I flew ardupilot for return to home in order to compare its performances with a "homemade" solution.
I had GPS lock before take off (I use Ublox GPS).
I tunned it so it does STABILIZATION very well.
However when I engage return to home, the plane just flies away, at most oscillating around pitch axis. It doesn't have ANY tendency to bank on right or left in order to return to home.
1.) In order to tune it for return to home I see in manual that they recommend: 5) Now try RTL mode. The aircraft should come back to you. If it's flying away, increase 7-1 ("#define NAV_ROLL_P .6") by 25%. If it's still not responding enough, increase 7-2 ("#define NAV_ROLL_I .0"). If, on the other hand, the aircraft comes back to you but weaves and snakes, decrease 7-1. If that's not enough, increase 4-4 ("#define XTRACK_GAIN 00").
Is it neccessary to do the flight tunning for FLY BY WIRE A/B BEFORE I try to do the tunning for return to home?
I am not interested in FLY BY WIRE MODE so I would rather skip the flight tunning step for FLY BY WIRE if it is not neccessary for return to home.
2.) What is the effect of PITCH COMPENSATION parameter? What is its usual value for easystar airframe?