multiwii-airplane

The purpose of this repository is to improve and add airplane features.
Although multiwii have airplane mode, from dynamics perspective, airplanes are treated like copters.
Airplanes have different dynamics than copters.

DONE

Add turn coordinator indicator

att.slipAnglewas added to use as slip angle indicator calculated from the accelerometer (https://en.wikipedia.org/wiki/Turn_and_slip_indicator)

Fix the weird behavior of the rudder during banked turns

Efficient flight will never use the rudder for flat turns, a good use of the rudder will be only for coordinate the flight path (mostly during banked turns).

1. first step just fix the behavior during banked turns.
2. limit or completely ignore the use of rudder for yaw stabilization.

Use rudder to stabilize att.slipAngle during banked turns.
now the turns shuld be done only by the pitch and roll sticks (aileron and elevator) and the software will help to make efficient and level turns using the rudder.

TODO List

Fix MAG mode

Avoid side sliding (this increase the stall speed), use only coordinated turns for fixing the heading direction, that mean use mostly ailerons.

Add airspeed sensor support

Try to use MPXV7002 as suggested by KaiK here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=2450

Add auto-throttle mode

Use airspeed data to to maintain airspeed

Fix BARO mode

The throttle alone cannot always maintain altitude, elevator is also needed.

Split angle mode

Split ANGLE mode into two different systems:
auto BANK angle mode - roll stick control the roll angle (like in ANGLE mode)
auto PITCH angle mode - pitch stick control the pitch angle (like in ANGLE mode)

Trainer mode

• Add angle limits
• Add altitude limits
• Add fance
• ...