Weird behavior in loiter/poshold

Hi,

I have a weird behavior in loiter/poshold.

When i'm loiter and I want to yaw my copter, it's drifting backwards for about 3-4 meters and than will slowly go back to it's position where it started from.

Doesn't matter if I yaw right or left. It always "pulls back" a few meters and returns to "0" position.

In the pics I took from the log you can see that the Y is acting good, but the X looks like it's mirroring.

Can someone point me out the right way.

Thanks in advance.

FC is a Mini APM 3.1 running arducopter 3.2.1

ScreenHunter_1005 Sep. 12 17.05.jpg

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Replies

  • Without knowing what exactly caused my problem, I found the "solution".

    Started right from the beginning.

    Flashed the APM mini and calibrated and (auto)tuned everything all over again.

    Flies fine now...........

  • nobody any idea???

  • EDIT:

    By "mirroring" I mean that the NTUN.DPosX is the opposite of the NTUN.DVelX value.

    I've (re)calibrated the external compass and autotuned the copter. GPS had 9 sats.

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