Hi guys, I am not having much luck with loiter settings, the quad holds steady and the slowly starts to drift one way, and then another way and gets faster and faster and then it cant steady itself. Looks like a game of table tennis in the air.
Any help would be appreciated.
Yes. And also, the pirates code (NG) had the posibility of hold the position (without height), then you can play with height by hand. I gess it should be easy to implement that in AC2. Now with the problem with baro, the only posibility in AC2 is using the SONAR in loiter, but when it overpass some heigth and goes baro and it start climbing without limit. Is unusefull.
Yesterday I´ve tested AC2.0.31 and main problems are still there. Baro doesn´t work (it goes up allways) and Loiter is very unstable. I needed to reduce a lot the P value (0.5) to get some Loiter without diverging, but then is very soft.
I´m just finished a new copter with APM V1.4 (previous was v1). I have the suspicion thet these issues are due to the APM version. I´ll report the results .
I´m just updated to 2.0.33 and I confirm that Altitude hold now is fixed for both baro and sonar. Loiter is not good yet. I have a lot of motion arround, diverging.
Maybe this is stupid question from my side, but why don´t use the pirates NG aproach (this code part) for loiter (position hold)?. It works just fine with the same hardware. There should be an obvious answer, but I don´t know yet.
what are the differences in hardware?
I do not see in stores that ver 1.4
I like the set home at lock option. Good idea!
I have the home overshoot problem fixed in the next version. I look at the desired loiter spot and slow down as we reach it using rate control and distance.
Based on the work I've done with my helicopter, adding a velocity control loop to the hover in position code is importat, it will make a big difference in the quality of loiter.
This allows one to respond quickly to wind gusts etc...
The Doppler velocity sensing of the GPS is really pretty good.
When flying from waypoint to waypoint I also did this with a velocity loop.
As one approached the waypoint one would solow down. This makes sens for a helicopter/quad, not so much for a fixed wing aircraft.