Help with Nav tuning

Having serious issues with the navigation on my plane.

Started with the default L1 nav params, have tried dozens of combinations without any real success. Plane flies beautifully in stab, FBW etc, just has issues when navigating.

Started with the internal compass - wasn't working, tried external compass - still not great, compass off - improved, but still not great.

The plane weaves constantly while tracking. Even when it is clearly established on track and direction, it will veer off in some direction before coming back. Eventually it gets to the way point but it's not very good performance.

Picture as below:

Setup is:

Airframe: FX61

Autopilot: APM 2.5 - Arduplane 3.1.1

Motor: 900KV 700W

Prop: 10x10 folding (a bit over the top but it is fast)

Batt: 6000mAh 4S

Weight: 1.7kg

Completely out of ideas here, so log and params attached. If someone could take a look and give me an idea where I am going wrong, that would be much appreciated.

fx61.param

2014-09-16 07-35-12.log

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iskess September 15, 2014 at 7:57pm

You went the wrong way with the L1. You have 35! You need to use smaller numbers for tighter navigation. Try something like 18 to start, and lower until it oscillates.
- Robert Leake > iskess September 15, 2014 at 8:05pm
  
  Thanks iskess, the long only captured the last 10 mins or so of flight, we had tried lower (down to 10) already but happy to try it again. What do you mean by oscillates though? My understanding of the "weaving" was I needed to increase the L1 period, so I'm not sure what constitutes oscillation
  - iskess > Robert Leake September 15, 2014 at 8:20pm
    
    If the L1 is too high the plane will act drunk and lazy, never able to get on track and not trying very hard to do so (I have a brother like that).If the L1 is too low the plane will act hyperactive, trying too hard to stay on track and overshooting each correction (oscillations).
    - Robert Leake > iskess September 15, 2014 at 8:33pm
      
      haha okay thanks, I'll give that a go.

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Help with Nav tuning

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