Re: [Paparazzi-devel] Motors transition

[Etienne BETHON]

Thank you for your answer Ben.

However, I understand you are using three motors as a tricopter to hover then you tilt them to fly forward. In my case, I have four motors : 3 for hovering and 1 for fly forward. So during the flight, the first threes start to VTOL then stop to let the fourth one for the forward flight (with a transitionning phase). Moreover, I would like to do it in AUTO2 mode. Can Paparazzi handle that natively? And if yes, how?

In the Quadshot example, I saw this

<set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left  : $forward_left" />
<set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right  : $forward_right" />

So I understand If I can change the AP_MODE automatically during the flight, I would be able to change the command laws (and the motor mixing). Is that possible? (via the call function in the flight plan for example?)

What do you think?

Thanks in advance,

Etienne.

2014-04-28 22:02 GMT+02:00 Ben Despain <address@hidden>:

I'm doing the same thing with three motors that transition from vertical to horizontal flight.  Right now I'm using a KK2 board and an old Tiny board... 

On Mon, Apr 28, 2014 at 11:00 AM, Ben Despain <address@hidden> wrote:

I'm doing the same thing with three motors changing from vertical to horizontal

On Apr 28, 2014 4:35 AM, "Etienne BETHON" <address@hidden> wrote:

Hi all,

I am new with Paparazzi and I am wondering if it is possible to make an autonomous motor transition during the flight. In fact, I want to be able to perform a VTOL with three motors (rotorcraft mode) and fly with a fourth one (fixed-wing mode).

Thanks in advance!

Etienne.

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