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