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ArduPilot circles befor hitting WP.

Posted by Peter-Hans de Zwarte on July 16, 2011 at 6:19am

Hi, I have an EasyStar with the original ArduPilot.
I have done a lot of test's and it flew great in all modes except the auto mode.

In the auto mode it hits every waypoint like it should, but before doing so it circles around and around.
So instead of flying straight towards the waypoint, it turns and circles and then hits the waypoint. And this I repeated for every waypint as well.

Here is my route.

And here is a video of ArduPilot flying it so you can see for yourself.

Do anybody know what has gone wrong here?
I suspect it being in the code, but there are so many numbers I don't dare too changing

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ardupilot, auto, circles, waypoint

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Replies

3D Robotics

Chris Anderson July 19, 2011 at 9:00am

You need to use a bigger hit radius for starters, and probably tune your PIDs. All UAVs need to be tuned to perform well.
Moderator

Brian July 16, 2011 at 7:59am

Peter,

Your video is set to Private so we can not watch it.

My guess is that the Radius setting has been set too tight.

In the code it could be this:

The setting is inside the NAVIGATION: PARAMETERS section of the AP_Config.h tab of the 2.7 code.

LOITER_RADIUS 40 // meters : radius in meters of a Loiter

Or when using the ArduPilot Config Tool

The Radius Limit setting: (Default I believe is 60 meters.

These settings (I believe) are used to determine if a WP is Hit versus a Miss. If your plane flies within the radius limit of the WP then it moves onto the next WP, otherwise it banks and comes around for another attempt.

Did you make any changes to these settings?