After working out a few kinks (bad CPD4 sensor) I successfully tested Ardupilot 1.0 with my modified Easy Star with ailerons. I have been testing with the NE code loaded and the PID heading gain set initially at -40,40, and most recently at -25,25. I also have the rudder servo set to 'Normal'. At first I left it set to reverse but realized the mistake after the first flight test. One thing I am still trying to work out is the plane's tendency to oscillate when flying towards the NE, that is, the plane tends to turn past the heading by 10 - 15 degrees or so only to turn back the other way to correct, and then repeats this over and over. When I had the PID gain set to 40 the problem was much more pronounced, so I am thinking of scaling back from the current setting of 25 to 20. All in all I am very excited to have come this far!
Comments
Thanks for the tip; I will give it a try. Just to be clear, do you know where in the code I can adjust the P and/or D?
I thought maybe it might be this:
#define Kp_heading 10
#define Ki_heading .01
#define Kd_heading 0.001