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Logic Position hold example PID (non GPS variant)

# Simple example helicopter with toggleable systems to hold altitude and position #
(the gif up there was recorded at 100% wind)

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The helicopter uses as sticky collective controlled via W/S.
2 toggles the POS hold
3 toggles the ALT hold
the controls are labeled

This position holding system does NOT save your GPS position so it can happen that it slightly drifts away over time. Instead it works only by cancelling the velocity. A GPS bases system is a bit more reliable but this is much more compact and easier to do.

A system like this is very useful when you're alone on your helicopter and you have to operate a winch without having your chopper drift away. (especially in windy weather)



Things to note:
- The hover on the gyro is not used since that would basically fight against the position-hold logic and that works much better anyway. Throttle in this example is fixed to 1.

- There is a clamp gate on the altitude control as a safety measure. Small helicopters have a tendency to flip over when the collective is lowered to fast.

- I've added a few rudders to the chassis. These are just there for demonstration purposes, so the wind has a stronger effect on it.