motor direction usi g apm 2.8
Check your esc connections to the apm2.8. If the connection is in the wrong order, it will flip. Also do a proper calibration of the escs.
It would be nice to de-tune that RTL feature. It appears that the intention of the ascend phase during RTL is to for the drone to attempt to establish radio frequency, since in RF theory, line of sight reception increases with height above ground, and also for example, if the drone is in a canyon or an obstruction blocking the pilot.
Thank you
Kono rtl drone cress hai
Its common in RTL mode drone first gain 20m hight then return to home bcs if there is any building it may crash.... u can''t change it. I made a drone with aurdino and i am understanding whats written in multiwii code and its same for all drone even in dji... as in Aurdino u can change but i preffer not to change 😉😉
Got it,
Is it possible to share the code? Just for reference.
@@techathome yea but it is in stm 32
Ok that is also fine
@@techathome ok I will give... Just I am not in home right now... Just give a comment & I will share
@@techathome ///////////////////////////////////////////////////////////////////////////////////////////////////////////
//This is the return to home step program
///////////////////////////////////////////////////////////////////////////////////////////////////////////
void return_to_home(void) {
if (flight_mode == 4) {
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//Step 0 - make some basic calculations
/////////////////////////////////////////////////////////////////////////////////////////////////////////
if (return_to_home_step == 0) {
//Is the quadcopter nearby? Then land without returning to home.
if (abs(lat_gps_home - l_lat_waypoint) < 90 && abs(lon_gps_home - l_lon_waypoint) < 90)return_to_home_step = 3;
else {
return_to_home_move_factor = 0.0;
if (return_to_home_lat_factor == 1 || return_to_home_lon_factor == 1)return_to_home_step = 1;
//cos(((float)l_lat_gps / 1000000.0)
if (abs(lat_gps_home - l_lat_waypoint) >= abs(lon_gps_home - l_lon_waypoint)) {
return_to_home_lon_factor = (float)abs(lon_gps_home - l_lon_waypoint) / (float)abs(lat_gps_home - l_lat_waypoint);
return_to_home_lat_factor = 1;
}
else {
return_to_home_lon_factor = 1;
return_to_home_lat_factor = (float)abs(lat_gps_home - l_lat_waypoint) / (float)abs(lon_gps_home - l_lon_waypoint);
}
if (ground_pressure - actual_pressure < 170)return_to_home_decrease = 170 - (ground_pressure - actual_pressure);
else return_to_home_decrease = 0;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//Step - 1 increase the altitude to 20 meter above ground level
/////////////////////////////////////////////////////////////////////////////////////////////////////////
if (return_to_home_step == 1) {
if (return_to_home_decrease 0) {
pid_altitude_setpoint -= 0.035;
return_to_home_decrease -= 0.035;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//Step 2 - Return to the home position
/////////////////////////////////////////////////////////////////////////////////////////////////////////
if (return_to_home_step == 2) {
if (lat_gps_home == l_lat_waypoint && lon_gps_home == l_lon_waypoint)return_to_home_step = 3;
if (abs(lat_gps_home - l_lat_waypoint) < 160 && abs(lon_gps_home - l_lon_waypoint) < 160 && return_to_home_move_factor > 0.05)return_to_home_move_factor -= 0.00015;
else if (return_to_home_move_factor < 0.20)return_to_home_move_factor += 0.0001;
if (lat_gps_home != l_lat_waypoint) {
if (lat_gps_home > l_lat_waypoint) l_lat_gps_float_adjust += return_to_home_move_factor * return_to_home_lat_factor;
if (lat_gps_home < l_lat_waypoint) l_lat_gps_float_adjust -= return_to_home_move_factor * return_to_home_lat_factor;
}
if (lon_gps_home != l_lon_waypoint) {
if (lon_gps_home > l_lon_waypoint) l_lon_gps_float_adjust += return_to_home_move_factor * return_to_home_lon_factor;
if (lon_gps_home < l_lon_waypoint) l_lon_gps_float_adjust -= return_to_home_move_factor * return_to_home_lon_factor;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//Step - 3 decrease the altitude by increasing the pressure setpoint
/////////////////////////////////////////////////////////////////////////////////////////////////////////
if (return_to_home_step == 3) {
if (pid_altitude_setpoint > actual_pressure + 150)return_to_home_step = 4;
pid_altitude_setpoint += 0.035;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////
//Step - 4 Stop the motors
/////////////////////////////////////////////////////////////////////////////////////////////////////////
if (return_to_home_step == 4) {
start = 0;
return_to_home_step = 5;
}
}
}
My quad corpter do not fly up straight and it fly above on the ground 2 inches and then increase the motor spining and the corpter nose down and crashed . How can I fix it pls!
