Hardcoding Altitude Hold
Posted: Thu Aug 31, 2017 12:12 am
Hi guys,
I bought a couple of crazyflies early this month & have been flying them for two weeks now. I did the pid tuning & they were relatively stable only with the barometer. But once the flow deck with the ranging sensor arrived it has been holding height pretty well.
My question is in the windows client on the assisted mode only three options are available:
1. Height Hold (which is what I am using)
2. Hover Mode (which is oscillating too much)
3. Position Hold (did not try)
Altitude Mode is always disabled.
As for my understanding height hold has a pre fed altitude (40cm), which it tries to maintain which is fine but I want to fly it through altitude hold which essentially will try to stabilize the copter at any height that I want (<2m, ranging sensor limit).
a) How can I set the altitude mode from within the code?
b) And how exactly does hover mode work?
I bought a couple of crazyflies early this month & have been flying them for two weeks now. I did the pid tuning & they were relatively stable only with the barometer. But once the flow deck with the ranging sensor arrived it has been holding height pretty well.
My question is in the windows client on the assisted mode only three options are available:
1. Height Hold (which is what I am using)
2. Hover Mode (which is oscillating too much)
3. Position Hold (did not try)
Altitude Mode is always disabled.
As for my understanding height hold has a pre fed altitude (40cm), which it tries to maintain which is fine but I want to fly it through altitude hold which essentially will try to stabilize the copter at any height that I want (<2m, ranging sensor limit).
a) How can I set the altitude mode from within the code?
b) And how exactly does hover mode work?