I am trying to optimize the navigation performance of my APM skywalker for aerial mapping applications. I have just downloaded the latest version of APM as of August 14th (2.211), hopefully this version includes Andrew’s bug fix (http://diydrones.com/profiles/blogs/fixing-a-magnetometer-bug-and-how-to-use-mavlink-to-diagnose-apm). I am using a magnetometer and have had periodic nav problems similar to Andrew’s, but the most recent flights looked good. I have done some basic PID tuning as per the manual, and get the following nav performance:This flight had about 3 knots of wind from the right side.
Looking at other recent postings, this performance looks fairly typical of APM. However, looking at some of the other autopilots such as the T3 R4 challenge, (http://diydrones.com/profiles/blogs/t3-round-4-map-a) the nav performance can be quite a bit better. Is this about as well as one can expect for the moment, or does anyone have suggestions on improving it? Has anyone made a video of how to optimize tuning and navigation of APM? Any tricks or secrets out there?