Simple or Super Simple mode was switched
What ArduPilot says:
- SIMPLE mode off
- SUPERSIMPLE mode on
- Simple heading reset
- SIMPLE mode on
Simple mode changes what the roll and pitch sticks mean: “forward” is the direction the copter faced when it was armed, whichever way its nose points now. Super Simple goes further: “forward” is always away from home (beyond 10 m from it). “Simple heading reset” means the reference direction was set again to the present heading. They are switched by the bits of SIMPLE and SUPER_SIMPLE, one bit for each position of the flight mode switch, or by an auxiliary switch (RCn_OPTION 3 for Simple, 13 for both, 152 to reset the heading).
In a log these lines tell you whether the pilot's sticks meant “forward by the nose” or “forward by the compass” at that moment. Both modes depend on a correct heading: with a bad compass the copter moves in the wrong direction.
Parameters to look at
| Parameter | What it is |
|---|---|
SIMPLE | Simple mode bitmask |
SUPER_SIMPLE | Super Simple Mode |
FLTMODE_CH | Flightmode channel |
Where to do it:Setup & Tuning Guide
The code that sends it
SIMPLE mode off
ArduCopter/AP_State.cpp Copter::set_simple_mode() · Open in ArduPilot Copter-4.7.1
SUPERSIMPLE mode on
ArduCopter/AP_State.cpp Copter::set_simple_mode() · Open in ArduPilot Copter-4.7.1
Simple heading reset
ArduCopter/RC_Channel.cpp RC_Channel_Copter::do_aux_function() · Open in ArduPilot Copter-4.6.3
ArduCopter/RC_Channel_Copter.cpp RC_Channel_Copter::do_aux_function() · Open in ArduPilot Copter-4.7.1
SIMPLE mode on
ArduCopter/AP_State.cpp Copter::set_simple_mode() · Open in ArduPilot Copter-4.7.1