I had my first RTL flight this afternoon, which i should report did work, but the plane did not exactly take the shortest route home as can be seen from the GPS track. Started at the Flag and flew out on manual and then the red track is all under RTL.
This was using the SVN Ardupilot 2.5 from Sunday afternoon ( GMT )
I am guessing that i need to look at adjusting either the Heading P or I values. Does anyone have a suggestion as to what i should change first and by how much? your help could help to save me time at the field which has been bloody cold recently!
Thanks
#define HEAD_P .8
//4-1
#define HEAD_I .1
//4-2
#define HEAD_MAX 3500
//4-3
#define HEAD_MIN -3500
//4-4
#define HEAD_I_MAX 500setpoint
//4-5
#define HEAD_I_MIN -500
//4-6
#define XTRACK_GAIN .2
//4-7
#define LOITER_RADIUS 30
//4-8
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I managed 4 flights today here are my observations.
First flight had an interesting wiggle, so i went back to manual and adjusted the rudder's trim, after landing and re-initialising ardupilot the wiggle had gone. The automatic detection of the Trims is great.
Dropping the Heading P value did make the heading corrections less responsive which at one point prevented the plane from returning at all. So I increased the values back to the original P = .8 and I = .1
Today it was noticeable that the EasyStar was flying faster and having much more difficulty with the altitude hold, but that is a whole different issue!
Have many people with EasyStars increased the surface area of the rudder?
gain schedule = (GS/Airspeed_cmd)*K_heading
Jason