This clip demonstrates recent problems with Return to Launch mode on my APM 2.0. In the clip, launch is behind and to the right of the aircraft. I've left the landing sequence in the video to show where the plane was launched from (I land very close to the launch site). What you see and hear is the plane flying level. I then switch to RTL mode. You hear the motor change speed. This seems normal to me. Then the plane begins to circle to the right as if it is returning to launch, but instead continues nearly 360 degrees. It seems to level out for a moment but then begins a death dive continuing to circle to the right. I switch back to Stabilize mode and take control of the aircraft. Then I land.
I noticed this last weekend and have been trying to solve the problem all week. Additionally, Stabilize mode is not working properly. If I let go of the controls, the plane noses down slightly and turns slightly to the right. This is similar to the RTL problem, but not as severe. No amount of trimming the aircraft helps, or seems to change anything at all.
Here is what I have done to try to correct the problem. I have tried to recalibrate the gyros using the mission planner software. I have recalibrated my tranmitter. I have reflashed the APM with latest Arduplane firmware. I have shut down my video tranmitter and tried activating the RTL mode without it running.
The most recent change I made to the aircraft, which somewhat coincides with the time I first noticed the problem, was the addition of a Bluebeam circlarly polarized antena to the 1.2 ghz video transmitter. Removing this and shutting down the tranmitter does not solve the problem.
Any suggestions would be greatly appreciated. Thanks.