Well yesterday i maidened my Maxi Swift with my APM. It flew fine in Manual Mode and then when i went to auto it seemed to go in the direction of the first waypoint but continued on doing circles and getting further away until i could no longer see it! Luckily i had fitted a cheap android phone with the wheres my droid app which allowed me to pinpoint it 1.5km's away. There was no damage but the only reason it stopped was i had set the default altitude to 50M and it ran into a hill which was 50M above where i launched.
I have attached the google earth log and parameters below. I know there is probably something obvious wrong but im not sure what it is? Any help appreciated?!
NOTE: 07/11/2011 09:15:38 Plane: Wing Crash
ALT_HOLD_RTL,5000
ALT_MIX,1
ALT2PTCH_D,0
ALT2PTCH_I,0
ALT2PTCH_IMAX,500
ALT2PTCH_P,0.65
ARSP2PTCH_D,0
ARSP2PTCH_I,0
ARSP2PTCH_IMAX,500
ARSP2PTCH_P,0.65
ARSPD_ENABLE,0
ARSPD_FBW_MAX,22
ARSPD_FBW_MIN,6
ARSPD_OFFSET,0
ARSPD_RATIO,1.994
BATT_CAPACITY,1760
BATT_MONITOR,0
COMPASS_DEC,-0.078
ELEVON_CH1_REV,1
ELEVON_CH2_REV,1
ELEVON_MIXING,1
ELEVON_REVERSE,1
ENRGY2THR_D,0
ENRGY2THR_I,0
ENRGY2THR_IMAX,20
ENRGY2THR_P,0.5
FLAP_1_PERCNT,0
FLAP_1_SPEED,-1
FLAP_2_PERCNT,0
FLAP_2_SPEED,-1
FLTMODE_CH,8
FLTMODE1,10
FLTMODE2,11
FLTMODE3,2
FLTMODE4,11
FLTMODE5,0
FLTMODE6,0
FS_GCS_ENABL,0
FS_LONG_ACTN,0
FS_SHORT_ACTN,0
GND_ABS_PRESS,101730
GND_TEMP,10
HDNG2RLL_D,0.02
HDNG2RLL_I,0
HDNG2RLL_IMAX,500
HDNG2RLL_P,0.7
INVERTEDFLT_CH,0
KFF_PTCH2THR,0
KFF_PTCHCOMP,0.2
KFF_RDDRMIX,0.5
KFF_THR2PTCH,0
LIM_PITCH_MAX,1500
LIM_PITCH_MIN,-2500
LIM_ROLL_CD,4500
LOG_BITMASK,334
MAG_ENABLE,1
PTCH2SRV_D,0
PTCH2SRV_I,0
PTCH2SRV_IMAX,500
PTCH2SRV_P,0.6
RC1_MAX,1801
RC1_MIN,1203
RC1_REV,1
RC1_TRIM,1500
RC2_MAX,1805
RC2_MIN,1196
RC2_REV,1
RC2_TRIM,1500
RC3_MAX,1897
RC3_MIN,1102
RC3_REV,1
RC3_TRIM,1500
RC4_MAX,1500
RC4_MIN,1500
RC4_REV,1
RC4_TRIM,1200
RC5_FUNCT,0
RC5_MAX,1500
RC5_MIN,1500
RC5_REV,1
RC5_TRIM,1500
RC6_FUNCT,0
RC6_MAX,1500
RC6_MIN,1500
RC6_REV,1
RC6_TRIM,1500
RC7_FUNCT,0
RC7_MAX,1500
RC7_MIN,1500
RC7_REV,1
RC7_TRIM,1500
RC8_FUNCT,0
RC8_MAX,1904
RC8_MIN,1106
RC8_REV,1
RC8_TRIM,1500
RLL2SRV_D,0
RLL2SRV_I,0
RLL2SRV_IMAX,500
RLL2SRV_P,0.4
SERIAL3_BAUD,57
SONAR_ENABLE,0
SR0_EXT_STAT,1
SR0_EXTRA1,10
SR0_EXTRA2,10
SR0_EXTRA3,0
SR0_POSITION,3
SR0_RAW_CTRL,0
SR0_RAW_SENS,3
SR0_RC_CHAN,10
SR3_EXT_STAT,0
SR3_EXTRA1,0
SR3_EXTRA2,0
SR3_EXTRA3,0
SR3_POSITION,0
SR3_RAW_CTRL,0
SR3_RAW_SENS,0
SR3_RC_CHAN,0
SWITCH_ENABLE,1
SYS_NUM_RESETS,19
SYSID_MYGCS,255
SYSID_SW_MREV,11
SYSID_SW_TYPE,0
SYSID_THISMAV,1
THR_FAILSAFE,1
THR_FS_VALUE,950
THR_MAX,75
THR_MIN,0
THR_SLEWRATE,0
TRIM_ARSPD_CM,1200
TRIM_AUTO,1
TRIM_PITCH_CD,0
TRIM_THROTTLE,45
WP_INDEX,0
WP_LOITER_RAD,60
WP_RADIUS,30
WP_TOTAL,2
XTRK_ANGLE_CD,3000
XTRK_GAIN_SC,100
YW2SRV_D,0
YW2SRV_I,0
YW2SRV_IMAX,0
YW2SRV_P,0
Replies
No i just tried a basic triangle with 2 waypoints and it made no effort to head in the direction of the second one. There was little to no wind i could not even tell which direction it was coming from!
The Red section above is Auto and the Green is RTL but there is no apparant difference between them?
There seems to be something fundamentally wrong with it but im not sure where to look?
Have you tuned the PIDs as per the manual by setting up four waypoints in a perfect square?
Its likely that your PIDs weren't sufficient enough to fight the wind and judging by the elongated part of the "circles" moving to the north east, my guess is the wind was originally coming from the south west during your flight.