Throw mode: from the hand to a steady hover
What ArduPilot says:
- height achieved - controlling position
- throw detected - spooling motors
- uprighted - controlling height
- throttle is unlimited - uprighting
- waiting for throw
Throw mode starts the copter from a throw or a drop and reports each step. “waiting for throw”: armed, motors stopped (or idling, if THROW_MOT_START is 1). “throw detected - spooling motors”: it was moving fast or falling freely, rising (or sinking, for a drop: THROW_TYPE 1), and its speed then changed by 2.5 m/s downwards within 0.5 s. “throttle is unlimited - uprighting”: the motors are at flying speed and level the copter. “uprighted - controlling height”: within 30° of level, it climbs 3 m above the release (a drop: stops 1 m below). “height achieved - controlling position”: it holds its place, then switches to THROW_NEXTMODE.
The props start within a fraction of a second of leaving the hand. Throw needs a good position estimate before arming, and a throw that is too gentle is not detected: the copter then falls with its motors stopped.
Parameters to look at
| Parameter | What it is |
|---|---|
THROW_TYPE | Type of Type |
THROW_MOT_START | Start motors before throwing is detected |
THROW_NEXTMODE | Throw mode's follow up mode |
THROW_ALT_MIN | Throw mode minimum altitude |
THROW_ALT_MAX | Throw mode maximum altitude |
Where to do it:Setup & Tuning Guide
The code that sends it
height achieved - controlling position
ArduCopter/mode_throw.cpp ModeThrow::run() · Open in ArduPilot Copter-4.7.1
throw detected - spooling motors
ArduCopter/mode_throw.cpp ModeThrow::run() · Open in ArduPilot Copter-4.7.1
uprighted - controlling height
ArduCopter/mode_throw.cpp ModeThrow::run() · Open in ArduPilot Copter-4.7.1
throttle is unlimited - uprighting
ArduCopter/mode_throw.cpp ModeThrow::run() · Open in ArduPilot Copter-4.7.1
And 1 more messages, sent from the same places.