Hello APM community!
Got to compiling and testing 2.2b6 today on my quadcopter(custom frame, KDA 1075Kv, 8" props) and while the test was overall successful(and I have been getting very good results since the 2.1 code) I want to start perfecting the tuning of the copter specifically on the navigation(loiter and RTL) side. Loiter works ok, actually better than I expected, stays still in a 2m circle with some oscillation from light winds, but the only problem I have with it is that when I manually control the copter during loiter, it does not really want to loiter in the new position, rather it seems to want to go back to the original position where loiter was first engaged. RTL is similar, it does return home and I guess attempts to autoland(slowly drops throttle) however I got to scared at this point and I went back to stabilize and landed manually. Also, and I'm not sure why this happens to start with, sometime when fighting momentum(recovering from a fast run in one direction, or attempting to loiter) the copter yaws clockwise about 30-40 degrees, I wasn't sure if this was a tuning issue or if my batteries were starting to die but I did notice it a couple of times even during my indoors PID tuning tests. So in summary, can anyone help me troubleshoot the following:
1)Copter fights manual inputs when in loiter mode trying to change location, loiter seems to work afterwards but not close to the location where I wanted to be. When switching from stabilize to loiter, it works well to around 2m perimeter.
2)RTL overshoots home location quite a bit(possibly related to 1)
3)Sudden yaw not on take-off as described in the PID tuning/troubleshooting guide, but when attempting slightly more aggressive maneuvers. The yaw drift takes place after the maneuver is over as the copter is attempting to recover and fight its own momentum
I've attached the log files of the flight, unfortunately I was not able to understand what was going on in the yaw side except for some unusual dips and hills(from ATT yaw) which I assume represent the issue since they happened towards the end of the flight.
Thanks in advance for the help!!