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This thread is privately moderated by mike_kelly, who may elect to delete unwanted replies.
Feb 11, 2017, 11:34 AM
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Pixhawk Advanced Features for Beginners: ResetToArmedYaw

When you fly line of sight and get far enough away that your aircraft is just a black dot in the sky it becomes impossible to know which direction it is pointed. As you fly the aircraft it can drift around the yaw axis causing you not to realize it is pointed in a different direction than what you expected. Then you apply roll or pitch and it goes in the wrong direction from what you expected. You can quickly lose control this way.

There is a feature of Arducopter to help this problem. It is called ResetToArmedYaw. What it does is return the aircraft to the orientation it was in when you took off. It is good practice, when flying line of sight (LOS), to always keep your aircraft in front of you from the time you take off. So if you point yourself in the direction you want to fly and point the aircraft, on the ground before take-off, in the same direction then the ResetToArmedYaw will always return the aircraft to that orientation so you know which way it is pointed.

***edit > just to make clear the ResetToArmedYam rotates the multirotor around to the original way it was pointing when it took off, at the current location. It does not return the aircraft to home. It simply rotates it, in place where ever it is, so it is pointing the same direction it was when it took off. ***

ResetToArmedYaw is implemented by using the Auxiliary Function Switches in Ardupilot. These are used with channels 7 or 8 (Using Arducopter 3.3.3 or later you can use ch7-14) and configured in Mission Planners Config/Tuning | Extended Tuning screen:

There are a whole series of Auxiliary Functions available on this drop down menu.

More information at
Last edited by mike_kelly; Feb 22, 2017 at 10:56 PM.
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