Loopings

Autonomious Loopings

Introduction

From NGOS-0.68 onward, NGOS is able to do loopings on the press of a button. The copter will stabilize autonomiously after finishing one turn. The loopings can be triggered by behavior action and can be combined with arbitrary behavior conditions like “stick at edge” or “press of button X”.

Behavior Rules

Here are some sample behaviors to trigger the loopings when the nick/roll stick gets moved to the edge:

behavior add when.rc.stick.right(center,top) ctrl.flip(front)
behavior add when.rc.stick.right(center,bottom) ctrl.flip(back)
behavior add when.rc.stick.right(left,center) ctrl.flip(left)
behavior add when.rc.stick.right(right,center) ctrl.flip(right)
behavior add when.rc.stick.right(left,top) ctrl.flip(front-left)
behavior add when.rc.stick.right(right,top) ctrl.flip(front-right)
behavior add when.rc.stick.right(left,bottom) ctrl.flip(back-left)
behavior add when.rc.stick.right(right,bottom) ctrl.flip(back-right) 

Details

The looping algorithm will do a controlled half-turn when triggered and will then turn on, until the angle has been reached which can be configured by the parameter FLIP.off.angle. Having reached that angle the NGOS will switch back to normal stabilization and stabilize the attitude.

Using the parameter FLIP.turnrate it’s possible to configure the turn rate in degrees per second.

Pilots flying HW-0.22 (using ADXRS300 or MLX sensors with 300deg/s maximum) should not set FLIP.turnrate to higher values than 300 as that is the maximum the gyros are able to measure.

With the parameter FLIP.throtte it’s possible to configure the throttle usage during the looping. This parameter should be set to a small value like -1900 for example. It defines the throttle value during the looping. Pilots setting the parameter to zero, are able to control throttle during the looping.

It’s a good idea to give the copter a bit lift, before triggering the looping, to make sure the copter has some dift upwards.

Videos and discussion of the looping functionality and it’s features can be found in our forum.

Proven Settings

Having tested the looping feature for a while, we propose to configure the following settings:

• FLIP.turnrate: Analog Gyros: 300

  Digital Gyros: 400

• FLIP.off.angle: 80