Flying in Auto mode my plane made nearly crashed in the ground making a right turn and decent.
After waypoint 4 a right turn and decent from 20m to 5 m was requested, however the plane fall to 40cm (above ground), then plane corrected to the requested 5m. After this it made a perfect safe (auto) landing, as programmed.
Before this flight I did an Autotune flight (tuning roll and pitch). (unfortunate no log)
Something is completey wrong, but I have no clou what ??
See the attached, parameter_file, data_flash_log and telemetry_log, the actual take off is at ~70%, the nearly crash at 85%.
Today I did some more experiments; I changed the PTCH2SERV_D from 0.06 --> 0.02. Unfortunate I could not do the same flight, but I tried to setup a simulair. Perhaps it helped a little, not sure.
What I notice is that going from one waypoint to another with lower altitude, the NTUN reports the full altitude change as altitude _error, this drives the pitch and TECS. This is a kind of stepfunction, which in a poorly tuned system can results in overshoots. But I'm totally not sure which parameter to tune.
I understand that it is up for discussion, but going from one to another waypoint with different altitudes could also be a ramp function instead of a stepfunction.
Pleas help me in tuning this platform.