Stairs flight in RTL

Hi guys.

My "octa" behaves strange in RTL mode. It flies a little bit in home direction with ascent, then stops, reduces altitude up to initial and again flies in home direction with ascent. It's a "stairs" flight (please, have a look at flight scheme attached from Google Earth).

Duly it was rather windy ( approximately 5-7 m/s) and the copter came back home against a wind. Thus the small quadrocopter (450 mm, 11" props) in the same conditions flied perfectly.

Basic data: octa, diameter on an axis of motors of 120 cm, Pixhack, motors 5008-340kv, props 17", AC 3.2.1

Please let me know how to change PIDs/gains that the copter can fly normally in RTL mode.

Thanks in advance,

RTL.jpg

2015-06-09 16-54-14.zip

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Scott Pritchett June 10, 2015 at 10:05am

Is terrain-following working in the copter code now? I know it is in the plane code and would explain that sort of behavior.

Do you have terrain-following enabled?
- Evgeny > Scott Pritchett June 12, 2015 at 4:36am
  
  Thanks Scott. You right - this is TERRAIN FOLLOWING issue, thanks
- Evgeny > Scott Pritchett June 10, 2015 at 11:07am
  
  I'm not sure is it. But in my config I have
  
  TERRAIN_ENABLE,1
  TERRAIN_SPACING,100
  
  and not found TERRAIN_FOLLOW, so I think it can be enabled only in 3.3
Evgeny June 10, 2015 at 9:55am

strangely - Desired Alt is same as Real Alt and both with "stairs" (see pic), so why firmware want to do this stairs?

RTL2.jpg

https://storage.ning.com/topology/rest/1.0/file/get/3702024606?profile=original

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Stairs flight in RTL

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