Ardupoilt Auto mode problems

Posted by Danny steenhuisen on February 10, 2012 at 1:08am

hi there 
I have had the APM for a few weeks now and and i am trying out the auto function.
It follows the mission course fine the first time.
Then i try to load a different course and write it to the APM, then i switch it into Auto mode in the air and all it does is circle around in the air and eventually try kill itself (nose dive).
I also noticed that it becomes very jerky on the Ailerons like it is trying to correct it self quickly while flying in circles. 


I did not reset the APM board between loading the missions.
I am using ArduPlane v2.28 and APM mission planner.

I have added a log it happens at 63%

2012-02-10 07-56-54.tlog

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Replies

  • Brent February 28, 2012 at 9:57pm

    Do you have a 1280 board or 2560?

  • 100KM
    Hein du Plessis February 23, 2012 at 2:25am

    Ok, so in theory the APM is fine.

    Is the APM securely fastened? Is your prop balanced?

  • 100KM
    Hein du Plessis February 18, 2012 at 1:55pm

    Where there any gusts?

    How much rudder throw do you have? I found that too much rudder will cause a tip stall. The AP will try to correct and then just do it again until it runs out of air. Especially when loitering or otherwise making sharp turns.

  • Andre S February 18, 2012 at 2:54am

    Hi,

    I'm not an expert either (my time in AUTO was mostly spend in the simulator due to a terribly long winter around here). Some thoughts anyway:

    I agree with Hein that if you can fly safely in stabilize/FBW mode then it is unlikely that your sensors are producing incorrect output.. although still possible I suppose. As Hein also asked, you confirmed correct "stabilizing" control surface movement on ground?

    Since this problem only occurs seemingly at the end of a mission or the start of a new one I'd also suspect the RTL behavior is somehow wrong. This may be to an incorrect altitude setting or something goes wrong with the flight controls at that point.. but really, I'm just guessing. Have you considered trying to reproduce the problem in HIL simulation? That would avoid the risk of further damaging your airframe at least.. also you could try to add more debug info.

    Good luck, Andre

  • Danny steenhuisen February 13, 2012 at 12:18am

    I had another flight with mixed results.

    On the first flight it went to the 1st way point and then the yellow line locked on to the next but then it started doing the circles thing again.

    So i reloaded the mission and then when i put it into auto mode it started doing the circles and the yellow line had not locked on to the 1st way point.

    Then i reset the whole plane by reconnecting the battery leads and loaded the waypoints and it seemed to fly the mission fine without any problems.

    So it seems that i need to reset the board to put in new way points.

    I still think that the issue may be in the EEPROM not clearing properly 

  • Danny steenhuisen February 11, 2012 at 6:25pm

    I downloaded the bixler para but when i flew it. It kept going round in circles.

    So i made my own one and it works fine in stabilize mode

    And it nose dived briefly and then i put it into manual and corrected it.

    And i made sure i pressed restart mission before i flew.

    Maybe it is not clearing the waypoint EEPROM properly?.

    Because i reloaded the code and it worked the first time and not the next

    Thanks

     

    bixler 2.param

    shit mission.txt

  • 100KM
    Hein du Plessis February 11, 2012 at 1:27am

    At 63% it's heading to home, altitude seems stable, it makes 3/4 circle (it could possibly be loitering because it arrived home). I don't see it nose diving?

    Parameters and Waypoints will really help.

  • Danny steenhuisen February 10, 2012 at 12:16pm

    I just thought it was strange because it works the first time then when i reload the same mission it starts circling.

    My plane its the bixler and it is APM 1 

    I made the course short because i am surrounded in forest.

    I will get the param list when i get back home

    Thanks

  • Andy Demartini February 10, 2012 at 7:05am

    A little more information would be helpful...  

    What airplane is this, which hardware version APM (1 or 2) is in use and can you upload both the waypoints file and the params file.  It looks to me that ground level for you is 360 feet and the plane is flying at 450 +/- feet.  My testing is done at no less than 250 feet above ground and more often at 350.  This gives a lot more altitude to react and save the airplane.  The waypoints seem to be close together and the turns are sharp angles.  In my experience, using an EasyStar, the airplane will not make those turns without a loop outside the course.

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