Plane: Hobbistar PT-60 with a OS .6 Nitro Engine.
Ardupilot: 2.5
Firmware: 2.74b
Mission Planner: 1.2.67
Problem:
Following the tuning guide to get the correct PID value for the PT-60 proved very well when simulating the plane in X-Plane. We use X-Plane because it already has the pt-60 available as a modeled aircraft. We tuned the plane to fly very well in the simulator (No cross tracking, and no loss of altitude in turns, no erratic flying, and well just overall very good performance).
However, when we fly the plane at our airfield, the plane hits the first 2 way points like a champ, but then misses the 3rd and 4th waypoints.
This picture shows what I am talking about. The reason for so many tracks is because the 5 way points on Google earth correspond the the 12 waypoints we have, with the 13th being the loiter or point 5 on this map.
You can clearly see the plane is missing 3 and 4 by a long shot. I have also included in this post, the KMZ file I used to generate this map, and the LOG files from the Ardupilot board itself.
Could really use some help in tuning, as we have been tuning on field for about a month, and this is still the best we have gotten, which doesnt even compare to the simulated results we were getting.
Any help is greatly appreciated, and thank you. (I had to compress the LOG file, because its 9MB)
Replies
I took a quick look at your log.
Do you have an airspeed sensor connected? Your log says you do and you have it enabled, but when I compare the airspeed data with the groundspeed, it is way out of calibration.
Your GPS speed shows that you have a little speed demon. It flies an average ground speed of 26 m/s. that's 93 km/h!!
The roll controller is doing its best to keep it on course but the plane flies so fast it just cannot hit the waypoints.
You need to slow things down, or give it more space to get on track. give it more seperation between the waypoints and increase waypoint radius. If you give it a square mission path with legs of 1 KM it should track pretty well.
Or just slow things down a little.
93 km/hr is really fast for such a small track.