Discussions

How to stop circling around waypoints

Posted by Mahesh M on July 17, 2012 at 4:08am

Hi,

During HIL simulation, with the aircraft  in AUTO mode, I find the autopilot circling around some waypoints. And sometimes it circles around all of them.

Any ideas how to stop this circling? Can the autopilot fly the aircraft close to a waypoint and then proceed toward the next?

HIL is otherwise successful ... with fully automatic take off and landing.

I am using APM2, ArduPlane-2.40, MissionPlanner-1.1.97,  X-Plane-10, PT-60 aircraft.

Thanks,

Mahesh M.3690947822?profile=original

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Tags: around, circling, stop, waypoints
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Replies

  • Mahesh M July 18, 2012 at 10:24pm

    Thank you for the info Tridge.

    @ Gábor Zoltán Here is a screenshot of the full autopilot HIL. It follows the flight plan so perfectly that the trace is totally overlapped. The simulation was for wind speed 0 in X-Plane-10. The way point radius is 127 ... needs to be optimized. I have attached the tlog of the flight.

    Mahesh M.

    3692469860?profile=original

     

    2012-07-18 15-57-54.zip

    https://storage.ning.com/topology/rest/1.0/file/get/3692469760?profile=original
  • Developer
    Andrew Tridgell July 18, 2012 at 9:49pm

    Hi Mahesh,

    For the next release (due in the next couple of days) this problem should be fixed, and it will not circle around waypoints even with a small WP_RADIUS setting.

    Cheers, Tridge

  • Mahesh M July 17, 2012 at 10:05pm

    Hi Mike, Doug,

    Problem solved !!! Opening up the way point radius worked. I was using a radius of  10 m. For testing I increased it to 127 m and the circling stopped. I need to find an optimum way point radius.

    Thank you for your suggestions,

    Mahesh M.

  • Developer
    Doug Weibel July 17, 2012 at 11:14am

    Most likely you have the waypoint radius too small.

    There is a new revision coming which changes the waypoint behavior so this will no longer happen.

  • Mike Mac July 17, 2012 at 10:49am

    For multi-rotors I found that a good compass cal and the latest firmware solved the problem for me. Also make sure that you declination is correct and locked in.


    Not sure if ArudPlane has a log cal option using the telemetry log but that gave by far the best compass cal for me and solved a lot of other problems.


    For airplanes I think that you can open up the way point radius so that it will switch to the next waypoint sooner.



    I am going to have my first airplane flying in about a week.
    .

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