Initial hover was practically hands-off! So was the hover at 4 minutes (00:12:52 video time; 69656000 GPS time stamp). The difference between the video time stamp and GPS time stamp (milliseconds since midnight UTC) seems to be about 19 hours 8 minutes 4 seconds; I've used that to time some notable events:
First Altitude hold mode activated at 43 seconds (time stamp: 00:05:44).
Loiter mode at 6:02 [video time stamp 00:14:54; GPS time stamp 19:22:58 (69778250 ms)].
Loiter wandered around too much to my liking.
Simple mode did not appear to use compass heading for some reason! It certainly did not fly intuitively when I expected the quad to approach when pulling the stick. I had to yaw it to the initial heading to make that happen - as if it was in stabilize mode! Is/was my compass dropping out or what? I just tested compass on the table here; it looks as if it reacts to turning correctly but then the dial returns to pointing near North! This is supported by and explains my observation of the yaw reaction dying down when I turned an armed and flying quad in my arms overhead - it was as if the quad decided it had achieved returning back to the correct heading!
It almost was as if flying in Stabilize mode, but I do not have Stabilize mode in use at all; I only had Simple, Alt_hold and Loiter available on this flight. The gradual return to the old heading by the compass made it very hard to fly right. What gives? Full RAW log attached. It included some hand testing etc. but you can use the GPS time stamps I mentioned to locate the events in the video.
Settings below:
-----
Init ACM
RAM: 1679
FW Version 102
----------------------------------------
Entering interactive setup mode...
Type 'help' to list commands, 'exit' to leave a submenu.
Visit the 'setup' menu for first-time configuration.
AC 2.0.33 Beta] setup
Setup Mode
setup] show
FW Version 102
----------------------------------------
Radio
----------------------------------------
CH1: 1143 | 1877
CH2: 1166 | 1857
CH3: 1116 | 1888
CH4: 1147 | 1878
CH5: 1000 | 2015
CH6: 1003 | 2017
CH7: 1498 | 1498
Frame
----------------------------------------
Quad frame
X mode
Batt Mointor
----------------------------------------
disabled
Sonar
----------------------------------------
disabled
Gains
----------------------------------------
Acro:
roll:
P: 0.19, I:0.00, D:0.00, IMAX:2000
pitch:
P: 0.19, I:0.00, D:0.00, IMAX:2000
yaw:
P: 0.13, I:0.00, D:0.00, IMAX:0
Stabilize:
roll:
P: 0.48, I:0.03, D:0.18, IMAX:50
pitch:
P: 0.48, I:0.03, D:0.18, IMAX:50
yaw:
P: 0.60, I:0.00, D:0.07, IMAX:100
Nav:
lat:
P: 1.40, I:0.10, D:0.40, IMAX:1500
long:
P: 1.40, I:0.10, D:0.40, IMAX:1500
baro throttle:
P: 0.30, I:0.04, D:0.35, IMAX:30
sonar throttle:
P: 0.35, I:0.05, D:0.30, IMAX:30
XTrack
----------------------------------------
XTRACK: 200.00
XTRACK angle: 2000
PITCH_MAX: 1600
Throttle
----------------------------------------
min: 0
max: 1000
cruise: 628
failsafe_enabled: 0
failsafe_value: 975
Flight modes
----------------------------------------
Pos 0: SIMPLE
Pos 1: SIMPLE
Pos 2: ALT_HOLD
Pos 3: ALT_HOLD
Pos 4: LOITER
Pos 5: LOITER
IMU
----------------------------------------
Gyro offsets: 9.10, 29.70, 5.00
Accel offsets: -27.96, -10.07, -13.93
Compass
----------------------------------------
enabled
Mag Dec: 9.7500
Mag offsets: 31.8716, 32.7195, -31.3834
086:IMU_SENSOR_CAL : ??
169:FRAME : 1
200:ESC : 0
112:MAG_ENABLE : 1
142:BATT_CAPACITY : 1760
141:BATT_MONITOR : 0
145:SONAR_ENABLE : 0
163:ALT_HOLD_RTL : 800
010:LOG_BITMASK : 508
162:PITCH_MAX : 1600
172:FLTMODE : ??
