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Perfectly in the exact opposite direction to the waypoint

Posted by Simon on July 31, 2010 at 8:57am

Hi All,

 

I was flying my plane today and found the following:

 

Stabilize was working nicely. Especially with no throttle, it would glide beautifully.

FBW_A: worked well.

FBW_B: worked well when I turned off the air speed sensor.

Auto: I had to reduce the servo roll gain from 0.015 to 0.010 due to oscillations (that were not seen in FBW). AND the plane would fly perfectly in the exact opposite direction to the waypoint. For example if the waypoint was east of the plane the plane would fly west. I am using ArduPilot 2.7 beat 2 and ArduIMU with a EM406 GPS.

 

Some help on fixing the auto mode would be great!

 

Regards

 

Simon

 

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Replies

  • Developer
    Jason Short July 31, 2010 at 9:57am
    Hi Simon,

    First, get the latest update that I posted last night. Then see if the same issue occurs. If the plane tries to steer away from your waypoint, use the sticks and turn it 90° to the right or left and see if it continues to turn and to find your waypoint correctly.

    There is a very rare case where the plane will oscillate between the choice of right or left when flying away from a WP. This is mainly due to GPS lag and a few other factors. Like I said, it's so rare I've only seen it once or twice. Nudging the plane into one or the other direction will fix the issue. If it happens again, I'll need to do some work to isolate that case.

    BTW,
    I can't help you any more without your telemetry data, header file, and setup information. If you need more help please provide it.
    Thanks,
    Jason
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