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Copter slowly yaws without user input and with compass installed

Posted by Kim Lillås on October 25, 2012 at 12:55pm

I have a problem in stable mode, the copter can suddenly start to slowly rotate when I am not giving it any yaw input.

I tried it out today by keeping it still in the air a few meters in front of me. In a minute or two it had rotated almost 90 degrees. When I set it back to its starting orientation it started going in the other direction and after a while it had turned almost a full 360 degrees.

The compass works just fine with the mission planner and the AP_Compass-example correctly identifies it and starts outputting heading.

Have I forgotten to activate something in the configuration? It almost feels like the compass is not controlling the direction at all. I am attaching a file of my configuration.

paramSetting01.param

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Replies

  • Kim Lillås October 28, 2012 at 1:01pm

    Here is what I did to fix this problem. As you can see, I added another level for the electronics and moved everything up there. Now there is, I hope, enough space between the powerline and the electronics.

    3692535237?profile=original

    The compass is moved as far away as I could (it's the tiny chip with the long wires going to it)

    3692535113?profile=original


    Here is a picture of the whole copter, just for good measure =)

    3692535352?profile=original

  • Andre K. October 26, 2012 at 1:37am
    Try to boot the APM, no flying, connect telemetry and wait for 10 minutes, does it start to yaw then ?
  • Paul October 26, 2012 at 1:33am

    I have the same issue, over time, when hovering in stabilize mode, the copter seems to yaw clockwise. If I correct this, it starts to yaw counter-clockwise (slowly).


    What I've done so far (any maybe if you haven't done this Kim, you can try), is re calibrated the ESC throttle, also swopped out the motors to see if that could be a bad motor, I've also checked the compass and it is showing the correct direction compared to other compass.

    Any help would be appreciated.

  • Kim Lillås October 25, 2012 at 11:37pm

    Update: I tried alt hold in simple mode this morning, and the copter did two things:

    1. As usual it kept rotating slowly

    2. The control direction also changed with the rotation, even though I had simple mode active. I am sure that simple mode was active, as the directions the copter went did not correspond to the orientation of the copter. With that said, it did not seem like the direction of "forward" was what I had the copter set as when I armed it.

    Another note: My compass is orientated with the components up and faced forward. I have changed the define in the code accordingly and north seems to be correct in the mission planner.

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