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
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.