I was trying a very first basic configuration with APM 2.0 for altitude hold and loiter for my FY450 quad and I noticed that in LOITER mode with low wind, quad started little by little to lose its initial position making bigger and bigger circles around its initial position.
I wen in CLI mode and found the following screen:
Init ArduCopter V2.9.1
Free RAM: 1813
FW Ver: 120
----------------------------------------
load_all took 12104us
3No dataflash inserted3COMPASS INIT ERROR
Press ENTER 3 times to start interactive setup
ArduCopter V2.9.1]
The COMPASS results "not Healty" as well as the data logging.
In the first time I focused my attention to the PID controller configuration, but I think that the circle loiter problems are related at first instance to the magnetometer data lack of information.
Can you help me? maybe I need a replacement for the sensor...
best regards.
Alberto
Replies
I could not fix the Loiter problem yet; my ArduCopter firmware is V.2.9.1b and my APM is the 2.0 version.
In CLI mode I still got the following error : "3No dataflash inserted3COMPASS INIT ERROR"
but when in "tuning mode" I can see the row data of the compass pretty well from 0 to 360, so I assume the sensor still works, but maybe there's some problem in the software. I've read someone had the same problem with arduplane and solved it by downgrade and upgrade again the firmware.
Is the Loiter circle problems related to the magnetometer init error, declination or lack of magnetometer shielding from the high magnetic field generated by the motors? If so, shielding the board can help ?!
Thanks for your help.
Alberto