a way to minimize circling in loiter? Fixed

Just tried my first 2.9 loiter.  But it slowly circles about. 

Running 2.90 firmware on a stock DJI F450 with APM2.5 and the ublox GPS.  I've modified these two params so far ..

  1. Ang Rate P: 0.14 (default 0.15) - not sure it made a difference
  2. Stab P: 3.6 (default 4.5) - made it easy to fly

The 2.90 stab and alt-hold modes work great - and loiter's almost ok, except for the circling.

Is there a way to minimize the circling during loiter?  (note that I'm still running 2.9 firmware)

Fixed ...Tried two suggestions from Randy, at the same time. Reduced loiter rate P, and enabled compas learn. And loiter was near perfect my subsequent flight. New loiter rate P was 4.5. Effect of enabling compass learn was an offset change of 100 fo one axis.

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  • I would do a log compass calibration....

    This mean flying around for 5 min... disconect.... Use mission planner to cal the compass

    with the Tlog you just made.... 

    Most problems I have seen with loiter is assoicated with bas compass cal...

     

    Eddie Weeks

     

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