Some things I noticed: if I up the HEAD_P then I get lots of snaking but if I lower it then I don't get a positive enough response to heading (wapoints missed etc) and if the wind's blowing at all then things don't look good at all. The problem partly I think is with the 'slow' EM406 GPS (perhaps time for a UBLOX although the minute I get one, the recommended hardware will be upgraded to a 10Hz GPS)
Had an error with the aircraft climbing too much so will have to look into that too but reasonable success
This is the RTL track, the white line is 80m long so loiter radius seems a tiny bit out...
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40 minutes of round and round for 22 odd km through the air you can see where i was having wind issues, will fly a couple of kmh faster next time
Maybe that circle is too tight for your airframe?? I'm only using a 406 so that's probably not the issue. How was the airspeed situation, was it being contained well?? Have you looked to see just how many sats were in the sky??