FLY_BY_WIRE worked VERY well after some adjustments, however in RTL mode the plane fly's flat and level for about 3 secs, then banks sharply right to +/- 30° for about 1 sec, then level again for 3, then bank again for 1 etc, etc, (with sharp sudden movements and it always banks right, never left!)
As it flys over 'home' it'll fly level and once past starts the level>bank>level behavior again. It did this repeatedly on every flight I had.
Any ideas?
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I was seriously getting despondent as nothing I tried and none of the suggestions made any difference. Thanks to Doug Weibel who found the problem which stemmed from using thermopiles AND not using the airspeed sensor in unison.
With his new code I flew this afternoon and the level/bank/level problem was gone in AUTO and RTL. One can see the navigation code now working and although I need to play with the tuning some more it seemed pretty good.
Thanks again Doug, my sanity is back
Cheers
Could this have something to do with my problem? I set my waypoints in the config tool (I assume they are absolute waypoints?)
FWIW, I can't use the Labview ground station software, after setting this: #define GPS_PROTOCOL to "5" I get this error: error: redefinition of 'float dlat'. GPS_sim.pde & navigation.pde both have 'float dlat' in.
Also, where is your XY sensor? (top or bottom, cable in front or back). If it's not top, with cable facing forward, you need to change the config file