I experience strange behavior with my heading hold.The quad rotates cw and back the whole time, but no steady heading hold.It rotates all over the place.I'm using an APM2 with the latest firmware.I tried several times to calibrate the magnetometer, tried auto dec on and off.Nothing seems to help ..
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Hmm, i doubled the distance of the APM to the groundplate, tweaked around with the yaw params but the problem stays the same. In roll and pitch it's stable, but the yaw swings from right to left, and back .. Everytime the movement is stronger, after a few swings the quad rotates ..
So, the answer is obviously you are experiencing magentic interference on the aircraft, likly as the motors iscrease, they draw more current and create a stronger field. Its likely the main battery wire to the distribution point or board is the problem area. Twist the wires and move them as far away from the APM as possible. Common sense here says a single motor might draw 10-14Amps in hover, but collectively, 4 of them is nearing 55-60Amps. That's more than enough current to create a significant magnetic field. The key to remeber is that field strength decreases rapidly with distance, so even a move of the wire 1/2 inch away could be the answer and solve the problem.
Step 2 is post your logs, both before and after moving the wires. It will be obvious because when you see the PWMs for the motors increase and a corresponding change in the mag readings.
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YES! it's flying ok now :)
After several pid tweaks, i flashed the firmware, erased the eeprom, reset to factory default. Now it's flying normal ..
Strange ......
Hmm, i doubled the distance of the APM to the groundplate, tweaked around with the yaw params but the problem stays the same. In roll and pitch it's stable, but the yaw swings from right to left, and back ..
Everytime the movement is stronger, after a few swings the quad rotates ..
So, the answer is obviously you are experiencing magentic interference on the aircraft, likly as the motors iscrease, they draw more current and create a stronger field. Its likely the main battery wire to the distribution point or board is the problem area. Twist the wires and move them as far away from the APM as possible. Common sense here says a single motor might draw 10-14Amps in hover, but collectively, 4 of them is nearing 55-60Amps. That's more than enough current to create a significant magnetic field. The key to remeber is that field strength decreases rapidly with distance, so even a move of the wire 1/2 inch away could be the answer and solve the problem.
Step 2 is post your logs, both before and after moving the wires. It will be obvious because when you see the PWMs for the motors increase and a corresponding change in the mag readings.
Do you have a Flash log?
check the compass is working in the CLI test menu.
check the radio is outputing +/- 4500 for Yaw in the CLI.