Hi,
I tested my ArduPilot today. My Clouds Fly is controlled by Elevator and Aileron with no Rudder.
Stablize, FLY by Wire and RTL modes were all in good order. Then I uploaded a simple route for Auto mode as here:
However, it could not fly in a straight line and always over corrected its heading:
My settings are as follows:
#define XTRACK_GAIN 12
#define XTRACK_ENTRY_ANGLE 3000
#define SERVO_ROLL_P .008//0.004
#define SERVO_ROLL_I .00
#define SERVO_ROLL_D .00
#define SERVO_ROLL_INT_MAX 500
#define ROLL_SLEW_LIMIT 0
#define SERVO_PITCH_P .012//0.005
#define SERVO_PITCH_I .0
#define SERVO_PITCH_D .0
#define SERVO_PITCH_INT_MAX 500
#define PITCH_COMP .20
#define SERVO_RUDDER_P .000
#define SERVO_RUDDER_I .0
#define SERVO_RUDDER_D 0.0
#define SERVO_RUDDER_INT_MAX 500
#define RUDDER_MIX 0.5
#define NAV_ROLL_P 0.45//0.35 0.5 1.0 1.2 0.7
#define NAV_ROLL_I .0//0.005 0.02 0.01
#define NAV_ROLL_D .02
#define NAV_ROLL_INT_MAX 500
#define NAV_PITCH_ASP_P .65
#define NAV_PITCH_ASP_I .01//0
#define NAV_PITCH_ASP_D 0.0
#define NAV_PITCH_ASP_INT_MAX 500
#define NAV_PITCH_ALT_P .65
#define NAV_PITCH_ALT_I .01//0
#define NAV_PITCH_ALT_D 0.0
#define NAV_PITCH_ALT_INT_MAX 500
#define HEAD_MAX 4000
#define PITCH_MAX 1500
#define PITCH_MIN -2000
#define LOITER_RADIUS 40//40
Please advise me which value(s) I should correct for improving its performance? Million thanks!
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