In the process to be familiar with Ardupilot I tested today RTL with my Stick 60 E plane. My simple test was the accuracy verification of RTL altitude, RTH speed and Circle radio. I am very happy with Ardupilot performance !!
I have two questions for you guys:1- I would like to fine tune the Pitch nav parameters to reduce offset as much as possible, but not sure what to do. Please see attached Picht Nav..vs Pitch curve.
2- I would like to have an optional way to define the Home coordinates for a place different than the place where I power up the Arduplane system. I want the plane doing RTL circles in front of me and not over me. This is because I have some restrictions to let the plane fly behind the point I power up the system. Please attached MP picture.
Your suggestions will be appreciated.
Replies
Regarding your question #2, please see issue #416 on Github and leave a comment there as a vote to keep the progress alive. I was also discussed here.
Hi Antonio,
I think you need some PTCH2SRV_D to damp things a bit, which may allow you to raise _P a bit. Try PTCH2SRV_D of around 0.05.
Also, best to upload a tlog, that gives a lot more information than a jpg.
yep, we plan on adding this once we merge in the new AP_Mission library from Brandon Jones.
Cheers, Tridge