Have you done ESC calibration?
Is motor layout correct?
Refer these two videos,
Part1: ruclips.net/video/UW1-gSySgxg/видео.html
Part2: ruclips.net/video/S7VZ796W8VA/видео.html
In RTL mode the drone will climb to 10 feet before coming back to its launching site .. it's just a safety measures so the drone doesn't crash into something or someone while flying autonomously ....
Thank you
Bro that is exactly how rtl works anyways you can set the height to which it raises before it lands plzz refer the documentation of rtl in ardupilot
ok, thank you
Bro on RTL mode
Drone will gain height like 200 or 300 ft to avoid collision, than fly back to launch position
Thanks for info👍
I have an issue in stabilize mode when i try to give roll and pitch values the drone does not react , I have only kept this mode and nothing more
can you give some suggestions
When I turn the key on the radio, it doesn't change in the mission planer, and the gps is in Land mode in flight mode 4, help me there.
Hi broo my cc3d drone one side moving no stabilizing plzz which solution yeni help
Hi,
I have not used cc3d but this issue might be also because of ,
1. ESC calibration not done
2. Wrong motor and propeller direction.
From what I heard loiter mode is stabilized a lot like a DJI drone is that true?
Not very stable like DJI.
When drone takes rtl at first it goes upto 5-10-or20 metres.Then it comes and automatically lands its not an issue.
👍
Hi bro I'm doing project on drone at first i have used the Arducopter the issue i was faced is that it was not stable it was lifting up vertically but while lifting vertically it was moving right and left without any movement in direction channels and now I'm using Pixhawk flight controller and the Same issue i am facing with Pixhawk also. So please can you help me in stabilization of drone using Pixhawk
In RTL, drone automatically reaches a height of 10 or 20m and then comes back to home place
Thank you for info👍
Hi all,
I’m using PixHawk 2.4.8 for rover I’m facing some problems flashing green light after pressing safety switch and i found gps locked but pixhawk disarmed showing green flashing light i want covert into solid green light how can solve my problem plz guide me??
I have not used the pixhawk,
Can u change Cable?
Sir my altitude hold mode is not working properly before 50% throttle the drone takeoff...sir plz solve my problem.
Always don't take off with altitude hold,
First take off with stabilize mode
After drone reach some height, put it to Altitude hold
Is will work better
@@techathome thank you sir for information.
Mere paas fsct6b usbe mode select ka koi way bataiye bhaiya
I have not used that,
I think you have to connect with the computer using cable and do settings on transmitter.
Refer this video for pwm values : ruclips.net/video/wezRWqgSyb4/видео.html
Can't we directly arm in loiter mode??
I think it will arm,but not take off properly.
RTL meanings it will go to first highest then slowly to launch position
Thank you for the info
@@techathome welcome why don't you try to fly it with software like Qground controller with Telemetry kit
As of now I don't have telemetry.
Nice video.... Any idea why my drone is not arming using the flysky transmitter (throttle stick down + right). I am also using physical switch which i have armed manually, still motors are not turning on. Currently I am arming from mission planner inorder to turn on the motors!
Have you done RC calibration properly?
@@techathome I got the problem. It’s related to RC only. Seems 1 of my channel is reversed in my transmitter.. after changing back, it works well.. 👍
👍
Bro make a video on auto tuning plzzzz...
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In loiter mode the position is locked rock solid but as you play with the pitch and roll you can change the position
Yes, slightly
I have solutions of RTL ,why drone goes 20m up ,when we put in RTL mode, using my solution we can change the height of drone when we put it in RTL
Yes ,Later I got to know
Thank you
Connect gps another pin to i2c port and do compass calibration
Thanks, we will try this
Bro i made an quadcopter with apm2. 8 plus gps.....
Unable to arm it even after doing everything..... I can think of
Can you help me
Have you done, stick calibertion properly?
Also have you binded the transmitter and Receiver after purchasing.?.
Good day sir.. can i ask ? What is the difference between loiter mode ang poshold mode in mission planner?Thanks in advance
in loiter ig u have 6 parameters whereas in poshold u have only 2
also the gps lock is only there in loiter not in poshold
Did you come accross any anomaly in Atl-Hold in ArduCopter-3.2.1 on APM-2.8 ?
