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Mission Fun with 2.0.49

Posted by John Hanson on October 20, 2011 at 9:25pm

I had great fun flying 2.0.49 today on my almost stock quad AC. Stable, simple, sonar AH, baro AH all working better than any version ever. It is an astounding sight to watch it zoom (and I do mean zoom- this thing can go very fast!) down my street with althold about a foot high doing 360s the whole way! What magic Jason has coaxed out of this little processor!

The stock loiter P of .3 was not good for me, it kept a very aggressive circle without resolution.  Lowering it to .15 was the key - now it hits the point and stops. Pushing it off it does a slower circle and resolves the waypoint within a turn or so. This is the first time I actually felt safe setting down the remote and turning my back on it. Really awesome.

I then did a simple mission -

3690894682?profile=originalI ran it 4 times.  Time number 2 was almost perfect-

3690894785?profile=original

 

But times 1 3 and 4 not so much. They all tookoff great and hit first wp, but then headed off way past the second waypoint at a high rate of speed without a tendancy to correct, challenging my courage. The last one (pink) I bit my lip and let it zoom and I finally aborted it but a few feet from the tree. Maybe this is a pid issue, but it did not seem to have the overshoot - oscillate like that, but rather seemed to be heading for the hills. 

3690894853?profile=original

 

 

Are there any values I should change?  Really wierd that mission 2 worked good.  I seem to remember some people saying the second waypoint was a problem, do we have a script error?

 

 

2011-10-20 03-26 4.kmz

2011-10-20 03-26 4.log

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Replies

  • Martin Szymanski October 20, 2011 at 9:51pm

    I test the auto waypoints at times.

    From what I have observed is that if during the engagement of auto and the GPS home location is not the same it will not coordinate to the next waypoint well. The radius is set to 2 meters in my case. For a 3 waypoint position setup I use 5 waypoints.

    1.) Waypoint with altitude above home z coordinate of 2 meters then engage auto

    2.) Waypoint reach #1 point on map

    3) Waypoint reach #2 point on map

    4.) Waypoint return above home.

    5.) Land with 0 coordinates and 0 altitude.

    I have used auto takeoff working well however the last auto takeoff made the copter go far right at a high rate.

    Also the latitude to the points were reversed using auto takeoff it seemed.

     

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