Hi everybody, as this is my first post. I would like to say thanks to all the people who are working so hard on this project.
While testing the current firmware in an X frame setup I have noticed an offset of the compass by exactly 45°. I also think that this is the reason why the loitering mode does not work properly and results in circular movements. I think this might be the same issue others might have with the loiter mode.
Is there a parameter I need to change or is this a bug? APM is mounted as described here http://code.google.com/p/arducopter/wiki/AC2_Frame_Assembly
and the MAG is mounted to the shield as described here:
Any help on this is highly appreciated.
Another issue that came up is, while using the new APM Board (v1.4) the 5V power supply is connected via a diode (D1) this used to be only the case (v1.2) when using external power. This however results in a voltage of about (4.7v) at the ATMega. While everything still works fine, the analog ref. voltage will be a bit low resulting in wrong AD-conversion. I know there is the “#define INPUT_VOLTAGE 5.0” in the config file. However, this might be a good parameter to include in the CLI setup menu. Because everything else is working great and can be configured in the CLI.
Keep up the good work,
yes, that's what I mean. The compass itself seems to be working great. If I turn by 90° it changes by 90°. I can life with the offset if this does not cause an other problems. I just thought that this might explain the problems I had with the loiter mode. Simple mode works perfectly fine by the way.
Mmm, if the compass works ok, what could be the reason for the problem in loiter mode be? Every time I put on loiter the quadrocopter starts to fly circles around the GPS point. The problem is that it always overshoots a little bit resulting in crazy oscillations after a few swings. Changing the PID values did not improve anything (I increased the P value from 2.5 to 4.5 and decreased the D value from 0.03 to 0.01).
Any idea what I could try next?
Now I think, that it is just anomaly in my room...