Hello. I have APM 2.6 with ublox lea6h on custom frame.
After many times of rebuilding my copter i cant get smooth and good loiter performance.
here log on arduplotter
http://arduplotter.com/view/5557418d7a3a566b06fe98e1
Try record video of flight, but forgot press record key on camera (facepalm). But symptoms recorded on previous video
https://youtu.be/833zaA2KxIw?t=121
Symptoms. Stab - stable. Althold - stable. Loiter - random drift in 0.5-2m perimeter with twitches. Not toilet-bowl.
This video recorded on 3.1.5 fw. Today upgrade to 3.2.1. Perform all calibrations (accel, compass, radio). Compassmot 4% previously fw, not do on 3.2.1. Toilet-bowl not detected.
PIDs after autotune very good. But i descrease stab roll\pitch from 6.1 to 4-3 for more smooth control. After autotune copter stable but very sporty.
Copter's photo
Compass and GPS locations
Config
APM 2.6
Ublox lea 6h with latest 3dr config.txt
External compass
Minimosd
200mw boscam 5.4 Tx
Afro esc 20a latest simonk
turnigy multistar 980kv APC 11'' 4.5 balanced
3dr currend and voltage sensor
3dr telemetery
APM on vibroisolation plate. Vibration seems very good
Weight 1450g and hover throttle 560
I have no idea how improve loiter. may be loiter pid needed to tune?
But there no documentation about this :(
Can anyone help me? Thanks!
Replies
solved. Under clear sky, in the open field with 10-11 sats, loiter perfect. Seems interferens from buildings and low hdop and sats.