I've been having some issues navigating way-points in auto mode. My H-Quad will navigate the first and sometimes second way-points fine without much issue.
However, after it reaches it's second way-point and tries to loiter, the quad starts to accelerate in a random direction before I have to step in and save it. (It's very sporadic with which way point it decides to fail on.) The same thing happens in guided mode, i'll occasionally navigate to one way-point correctly, but then it goes unstable and flies away.
Image of KMZ log on google earth. Yellow and pink paths are two separate attempts at way-point nav. The pink path successfully navigated to way-points 1 + 2 before going unstable on the way to way-point 3. The red box highlights the unstable path. The yellow path only made it to way-point 1 before going unstable.
RTL works perfectly, my loiter is very stable so I don't believe its a magnetometer issue. I'm hoping it's a tuning issue but I'm not sure what to tune. Can anyone tell me what's going on? I've attached my logs.
Replies
Went for another test flight and the same thing happened again. I guess the throttle PID was not the issue. Once the quad gets to its waypoint, it starts to toiletbowl until I have to take over.
However my loiter is fine. Can anyone help?
I just got back from a test flight and fixed the issue. All I did was remove the I term for the throttle acceleration PID. Can anyone explain how to tune those PID's?