This week I tested the Ardupilot's waypoint and autopilot functionality, and it had mixed results, which I now have identified as total user error. Go figure. :)
The waypoint feature performed as good as it could, it struggled a bit as my GPS module only has about a 25% view of the sky, which is clearly not ideal. I'm working now on a better mounting location that will give it 100% view.
Why do I think it's the GPS mounting location?
1.) Its mounted in a location that only gives it a 25% view of the sky, that alone is bad.
2.) I've since gone out and flown it, and the GPS couldn't get a lock for like 5 minutes. I moved the APM and GPS out of it's mounting location and into a full view of the sky, and it got a lock in like 20 seconds, really really fast. So clearly its got such a bad mounting location that it may not even connected as it is.
3.) After improving it's mounting location even just a little bit, it flew much, much better. That flight (just made yesterday) will appear on next week's episode.
So far so good. I am in total love with the APM and mission planner. Thank you DIYDrones for the awesome equipment and software!
Equipment Used:
Motor: http://www.hobbypartz.com/75m42-optima450-2220-950kv.html
ESC: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=13429
Batt: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=6306
Servos: http://www.hobbypartz.com/topromisesg9.html
Prop: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idproduct=5437
Stats:
Weight: 32 oz
Thrust: 21 oz
Wing Area: 3.33 square feet
Wing Loading: 5.3 oz per sq ft
If you're interested in building the Nova, I've got free build instructions and plans on my website: http://www.MyGeekShow.com.
-Trent
Comments
Trent - Thanks for documenting this and posting it - I have had the same confusing situations many times. Unfortunately, my manual recoveries didn't end up quite as favorably as yours. Once again, I've experienced these exact same issues. They're difficult/impossible to debug, so I gave up on ardupilot and switched to arducopter - which is easier to test. Good luck with solving these problems. I wish you the best.
Why the take off was so abrupt ?
I set my transmitter failsafe such that it changes my "mode" channel to a value designated for RTL, but does not alter the other channel values. By doing this at the transmitter/rx level, if my rx loses the signal for any reason, the rx defaults the "mode" channel to RTL, and the plane returns. Verifying RTL mode change is part of my preflight check, just like checking the control surfaces. This configuration is not for everyone, but it does serve to work something like a virtual safety strap (jet ski, lawnmower, etc) and also serves to allow you to swap TX batteries or jerryrig a power source for the same (not that a well prepared, responsible flier has ever launched with a low TX battery...... *shiftyeyes* )
Trent, You may want to check out geofencing:
http://www.diydrones.com/profiles/blogs/new-arduplane-feature-geo-f...
Should give you another safety net in case your plane starts flying out of range.
I didn't know that! That is exactly what it was doing, it would go a little ways, then stop, circle for a while, then go a little further, then stop and circle... Crazy. I've got to get that fixed, it such an easy thing that would have a major impact. I'm sure that data is on there, but I'm not experienced enough yet to dig it up and check it out. That is also a priority, master the data analysis.
Thanks!
Trent, id say your spot on with teh gps situtation. when gps is lost it enters a "circle" mode. Also do you have the dataflash log from that flight? in the planner > Terminal > log download