Re: [Paparazzi-devel] 4.9 rotorcraft_cam.xml

[Sergey Krukowski]

Hi everyone!

I've made actually some small improvements of the present in_flight  
detection.
https://github.com/softsr/paparazzi/blob/krooz_port/sw/airborne/firmwares/rotorcraft/autopilot.c#L228
It is indeed should be a combination of the throttle stick position,  
vertical speed and acceleration.
I've started the flight tests already, it seems to be useful. The only  
task is to find universal AP_IN_FLIGHT_MIN_ACCEL and  
AP_IN_FLIGHT_MIN_SPEED values.
However, having ATT_DIRECT as autopilot mode 0 and switching to it with a  
throttle full down helps always during landing.
The yaw control should be always enabled, IMHO. It would probably be  
useful, to trim the yaw PID in a case of descent to prevent possible  
roll-overs during touching ground.

Regards,
Sergey