Please help:Auto mode fails to fly to next WP (screenshots attached)

Please see the strange behavior as the plane goes away from the next waypoint, instead if trying to reach it . (the wind may cause it to turn extra fast, but the PID's are fine enough for a reliable RTL from any direction)

What's wrong ?

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actually - it does not seem like AP does anything, the "going away" is just a result of no input in wind.

Andke,

Im having a similar problem which i cant explain. With my problem, however, autopilot function only seems to work if i set GOTO WP... 3 or higher. If i simple order RESTART MISSION or try to perform an auto takeoff the plane will just pick a seemingly randon heading and fly that direction at the directed alt. The orange vector line that shows the next waypoint continues to point to the next (desired) waypoint. I never saw this behavior until i upgraded the planner software and therefore the arduplane software.

By the way, all of my experience is strictly with hardware in the loop sim, i have yet to fly.

Mike

updated the bugreport with more logs.

http://code.google.com/p/ardupilot-mega/issues/detail?id=552

please tell me if you have experienced anything like it, or know what's going on.

One thing: Did you try to redownload the mission after uploading it to APM? Clear the mission in MP, then click "Read WPs".

This is just to make sure the mission is really completely uploaded to AMP. I noticed that missions sometimes are being uploaded only partially. I suspect it has to do with manually adding waypoints in the middle of an already existing track. Or with rearranging waypoints or something.

Using this procedure, I found that the mission stored on APM had not much to do with what I had uploaded before. It happened to me only once in real life, but at different occasions in the HIL sim with x-plane. I didn't find time to investigate this any further, it's only what comes to mind after reading about your problem.

I did not clear it - but after starting Mission Planner, I've Read WP's  - and it looks just fine.

Another strange/funny/crazy thing, is that when playing the log, and the plane is switched to AUTO, then the distance to WP and the line that points to the WP is correctly updated.  - so it's obviously "aware" of where it's supposed to go.

 

 I also have problems with way point. It goes to WP1, but would not continue to WP2. I attach 2 photos.

Wp is also missing in the list of possible "Set WP". I have also written the WP and read them back to be sure they were loaded.

 

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I'll verify that my dropbox displays all, I know I can read back all WP from APM, and the WP list looks good.

Does your aircraft navigate reliably back in RTL mode from different directions ? (my does)  -  I am asking just to exclude bad NAV PID's and/or crazy compass.  

Thanks Andke! 

I used firmware Arducopter 2.4.1 

It seems that it fails to find a way back (RTL mode). I am a bit unsure of this.
I have not been in the air with APM2 yet. I run only the tests on the ground.


I did also tested the firmware V2.28 Arduplane on the ground. APM2 followed all the WP nicely.

I've got a APM2 and have ordered another one. I have a hexacopter and a plane i will used to fly with this.

"It seems that it fails to find a way back (RTL mode)"

This is the first thing you would like to work, as soon PID's are ok to keep it steady, you need some NAV PID's  - I believe you may be using default - they should be fine.  Check with logger that the compass is ok in all directions, also if pitched/rolled a bit - unless compass is right, it will struggle/fail to get there.

Regarding Arduplane success - great - but how do you test it "on the ground" ? - what exactly do you do ?

I am testing the program just to see if it can follow a route. The way I do it is not very advanced. I move APM2 where it will go. It goes to WP1, but will not continue to WP2.
When I tested the V2.28 Arduplane went on to the next WP as soon as it touched the circle to WP. It is possible that I can not test this.

Hello Terje. Could you solve the problem? I have a similar problem with my APM 2.0 plane. I checked everything twice, controlled every waypoint one by one (write and read back from APM), but when I switch on the autopilot, my plane does not follow the waypoints, instead of this it takes a random course and try to reaches somewhere I don’t know. I crashed my airplane at my last flight because of this problem.

Hi,

There's talk of planes but also of ArduCopter in this thread...

Which aircraft firmware is it really, and which version?

Andke can save the mission to a file and attach that?

Regards Soren

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