I brought the PID gains back to stock.
I set up AUTO takeoff and some waypoints. You'll notice in the video that I didn't seem to get the 20 degree pitch for takeoff in auto. I also didn't have control of the throttle. It was just stuck where it was.
Once in the air and in AUTO mode, it aggressively sought out a point, but it appears to me to be home.
It also was very pitchy with it's altitude estimation. It was nose to the ground, and nose to the sky trying to hold altitude. I'll figure that one out with the PID gains I guess.
Regarding the inability to hit WPs...attached is my WP file. Is the format wrong?
Here is a serial log of the mission. I need to get in touch with Pete Hollands, and see if there's a new version of his parser that will deal with this log:
I really like the ENABLE_AIR_START option.
I tried to dump the onboard log, and it just kept looping through a bunch of stuff, and then would end with this (then loop again with same ending):
ATT:0,0,0
ATT:1,0,0
ATT:8,5,0
ATT:16,11,0
CTUN:0.81,0.00,0.16,32.13,0.00,0.11,1.51,0.00,458.00,
GPS:0,0,0,0,0,-17.00,0.00,0.00,0.00
ATT:25,20,1
ATT:34,27,1
ATT:41,33,2
ATT:48,36,2
ATT:54,39,2
CTUN:0.99,0.00,0.54,32.13,0.00,0.39,1.65,0.00,457.00,
GPS:0,0,0,0,0,-17.00,0.00,0.00,0.00
ATT:60,42,2
ATT:64,43,2
ATT:69,43,2
ATT:74,45,2
ATT:79,47,2
CTUN:-0.72,0.00,0.79,-32.22,0.00,0.47,1.51,0.00,456.00,
GPS:0,0,0,0,0,-17.00,0.00,0.00,0.00
ATT:85,48,2
ATT:91,49,2
ATT:97,49,2
ATT:102,50,3
ATT:108,51,3
CTUN:-0.81,0.00,1.08,-32.04,0.00,0.51,1.65,0.00,455.00,
GPS:0,0,0,0,0,-17.00,0.00,0.00,0.00
ATT:113,53,3
ATT:118,54,3
ATT:122,54,3
ATT:126,56,4
ATT:130,57,4
CTUN:-0.81,0.00,1.30,-32.13,0.00,0.57,1.51,0.00,455.00,
GPS:0,0,0,0,0,-17.00,167772.15,-0.01,-0.01
Error Reading END_BYTE 255
Having fun! Let me know if anyone has any tips here.
Thanks!
JC
Replies
The flight went fine - there was one portion from waypoint 7 to waypoint 8 where it went quite a bit wide downwind but recovered to catch WP8. The loiter at the end was a little large as well but it repeated. The altitude and throttle seemed smooth.
I enclose the log file and the config file - I didn't change the PID gains
Megaflight_083010_AUTO_10wp_ver757.txt
APM_Config_DHW.h
Wow what a wild ride indeed! All I can say is, I'm really glad I wasn't a passenger, I was looking for the barf bag just watching the video!! You didn't disappoint, it was fun to watch.What's the aircraft? Is it three channel, rudder only? How stable is it in manual, is it "pitchy"? Have fun with Mega, I got caught up in ArduPilot just as Mega was about to be introduced, so I'm committed to that for the time being, but look forward to seeing how it matures with guys like you paving the way! Keep the videos coming
Regards,
Nathaniel.
Why not make the first thing after takeoff a waypoint and not a loiter.
Dave
Increase the min pitch during takeoff to a few degrees.
Disable the altitude estimation for now until we can isolate the performance impact.
Adjust throttle Min Max limits on takeoff.
You will never get a full 20 degree pitch unless you use an I term for pitch.
Jason