Guys,
I recently installed the ArduPilot Mega (latest version with OilPan) on my 2 meter Dynaflite Daydream glider, after adding an electric motor to it. I have been able to manage to tweak the P-gains to get the Servo rolls right ( under the FBW-A mode ) .
When i tried the RTL mode, i did get the airplane to navigate towards the launch point, however it did not loiter properly there. Instead it started going out and then turned and made figure 8s all the time remaining close to the launch point.

Since it comes straight to launch when i turn the RTL mode on, i suppose the nav gain is OK. The loiter radius is also 50 meters which should be OK for the airplane.

Not sure if this would be related to Xtrack settings ? Any ideas ?


Couple of other things I have been really confused about :
1. EEPROM settings seem to override the Code APM_config.h code settings. Like the throttle failsafe value. Default in EEPROM was set to 975 and on the code I had it as 1030 but code got always ignored. Is this OK ? Do i set the EEPROM values from the APM Planner ? ( They just released a new version which seems to allow me to edit this value ) , but whats the way to edit other EEPROM values.

2. Confused about Flight modes. I used the CLI and then setup>modes to setup 3 modes on my Futaba 10C's 3-position switch (Setup on Ch5) - Up - Manual , Center - FBW , Down - RTL
I did this by changing the switch and using the aileron to toggle the modes till i got them OK on the CLI.
Then I read on the advanced config page ( http://code.google.com/p/ardupilot-mega/wiki/AdvancedConfig) that I would need to change values in the config.h Is that needed ?
Also, in one of your posts its said that TX values need to be changed
http://diydrones.ning.com/forum/topics/apm-mode-problem?commentId=7... in order to get the modes to work correctly.

Thanks so much for trying to help me out on the above 3 issues ( for which I coudlnt find any resource so far ) .
-GA