183:TRIM_THROTTLE : 628
194:THR_FS_VALUE : 975
193:THR_FS_ACTION : 2
192:THR_FAILSAFE : 0
191:THR_MAX : 1000
190:THR_MIN : 0
197:WP_LOITER_RAD : 1
224:WP_RADIUS : 3
223:WP_MUST_INDEX : 0
180:WP_INDEX : 0
221:WP_TOTAL : 0
220:WP_MODE : 0
161:XTRK_ANGLE_CD : 2000
160:XTRK_GAIN_SC : 200.000000
113:SYSID_MYGCS : 255
112:SYSID_THISMAV : 1
001:SYSID_SW_TYPE : 10
006:SYSID_SW_MREV : 102
65535:SR3_RAW_SENS : 0
65535:SR0_RAW_SENS : 0
65535:THR_SON_P : 0.350000
65535:THR_BAR_P : 0.300000
65535:NAV_WP_P : 3.000000
65535:NAV_LON_P : 1.400000
65535:NAV_LAT_P : 1.400000
65535:STB_YAW_P : 0.599609
65535:STB_PIT_P : 0.480000
65535:STB_RLL_P : 0.480000
65535:ACR_YAW_P : 0.130000
65535:ACR_PIT_P : 0.190000
65535:ACR_RLL_P : 0.190000
65535:RC8_MIN : 900
65535:RC7_MIN : 1498
65535:RC6_MIN : 1003
65535:RC5_MIN : 1000
65535:RC4_MIN : 1147
65535:RC3_MIN : 1116
65535:RC2_MIN : 1166
65535:RC1_MIN : 1143
65535:SR3_EXT_STAT : 0
65535:SR0_EXT_STAT : 0
65535:THR_SON_I : 0.050000
65535:THR_BAR_I : 0.040000
65535:NAV_WP_I : 0.500000
65535:NAV_LON_I : 0.100000
65535:NAV_LAT_I : 0.100000
65535:STB_YAW_I : 0.004883
65535:STB_PIT_I : 0.025000
65535:STB_RLL_I : 0.025000
65535:ACR_YAW_I : 0.000000
65535:ACR_PIT_I : 0.000000
65535:ACR_RLL_I : 0.000000
65535:RC8_TRIM : 1500
65535:RC7_TRIM : 1500
65535:RC6_TRIM : 1500
65535:RC5_TRIM : 1500
65535:RC4_TRIM : 1512
65535:RC3_TRIM : 1500
65535:RC2_TRIM : 1533
65535:RC1_TRIM : 1507
65535:SR3_RC_CHAN : 0
65535:SR0_RC_CHAN : 0
65535:COMPASS_DEC : 0.170170
65535:THR_SON_D : 0.300000
65535:THR_BAR_D : 0.350000
65535:NAV_WP_D : 0.300000
65535:NAV_LON_D : 0.400000
65535:NAV_LAT_D : 0.400000
65535:STB_YAW_D : 0.074219
65535:STB_PIT_D : 0.180000
65535:STB_RLL_D : 0.180000
65535:ACR_YAW_D : 0.000000
65535:ACR_PIT_D : 0.000000
65535:ACR_RLL_D : 0.000000
65535:RC8_MAX : 900
65535:RC7_MAX : 1498
65535:RC6_MAX : 2017
65535:RC5_MAX : 2015
65535:RC4_MAX : 1878
65535:RC3_MAX : 1888
65535:RC2_MAX : 1857
65535:RC1_MAX : 1877
65535:SR3_RAW_CTRL : 0
65535:SR0_RAW_CTRL : 0
65535:THR_SON_IMAX : 30
65535:THR_BAR_IMAX : 30
65535:NAV_WP_IMAX : 4000
65535:NAV_LON_IMAX : 1500
65535:NAV_LAT_IMAX : 1500
65535:STB_YAW_IMAX : 100
65535:STB_PIT_IMAX : 50
65535:STB_RLL_IMAX : 50
65535:ACR_YAW_IMAX : 0
65535:ACR_PIT_IMAX : 2000
65535:ACR_RLL_IMAX : 2000
65535:RC8_REV : 1
65535:RC7_REV : 1
65535:RC6_REV : 1
65535:RC5_REV : 1
65535:RC4_REV : 1
65535:RC3_REV : 1
65535:RC2_REV : 1
65535:RC1_REV : 1
65535:SR3_POSITION : 0
65535:SR0_POSITION : 0
65535:SR3_EXTRA1 : 0
65535:SR0_EXTRA1 : 0
65535:SR3_EXTRA2 : 0
65535:SR0_EXTRA2 : 0
65535:SR3_EXTRA3 : 0
65535:SR0_EXTRA3 : 0
setup]
Replies
Uh-oh... testing in CLI mode the compass only gives heading 9 right now, except sometimes momentarily:
---
Init ACM
RAM: 1679
FW Version 102
----------------------------------------
Entering interactive setup mode...
Type 'help' to list commands, 'exit' to leave a submenu.
Visit the 'setup' menu for first-time configuration.
AC 2.0.33 Beta] test
Test Mode
test] compass
Hit Enter to exit.
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 190, XYZ: -2015, 33, -32, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 255, XYZ: -15, 33, -32, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 236, XYZ: -31, 33, -32, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 274, XYZ: -3, 33, -32, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 190, XYZ: -4063, 33, -32, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 223, XYZoff: 31.87, 32.72, -31.38
Heading: 186, XYZ: -4096, -223, 8160, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
.
. (et cetera)
.
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
test]
test] compass
Hit Enter to exit.
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
.
. (et cetera)
.
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
Heading: 9, XYZ: 0, 0, 0, XYZoff: 31.87, 32.72, -31.38
test]
thanks for the info. I will research your log. If you are having trouble with your compass, Simple mode will behave strangely. Please give that a look.
Jason