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Mar 25, 2008, 04:40 AM
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Operator directed velocity 4 U

Finally got around to making operator directed velocity actually work. U can't just couple the stick to X & Y velocities because wind just blows it off course & increases velocity in the undesirable direction.

The trick is keeping movement on 1 axis. In copter frame, just keep copter X position constant while changing copter Y velocity. In world frame, the axis U want to stay 0 is related to heading.

To simplify the math, just have a fake waypoint farther down the direction line & have her follow it.

Altitude is a different story. Vortex ring states occur after every movement which is long enough to build up translational lift. The workaround is storing the collective integral while hovering & recalling it after the movement is finished. Also adding a bit more to the movement when commanded to stop so the stop is more gradual.

This field is just too small. Lost tail rotor again & ran into a tree. Got a lucky crash right side up.
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