I would like to understand more in detail what the reset button does.
The manual (which I have read) says "Press the reset button to restart the board (you must do this every time you change the slider position)".
- Would a power off and power on remove the need to press the reset button?
- Is some data really reset or is the reset button more a reboot button to load either CLI mode or FLY mode software after bootstrap?
The reason why I am asking is that I had problems when setting up my board. After I configured my APM in CLI mode using setup and then radio+modes I switched to FLY mode. By using Mission Planner I then added three waypoints plus the config file for Skywalker.
But it seems like Mission Planner cleared all my settings I did configure in the CLI mode. Modes were now different (no Auto). I checked so the Skywalker config file does not change the FLTMODE* parameters - and it did not.
When I then went back to CLI mode to fix the modes again all waypoints were gone.
This sounds odd, I haven't had the same experience.
Are you hitting "write WPs" when you're done with WPs? Are you hitting "read WPs" after to check that they got written correctly? Are you hitting enter to save your modes before you reset? How are you testing that your modes work? Remember that you must connect in the mission planner after you switch to flight mode.
Thank you for answering Jonathan.
I did do everything you suggested before first flight, but I think a possible cause was found during the later troubleshooting process.
While programming the flight plan I also added the parameters from the Skywalker PID file found here in the download section. It seems some parameters (possibly radio related) was overwritten. So the modes where correct but it did not compensate while tilting the airframe. It is strange because I could not see anything in the Skywalker parameter file that would overwrite my radio end point settings.
I just came back from the field with two scary moments.
1) when switching to auto mode from FBW_A the Skywalker throttled up (a lot) and turned the nose down (even more). When switching back to manual just before the crash would happen it took some while before I got control. The Skywalker wings sure flapped like a crazy goose - overspeed.
This happens everytime I switch to auto. It seems to correct itself if I "help" APM by nutching the ailerons and elevator. I did wait for GPS lock (+2 minutes) so home position should been correct.
2) When finally flying towards waypoint 1 it steared in a oscillating way. Kind of overcompensating but still ontrack. See picture.
As you can see I gave up since I lost visual contact with the Skywalker. Advice for all other APM rookies is not to place waypoint 1 (or any waypoint for that matter) directly in the sun. :)
Does anyone know what could cause these oscillations on the flight plan? Worth mentioning that there was hardly no wind during the flight. I also had the exact same problem when flying in X-Plane.
About the overcompensation between the waypoints - has anyone seen this before? PID tuning required?
OK - logging my findings to share for future APMers.
Increasing PID for Roll and Pitch on the Skywalker helped a lot. Doubled the default values and it now follows the path much cleaner.
Think the values in the Skywalker.param file are a bit too high for my taste.
Also noticed when looking at the flight through Fatsharks that the nose turns left when it rolls to the right. Normally all full scale gliders do this due to the secondary effects (do not know the english term) on the control areas. Added Yaw PIDs and got rid of the unwanted nose drops.
Really cool platform!
Responding on my own replies.. sorry
But I have to share a story that happened today. While running FPV at 500 meters the video cable from my camera broke. No picture. Panic!
But then I just switched to RTL mode and after three long minutes the Skywalker appeared 75 meters over my head :)