Altitude Hold
In this mode the controller it will hold the current altitude by monitoring atmospheric pressure using the
on-board barometer sensor. If your throttle stick is high the aircraft will climb and if it is low it will descend.
Before enabling this mode, be sure the “Altitude Hold” module is enabled under the “Modules” view in
“Configuration”. Click “Save” and reboot/unplug power to the GEMINI.
Go to the “Input” view and open the “Flight Mode Switch Settings”. Change “Pos. 2” (or any other switch
position) to “AltitudeHold”. You can only enter Altitude Hold once you armed the aircraft, you can not takeoff
in Altitude Hold mode, i.e. engage the motors and switch over to Altitude Hold.
There are a few parameters that need to be updated, descriped more in detail here
https://github.com/TauLabs/TauLabs/wiki/Flightmode-Settings
. Open the object explorer on the right side of
the GCS view, select “Settings” and then navigate to the following settings.
Parameter
GEMINI value
AltitudeHoldSettings.PositionKp
1
AltitudeHoldSettings.VelocityKp
0.3
AltitudeHoldSettings.VelocityKi
0.3
AltitudeHoldSettings.AttitudeComp
225%
AltitudeHoldSettings.MaxRate
2 m/s
AltitudeHoldSettings.Expo
40
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