Re: [Autopilot] manual control AND leveling the roll en pitch

[Trammell H. <hu...@ro...>]

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Willem,

| Is it possible to have manual control of the pitch and roll and level it
| when there is not stick input (middle)  when the autopilot is engaged?

The autopilot only functions as a stabilization system right now, not as
a full three axis autopilot.  When it is turned on, the stick commands
attitude rather than generating servo commands.

If you want it to function like the FMA Co-pilot, in which the stick
does directly command the servos unless it is near the center, you can
do that with some amount of coding.  The first step would be to sample
the stick position at startup so that you know where "center stick" is.

Then you would modify the code in either pid_step() (in
onboard/rev2/pid.c) or hover() (in sim/src/imu-filter/flyer.cpp) to only
generate servo commands when the stick is within some epsilon of the
center position.

I can see this being useful as a training aid, although we're not really
there yet in terms of being able to recover from an upset situation.
The system works well for small excursions from "level", but we have not
given it enough control authority to recover from much more than that.
The attitude command system works well enough that I think it is a more
useful tool.

Sorry for not responding to your earlier question in nederlands; I
haven't had time to translate it.

Trammell
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