ArduPilot circles befor hitting WP.

 

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.

routeg.th.jpg


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

 

 

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • 3D Robotics
    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

    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?

This reply was deleted.

Activity

DIY Robocars via Twitter
yesterday
DIY Robocars via Twitter
RT @NVIDIADRIVE: Season Beta has arrived! Check out the first race of the @roborace season, livestreaming from Anglesey Circuit Sept. 24-26…
yesterday
DIY Robocars via Twitter
RT @IndyAChallenge: Here is the ROS-based small-scale vehicle platform showing the ROS Visualization (Rviz) screen with multiple ROS nodes…
yesterday
DIY Robocars via Twitter
RT @IndyAChallenge: Here is Black & Gold Autonomous Racing's simulated racecar running a lap @IMS and showing the team's code overtaking ot…
yesterday
DIY Robocars via Twitter
yesterday
DIY Robocars via Twitter
RT @donkey_car: New Maintainers! Donkey Car 4.0 and more! Here is our September Newsletter! https://donkeycar.substack.com/p/september-donkey-newsletter?r=2ji2t&utm_campaign=post&utm_medium=web&utm_source=copy
yesterday
DIY Robocars via Twitter
RT @chr1sa: Kinda cool that we just hit 2,500 members of our Bay Area self-driving car racing league. More than 10k globally. Fast, cheap…
yesterday
DIY Robocars via Twitter
RT @chr1sa: Our next @DIYRobocars virtual AI car race is next Saturday. Compete from home using the @donkey_car simulator -- no physical ca…
Sunday
DIY Robocars via Twitter
RT @RoboticMasters: Students from @Sydney_Uni working hard on improvements and changes to @donkey_car simulator. @diyrobocars @adafruit…
Sunday
DIY Robocars via Twitter
Practice virtual race this Saturday; the real thing will be on Oct 3 https://www.meetup.com/DIYRobocars/
Sep 23
DIY Robocars via Twitter
Sep 23
Derrick Davies liked lisa TDrones's profile
Sep 23
DIY Robocars via Twitter
Sep 21
DIY Robocars via Twitter
RT @SahikaGenc: AWS DeepRacer & Hot Wheels Track https://youtu.be/4H0Ei07RdR4 via @YouTube
Sep 14
DIY Robocars via Twitter
Sep 8
DIY Robocars via Twitter
RT @davsca1: We are releasing the code of our Fisher Information Field, the first dedicated map for perception-aware planning that is >10x…
Sep 8
More…