Hello All,I seem to have lousy tracking to a GPS point. Either RTL point or pre-defined waypoints.I wouldn't exactly say that it has no idea where it's going, it just doesn't seem to make concise decisions. Seems like I get a RTL radius of a couple hundred meters.If I bring the plane along my side, heading away from me, it will start to come around to me, but it's so slow to come around that I wind up shutting the AP rather than risk losing the plane.Throttle and altitude control seem very good.All of the LEDs look good. The GPS plug on the shield broke off, so I have my GPS plugged into the main ArduPilot board. Doesn't seem to be a problem.These are the waypoints I'm trying to fly.
Here's my pitch and roll gains that seem to work well in fly-by-wire mode.//ROLL GAINS//5-1#define roll_abs .2 //Set point absolute...(Not Used)//5-3#define roll_P .35 //roll PID proportional .35 stock - .17 was good//5-3#define roll_I .0 //roll PID integrator .35 stock - .0 was good//5-4#define roll_min -25 //PID output limit in servo degrees//5-5#define roll_max 25 //PID output limit in servo degrees//5-6#define roll_Integrator_max 10 //Limit the integrator, to avoid overshoots//5-7#define roll_Integrator_min -10//PITCH GAINS//6-1#define pitch_P .65 //Pitch Proportional .65 stock//6-2#define pitch_I .0 //Pitch integrator .32 stock//6-3#define pitch_min -25 //Pitch limits//6-4#define pitch_max 25//6-5#define pitch_Integrator_max 10 //Pitch integrator limits//6-6#define pitch_Integrator_min -10//6-7#define PITCH_COMP .30 //<------Very important, Pitch compensation vs. Roll bank angle.What would be the best next steps in troubleshooting? Should I be trying to fly with no throttle between waypoints in my backyard? Again, it seems to know where it's going, it just has a hard time making up its mind to get there quickly.Thanks for any tips!!JC
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I had a few more flights with this with the same poor RTL / Waypoint results. My header file is back to all default PID settings. Plane stabilizes like it's on a rail.
I finally hooked the plane up to the ground station with the GPS and FTDI cable plugged in.
Artificial Horizon looks good.
There are two things that bother me.
1) When I walk with the plane going East, the compass on the GS says I'm going West. Same reversal with North / South.
2) The altitude starts off at 100m in my hand.
I'm using the ground station 2.6.4...what am I missing here?
I went back through the manual again, to make sure I wasn't missing anything obvious, and I'm in kind of a black-hole.
Next, you can test navigation by trying RTL (Return to Launch) mode. This is the default mode for the up position of your RC transmitter's toggle switch. Point your plane away from you and switch into auto. It should return to you and circle overhead. Try from various directions, so you can see how the plane handles navigation into the wind, downwind, and crosswind. If everything checks out, you're ready to try waypoints.
[More on this to come]
I just need to know where to go to learn more if my testing of the above does NOT check out...
Replies
I had a few more flights with this with the same poor RTL / Waypoint results. My header file is back to all default PID settings. Plane stabilizes like it's on a rail.
I finally hooked the plane up to the ground station with the GPS and FTDI cable plugged in.
Artificial Horizon looks good.
There are two things that bother me.
1) When I walk with the plane going East, the compass on the GS says I'm going West. Same reversal with North / South.
2) The altitude starts off at 100m in my hand.
I'm using the ground station 2.6.4...what am I missing here?
Thanks!
John C.
Next, you can test navigation by trying RTL (Return to Launch) mode. This is the default mode for the up position of your RC transmitter's toggle switch. Point your plane away from you and switch into auto. It should return to you and circle overhead. Try from various directions, so you can see how the plane handles navigation into the wind, downwind, and crosswind. If everything checks out, you're ready to try waypoints.
[More on this to come]
I just need to know where to go to learn more if my testing of the above does NOT check out...
Thanks all...