The system is:Telemaster (see http://diydrones.com/profiles/blog/list?user=3n23z040r8e4v)APM 2560 and IMU Rev. HAPM 2.2.1 firmware Planner 1.0.45After completing a very through checklist we took off. Flew a straight, stable path, then switched through Manual - FBW a - AUTO modes. Planner indications all seemed good. Planner announced "Heading to waypoint one". The plane seemed to head toward WP1 but then circled. It then seemed to wander around a lot - all the time Planner announced "Heading to waypoint 1". I finally aborted the flight and landed.I can find nothing to indicate that there is anything wrong with any component or setup.Here are the relevant files:
If you use the Mission Planner log analyzer you can see what's wrong (see below). Altitude hold is doing well, but you don't have nearly enough navigation authority. I imaging RTL isn't doing well, either.
Since you're using a non-standard airframe, you need to tweak your Nav Pitch gains. Start by turning up Nav Roll P by 25% and then try Nav Roll I.
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If you use the Mission Planner log analyzer you can see what's wrong (see below). Altitude hold is doing well, but you don't have nearly enough navigation authority. I imaging RTL isn't doing well, either.
Since you're using a non-standard airframe, you need to tweak your Nav Pitch gains. Start by turning up Nav Roll P by 25% and then try Nav Roll I.