I had my first try at Auto yesterday. overall it went fine, but I have a question regarding one of the waypoints. I had set up 4 WPs and three of them were spot on (although after some strange paths to reach them) but one WP was missed by many meters
The first pic is the planned route, the second is from the log. One can clearly see that wp1,2 and 4 was spot on, but wp3 is missed by several meters. Any explanation for this?
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Also, it is hard to see, but what is the param1 in WP3 of your script? I think it says 20, but I'm not sure what that is, because I don't think WPs use param1? param2 is alt for WPs, right? But I don't understand what that "20" is doing in the first column, or how the APM would interpret a mission script like that. Also, does it go directly to WP4, and do you have anything after, or do you have another command after WP3 (beyond the screen)
Because if you had another command, then the copter will start towards WP3, but would never get there, it would immediate do the next command (depending on the command) and could skip WP3 entirely. The leg might be an overshoot while it was headed generally towards WP3 (nav tuning) and it might have turned around when the next step in the mission was executed (like a jump command)
But I cannot see the whole script.
One possible explanation is the GPS might have "moved" around during its flight from WP2 to WP4. It may have "hit" WP3 during the time the GPS and copter was there. I often see variations in my GPS reading by several meters when it is standing still. I think dead reckoning correction is not being done yet to correct for this like we might in the future.
I would use a larger, wider patterns to see if this is a problem, or if it is a GPS error issue. It is close enough that I would just run a larger patten a few times to gain confidence.