Discussions

Aircraft behaving like a supertanker...

Posted by Joseph Barnard on August 29, 2013 at 2:33pm

We are using a 4m wingspan ASW glider to which we have attached an electric motor powered by a 6S LiPo battery. We are using the latest 2.74 code running on a APM 2.5 unit. The plane flies like a supertanker, taking wide turns and missing waypoints by many tens of metres in a figure of eight test flight path. When we increase the P terms for the roll and pitch parameters, we encounter unstable flight. We are using the TECS option, if that has any relevance.

 

Any suggestions as to how to tighten up the performance of our aircraft?

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Replies

  • Developer
    Andrew Tridgell August 29, 2013 at 2:38pm

    Hi Joseph,

    It sounds like you haven't followed the navigation tuning guide,but if you post a tlog then it would be easier to diagnose.

    The most likely causes are:

    • your roll loop doesn't have high enough gains
    • your NAVL1_PERIOD is too high
    • your roll limit is too small

    Note that the defaults deliberately are set to do wide turns to ensure that a wide variety of aircraft remain stable without tuning.

    Cheers, Tridge

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