I was actually able to capture a good amount of data on my flight today.
Also a miraculous landing on video!
I had 4 waypoints set to repeat twice, with an AUTO takeoff. Here is my WP file.
#define WP_RADIUS 30 // What is the minimum distance to reach a waypoint?
#define LOITER_RADIUS 45 // How close to Loiter?
#define HOLD_CURRENT_ALT 0 // 1 = hold the current altitude, 0 = use the defined altitude to for RTL
#define ALT_TO_HOLD 100
float wayPoints[][5] = {
{CMD_TAKEOFF,20,50,0,0},
{CMD_WAYPOINT,0,50,32.245903,-110.8379135},
{CMD_WAYPOINT,0,50,32.2441978,-110.8386306},
{CMD_WAYPOINT,0,50,32.2460327,-110.8365173},
{CMD_WAYPOINT,0,50,32.2442283,-110.8364715},
{CMD_WAYPOINT,0,50,32.2459449,-110.8378982},
{CMD_WAYPOINT,0,50,32.2442665,-110.8388442},
{CMD_WAYPOINT,0,50,32.2460365,-110.8363494},
{CMD_WAYPOINT,0,50,32.2441291,-110.8364791},
};
Here is the KML view of the flight. I'm using the regular Ardupilot GCS with APM GCS in legacy mode.
You'll notice the southern set of spirals (first AUTO attempt) and the northern set of spirals (second AUTO attempt).
Here's an annotated video of the flight.
I'll obviously keep monkeying around, but I'm wondering if anything obvious pops up in anyones head.
Thanks!
JC
Replies
It would account for the spiraling.
Doug, this is the error that I got on my data log. Is there a problem with the library?
Jason
If you didn't log it, try (as a temporary solution to isolate the issue) cutting your value of HEAD_MAX in half and see what happens.