Dangerous RTL

Hi Everyone.  I am having some issues with RTL.  It's flight path seems rather unpredictable.  In the screenshot below I indicate my home position and the position of my RTL start.  Rather than pick a nice straight path.  My hexcopter dived toward me, and then, narrowly missed two trees and a backboard.  The screenshot doesn't really give a fair assessment of how low my hexcopter got, but it swung through the basketball court very low.

 

Any ideas on how I can fix this?  It seems part of the issue may be the return speed, but I would think, being a multi-copter, that RTL should choose more of a direct path, slow down near home, stay at the programmed minimum height until it's in it's location and ready to lower itself down. 

 

I'm wondering if it possibly flew close enough to it's home location to no longer care about the minimum height when it shot past?

 

Any help would be appreciated.  I've attached the log files.

 

Thank you.

Dustin

3691037744?profile=original

 

RTL.zip

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

Join diydrones

Email me when people reply –

Replies

  • Looks like your compass is off, you should:

    - turn off COMPASS_LEARN

    - perform compassmot motor interference calibration if using AC3.0

    - in an open field, away from anything metal perform the live compass calibration (the compass dance)

    - in an open field, away from anything metal tune compass declination so that when you point your copter at some landmark (e.g. the corner of your field) you can see it pointing the same way in Mission Planner

    Currently your copter thinks it is pointing one way when it is actually pointing another, so when you tell it to come home it understandably has trouble with that. If it's off by a little then it can compensate for it (the same way it compensates for wind) but if it's off by a lot you'll get something between 'toiletbowling' and a fly away.

This reply was deleted.

Activity

DIY Robocars via Twitter
Friday
DIY Robocars via Twitter
Friday
DIY Drones via Twitter
Thursday
DIY Robocars via Twitter
RT @Heavy02011: @diyrobocars : A Home-brew computer club* for Connected Autonomous Driving on Jan 23rd, 2021 https://www.meetup.com/Connected-Autonomous-Driving/events/275728684/ #Meetu…
Thursday
DIY Robocars via Twitter
Thursday
David Hori liked Isabella Domi's profile
Wednesday
DIY Robocars via Twitter
RT @Heavy02011: ⁦@diyrobocars⁩ Autonomous Driving Assembly at #rC3. join us at https://rc3.world/rc3/assembly/diyrobocars-f1tenth/ ⁦@f1tenth⁩ ⁦@DAVGtech⁩ ⁦@DWalmroth⁩…
Jan 11
DIY Robocars via Twitter
RT @chr1sa: New car designs coming for our next @DIYRobocars @donkey_car virtual race on the 23rd. Choose any one you want at race time Le…
Jan 11
DIY Robocars via Twitter
RT @RoboticMasters: Thanks to @EllerbachMaxime and the Sydney Uni Capstone Students the @donkey_car @diyrobocars simulator is getting a ma…
Jan 11
DIY Robocars via Twitter
Jan 6
DIY Robocars via Twitter
Dec 28, 2020
DIY Robocars via Twitter
An interesting line-following simulator to use with with your robocars: https://github.com/ron-grant/LFS
Dec 23, 2020
DIY Robocars via Twitter
Dec 23, 2020
DIY Robocars via Twitter
An improved version of the @IntelAIResearch OpenBot: https://diyrobocars.com/2020/12/14/an-improved-version-of-the-intel-openbot/
Dec 14, 2020
DIY Drones via Twitter
An improved version of the Intel OpenBot https://ift.tt/2KkHT8Q
Dec 14, 2020
DIY Robocars via Twitter
Dec 10, 2020
More…