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Hi all
Today I'll show you how to recover
any multirotor
while it is far away and we don't know its orientation
and it's "out of VLOS" (visual line of sight)
and when the flying aid don't work and we have a gps, altimeter or compass failure
Using accelerometers and gyros only, i'll show you that it's very easy to find the position of the nose
with quite simple sticks movements
moving ailerons and yaw
To show you this, i detached the Pixhawk's LED
so will have no reference, since we don't have colored arms and lights that highlight the nose
so that even if I know well the machine, it's still really hard to find it's orientation while it is far away
Even now, if i get a little far, i'm pretty sure you cant understand the nose direction
Let's take off
We better hurry up since it's going to rain soon...
Arming
Take off
I'm in "Stabilize" flight mode
I've no flying aid in this mode
except the self level (i'm not in "Acro" mode)
now
for convenience, now i'll set "Position Hold" flight mode
so the drone stops
This is the technique and it's very simple
All we have to do is give an aileron command togheter with a yaw command on the same side
and evaluate what the machine actually do
I'm going to show you this from near
A gentle ailerons command to the right, togheter with a yaw command to the right
and the quad starts to orbit
when the drone starts to move towards the right
- NOW -
I've the sticks
Now, if i move the pitch command back, i'm quite sure that the nose is in the opposite direction
so it comes towards me
let's get a little farther away and do it again
I'm always in "Position Hold"
I rotate it looking at the camera so that i can't know where the nose is
now i stopped it
I can now give the aileron command togheter with the yaw in the same direction
you can give the command to the right or to the left as you please, the only important thing is to move the yaw and aileron sticks togheter
I'm moving on the right for my convenience
So, ailerons on the right
togheter with yaw on the right
the machine started to move on the right in this moment
it made half of a rotation and right when it was going on the right i stopped it
If i move the pitch stick backwards and it goes a little on the left,
it means that the nose is not perfectly in that direction
so i'll compensate for that with a light command to the right.
Pitch back, and it goes to the left a little so i compensate with a little roll command to the right
and i bring the drone near me
Now that it is near i can straighten it
Now we do the same in "Stabilize" mode, without gps, barometer and other aid
I'll now rotate it on the yaw, while looking at it since i need to keep its altitude and because it will move with the wind...
I'm moving it with yaw
I leave sticks
It drift with the wind so i start to give aileron on the right
togheter with the yaw
Now it stopped because of the wind
So if i pitch back, the machine should be approaching toward us
It didn't go that much on the right because the wind was moving it toward the left...
It's coming
It's perfectly aligned
just like when i took off
the wind lift it a lot..
One more time...
In this direction so the wind blows in front of me
I rotate the machine on yaw
all the way
I leave it now
Aileron command on the right, and then i add the yaw
Here it is
Pitch back
I compensate a little to the right because it was slightly going to the left
but i managed to recover it without problems
Let's land
I hope this video will be helpful
Remember to always be careful and don't trust the electronic aid too much;
Learn to fly the machine in "manual" mode.
A true "pilot" can manage an aicraft in manual mode excluding all the automatism
otherwise, in my opinion, it can't call himself "Drone Pilot"
Bye all from Marco, see you next time!