Discussions

So I finally worked up some courage to go outside in 120F heat and test my loiter and RTL modes since I was so impressed with the stability of the 2.45 code...it really is a much bigger improvement over 2.44 at least for my frame. Thanks Jason!

It was a bit windy but I managed to get test loiter(before I had to quit because it was getting more windy) and what I noticed is that the copter is clearly trying to navigate into a smaller and smaller square(maybe circle but the wind was affecting the motion) around the loiter point. The problem that I'm trying to resolve now with some PID tuning is that with relateively strong gusts the copter is clearly overshooting when it's trying to fly against or towards the wind(applying too little power or too much power depending on what the wind is trying to do) and not slowing up or speeding up quickly enough to compensate for what the wind is doing. So if I understand the concept correctly from the Wiki, that would that be the I term that needs to allow for faster ramping up or down of pitch depending on the external influence(wind) rather than D trying to slow down/opose the direction of motion based on the rate of change of towards or away from the loiter location? Am I correct in my understanding of the control rule?