No, Alt-Hold works fine for me
Bro by setting ON RTL mode mode craft will goes up 20m and will come to its origin from where its flew!(pixhawk 2.4.8)
Ok, it should be same in APM, but I have not tried that
Brother , I made one Drone with your video . But i have a problem ! that>
I can't fly my drone below 11.3V . my all motor automatically stop during flying!
I use 920kv motor and 30A ESC + 3S 4200amh battery .
Battery failsafe set to 11.3 volts
Yes, check battery fail safe,
Also don't fly below 11.3v , your battery will get damaged, if you discharge more
Bhai mera drone loiter or position hold mode me lock nhi ho raha hai aur idhar udhar bahut fast react kar raha hai so what I do
Calibrate your radio properly and see the endpoints as well also make sure the correct firmware is uploaded on the flight controller
Bro how to make a tricopter in apm 2.8
Bro my one bldc moter is runing faster another three motor are not running faster . What the reason bro whether it problem in esc or motor replay bro please
Try this bro once : ruclips.net/video/P-HbV_d7dIU/видео.html
Bro how to calibrate the flight controller with remote I don't no. Because I am using ft6b transmitter
Same procedure, I have shown in the video : ruclips.net/video/P-HbV_d7dIU/видео.html
Calibrate individual ESC'S and also using Flight controller
Ft6b ya ct6b
problem is caliberate axxel is failing
Use old version mission planner 1.8.45
Use smart RTL option
We will try it
Agr 1 baar 1 firmware upload krdiya h toh bro agr dusra firmware upload krne k baad mission planner m mandatory calibration phr s krne pdte h kya ?? Bro plzz help.
Yes
Mission planner ek zara bhi kaam nhi kar raha hai
Mission planner kaunsa version use Kiya programming ke liye
1.3.68
Is RTL mode working fine for everyone?
Yes,
Drone goes to some height and then come down to land
That's not a problem or a fault . That the feature on apm because apm takes quard to a safe altitude to detect home position
ok, thanks, i will try again
Can you please make a video on a flying wing or a rc plane with apm flight controler
Will try
Thats the basic program for RTL it has a fixed height where it flies and then lands
Okay thanks for information
Awesome video bro sakath age ede
Thanks bro
Bro that RTL u have to change parameters
The setting will he like
Climb 100 ft then come to return location
Because if ur drone is far. And there are large trees on its path
When u click on RTL it will climb 100ft to avoid these and then come to location
So if u want u have to change that setting
I recommend this is only the best default setting
Ok, thanks for the solution,
I will try in open ground
First of all the drone maintain its height that it would not collide anywhere and then returns to its launch position .
ok,thanks
RTL_alt is set to 1500cm. Change that
ok
Same issue RTL mode
As I got reply from many people,
It is not a problem, generally RTL works like that,. It go far and then come back
Plz help me
Mera drone mai loiter mood, alt mood, kam nahi kar raha hai please help
Make sure your radio is properly calibrated if the calibration is off such behavior may take place
Please fix one 4k camera to make video and photo capturing
ok, we will do
Bro loiter me move nahi hota kya??
Slightly moves, not like altitude hold
Loiter will allow you to move when you move the sticks but will lock on to the position once you let go of the sticka
Ek help kar do bhai
assalamu alaikum ,
Sir , can i know it's flight Time?
Hello,
I have not tested continuously since my battery is swollen,
It is 2200 mAh battery
Approximately may be less than 10min only I think
You can go with more mAh, for more flight time
@@techathome
Brother , I made one Drone with your video . But i have a problem ! that>
I can't fly my drone below 11.3V . my all motor automatically stop during flying!
I use 920kv motor and 30A ESC + 3S 4200amh battery .
What can i do?
Don't use battery below 11.3 v
Usually it is storage voltage
Once my drone had fallen, when the voltage was less than 10.6
My battery had swollen
But 11.3 I don't know what is the issue,
Maybe because of 920kv
Not sure
thank u soo mmuch vai
vai i use a burzer to apm boad and set battery fail safe 11.4. At full charge barzer is beeping start after 10 second.
have solution for it?
Hii
Mera drone mai loiter mood, alt mood, kam nahi kar raha hai please help
Apne sare calibration acche se kare
Aur firmware clearly load kare
ESC calibration sahi se kare
Compass calibration clearly hona chaiye
Gps fix hone par hi fly kare
@@impossiblecreativity thank you so much