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No Waypoint or RTL Modes

Posted by JD Claridge on February 9, 2010 at 9:45pm
I'm not able to get the aircraft (a high wing trainer) to track waypoints or return to launch.  I started with the Easystar program and have tweaked the pitch and roll P and I settings to where stability seems rock solid (no wing rock or porpoise and recovers from any attitude) with the GPS cable unplugged but once I plug it in and engage WP or RTL mode the aircraft just continues to fly in a straight line.  I notice slightly more wing rock when I engage one of these modes but it doesn't seem like it's attempting any turns.  GPS lock light is solid and the red and green MUX LEDs are lighting correctly for WP and RTL modes.  I've also "read" waypoints from the aircraft using the config utility and they show up as they should so I'm pretty sure they're loaded correctly.

Other than roll and pitch P and I, I've adjusted the following values with no result other than decreased stability:

HEAD_P
HEAD_I
XTRACK_GAIN

I'm using Ardupilot 2.5 code, EM406 GPS, blue shield board.

Any other settings to adjust or other things to try?

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Replies

  • Admin
    Thomas J Coyle III February 10, 2010 at 9:41am
    JD,

    You have also verified, either visually by using the Arudpilot leds or by using the Ardupilot_25_switch_test program, that you can command the WP or RTL modes on the ground using your RC transmitter?

    Regards,
    TCIII
  • Admin
    Thomas J Coyle III February 10, 2010 at 4:36am
    JD,

    You have verified that you have the header file settings for the GPS and the Shield board version set correctly?

    Regards,
    TCIII
This reply was deleted.

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