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xiaochen-2050 / arducopter

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Autonomous takeoff algorithm problems Arducopter 2.9.1 #559

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Autonomous takeoff without RC remote

At the moment the way that arducopter runs do_takeoff()is that it's mode is set 
to loiter without pre-running motors. If motors are stopped then PID gets wound 
up before copter could physically lift-off. Also it introduces a chance of 
flipping copter in takeoff if for some reason one motor starts a bit later than 
others. 
With PID windup copter has huge jump. Only way to get jump out and to lessen 
the danger of flipping is to pre-start the motors before starting LOITER_MODE. 
This is especially a problem if one is doing fully autonomous takeoff (no RC 
remote switched on) 

Fix:
Arducopter starts motors with THR_MIN speed and waits for 5 secods. This makes 
sure that all motors are rotating at THR_MIN specified speed. 

I have used automatic takeoff multiple times without RC online. Most of the 
time it works nice, but when ground is un-even or when one motor happens to 
start later the worst case has been flip and some times I start with 40 degrees 
of angle which is pretty bad

Original issue reported on code.google.com by markus....@gmail.com on 13 Mar 2013 at 10:00

GoogleCodeExporter commented 9 years ago 
Closing all issues on the old issues list by marking them WontFix.

If this is still a valid issue please re-raise it on the new GitHub issues 
list: https://github.com/diydrones/ardupilot/issues

Thanks!

Original comment by rmackay...@gmail.com on 21 Jul 2013 at 2:14