Hi All,

Been flying by quad in auto mode doing some ground mapping and on the whole things have been going well, however every now and then the quad goes a bit nuts when attemtping to go to a waypoint, making it circle widely with increasing speed.  Sometimes it gets itself out of the probelm and continues on, other times I bring it back to stabilise as I think it is simply not going to correct itself.

I have attached a small log showing one such flight (12 waypoints, 50m alt, the flight starts at 20% in), it goes weird around waypoint 4 and 5, then corrects itself before going off reservation again at WP 12, interestingly all on the west side of the grid (and it always seems to be on the west side).  So I am curious as to whether this could be a compass problem (I don't think it is), or more likely a bit of wind/gusts that is destabilising the quad as I have not tuned it (just using stock parameters).

So if anyone more knowledgeable could take a quick look and tell me what they think, that would be great.

The quad is a standard 3DR C (+ config), with an APM 2.5+ loaded with 2.8.1 and using the stock 3DR C 2.8.1 parameters, with the exception of WP_SPEED_MAX being set to 200 (to enable slower flight and better ground pictures, but could this also be causing the issue?).  Mission Planner 1.2.27 was used to facilitate the mission and the bird is heavy, as I have extended the landing legs a smidge and am carrying a 2 axis gimbal with a go pro camera.

Thanks

S.

2013-01-24 16-13-40.tlog