karla

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GPS assist and Heli
« on: November 16, 2017, 01:30:56 am »
Doesn't GPS assist work for Heli vehicles?
I get a red config error on the flight mode setting as soon as I change to gps assist.



I am using a Revo with Librepilot 16.09. Think I have used GPS assist before on another Heli with no problem...
Maybe something else is causing this?
« Last Edit: November 16, 2017, 01:38:44 am by karla »

Re: GPS assist and Heli
« Reply #1 on: November 16, 2017, 04:16:36 am »
Do you have INS13 for Attitude->Settings->AttEstAlgo
and mags calibrated
and HomeLocation set

all these are required for GPS use (other than OpMap)

It should work with CruiseControl, but you could try changing that too.

karla

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Re: GPS assist and Heli
« Reply #2 on: November 16, 2017, 06:18:41 am »
INS13 yes,
Homelocation set yes,
Mags are calibrated, but at the moment in-house and no sats of course and mags mostly red inside, should still be possible to set the GPS assist.
Have already tried all options for the thrust setting, but no change.
Odd...



it say the mag source is invalid here ...



But in the system it seems Valid...

« Last Edit: November 16, 2017, 06:31:57 am by karla »

f5soh

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Re: GPS assist and Heli
« Reply #3 on: November 16, 2017, 07:27:16 am »
This is the normal behavior, only Multirotors frames allow "GPS assisted" flight modes.

Re: GPS assist and Heli
« Reply #4 on: November 16, 2017, 07:31:09 am »
Hmmm.  I always assumed that helis could be configured like quads.

I knew there was a problem in that it does not control both motor and collective, but that is a different story.  We need a mix curve for that and the thrust channel should control both motor and collective via the new mix curves.

karla

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Re: GPS assist and Heli
« Reply #5 on: November 16, 2017, 07:39:01 am »
Oh  :'(
I can live without GPS assist i guess, but it's very useful and simplifies flying especially for FPV/Photo missions, like my current project.

f5soh

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Re: GPS assist and Heli
« Reply #6 on: November 16, 2017, 07:02:34 pm »
You can use VelocityRoam as well ?

Re: GPS assist and Heli
« Reply #7 on: November 16, 2017, 09:43:17 pm »
Uhhh...

So VelocityRoam is allowed on a heli, but GPS Assist is not allowed?  That doesn't make sense from my viewpoint...

karla

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Re: GPS assist and Heli
« Reply #8 on: November 17, 2017, 08:04:32 am »
Yes, VelocityRoam does not give a red error on the config page.

VelocityRoam
Hold position, and control it with stick inputs
Position is adjusted in vehicle's own orientation, pitch forward makes vehicle go forward
See also Gps assist page for something similar.

This description is a bit short for me.
Is it like GPS assist but without the break sequence?
If i let go of sticks, will it hold current position and hover?

Good thing is that Position hold, RTB and Pathplanner works for a Heli.

Re: GPS assist and Heli
« Reply #9 on: November 17, 2017, 10:11:37 am »
Yes. Velocity Roam with neutral sticks is Position Hold.

It is a lot like Attitude mode with GPS Assist.

karla

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Re: GPS assist and Heli
« Reply #10 on: November 17, 2017, 10:27:06 am »
Thanks, great, then I will explore that.
In a way i wonder like you why the gps assist can't work for a heli, but my question is more academic...

f5soh

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Re: GPS assist and Heli
« Reply #11 on: November 17, 2017, 07:19:46 pm »
Uhhh...
So VelocityRoam is allowed on a heli, but GPS Assist is not allowed?

Yes, you're right  ???
That's a known "issue" since some time now: https://librepilot.atlassian.net/browse/LP-375
The only cause of GPSAssist only enabled for Multirotors is a lack of testers with Heli + GPS and Heli vehicles in general. Look Heli tab story.

karla

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Re: GPS assist and Heli
« Reply #12 on: November 17, 2017, 11:38:49 pm »
The only cause of GPSAssist only enabled for Multirotors is a lack of testers with Heli + GPS and Heli vehicles in general. Look Heli tab story.

Oh, but I can test it on a Trex450L with a revo.
How do I go about that?
In the link you just posted you ask Volker to first start a Forum thread, but I can't see he ever did.
Can we use this thread instead?

f5soh

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Re: GPS assist and Heli
« Reply #13 on: November 17, 2017, 11:58:42 pm »
Try setting the FlightModeSettings > DisableSanityChecks to True, this may help as a start.
Be safe...

karla

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Re: GPS assist and Heli
« Reply #14 on: November 18, 2017, 12:33:19 am »
Okay and then I just try using it and report back here, right?
I have a quad that I could test at the same time so there is something to compare with.