ArduPilot Legacy - RTL & Loiter FPV Video

 

A couple flights this morning using my trusty old ArduPilot Legacy & ArduIMU. Separate Mediatek GPS's on both AP and the Remzibi OSD. A Hobbyking 420 TVL camera provides the video sent back to the ground via a BOB Fox 700 1.2GHz transmitter. FPV is done with video goggles. Radio is a Hitec Aurora 9.

 


After switching to RTL (return to launch) the plane turns very well and returns towards home banking about 70m before 'home' and then goes into a stable loiter pattern at a height of around 70m and loiter radius of 70m.

Views: 1256

Comment by Richard Green on October 10, 2011 at 12:14pm

It's nice to see sombody else still using the 'Legacy' Ardupilot.

Which version of the software are you running?


Moderator
Comment by Graham Dyer on October 10, 2011 at 12:30pm

Thanks, the 'latest' version :)... v.2.7.1

Comment by Richard Green on October 10, 2011 at 1:41pm

I am still using 2.6 with IR detectors.

I found that 2.7 made the servos 'twitch' when at rest.

Do you have the same problem?


Moderator
Comment by Graham Dyer on October 10, 2011 at 10:21pm

Yes, I have possibly the same problem, a single twitch every second or so, but it's not noticeable in the air and less so on the ground if the PID, or more specifically the 'P' on roll is set to about 0.09. I've only just switched to the IMU version having flown with the IR sensors for 150+ flights

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