Return to home- Ardupilot questions
Hi there,
I flew ardupilot for return to home in order to compare its performances with a "homemade" solution.
I had GPS lock before take off (I use Ublox GPS).
I tunned it so it does STABILIZATION very well.
However when I engage return to home, the plane just flies away, at most oscillating around pitch axis. It doesn't have ANY tendency to bank on right or left in order to return to home.
Questions:
1.) In order to tune it for return to home I see in manual that they recommend: 5) Now try RTL mode. The aircraft should come back to you. If it's flying away, increase 7-1 ("#define NAV_ROLL_P .6") by 25%. If it's still not responding enough, increase 7-2 ("#define NAV_ROLL_I .0"). If, on the other hand, the aircraft comes back to you but weaves and snakes, decrease 7-1. If that's not enough, increase 4-4 ("#define XTRACK_GAIN 00").
Is it neccessary to do the flight tunning for FLY BY WIRE A/B BEFORE I try to do the tunning for return to home?
I am not interested in FLY BY WIRE MODE so I would rather skip the flight tunning step for FLY BY WIRE if it is not neccessary for return to home.
2.) What is the effect of PITCH COMPENSATION parameter? What is its usual value for easystar airframe?
Thank you!
Replies to This Discussion
-
Permalink Reply by Jon Kelly on -
I'm having the same (or similar problem). Stabilization works and FBW works. I suspect my troubles with RTL are related to a problem I'm having in manual mode.
In manual mode I'm getting extreme servo jitter and possibly a resetting of the ardupilot. I'm going to try flying tomorrow without ever switching in to manual mode (launching in FBW). If that fixes my RTL problem, I guess I'll start trying to figure out what is causing it.
-
Permalink Reply by Florin Mingireanu on -
Hi there,
I solved my problems with servo jitters by replacing my old Hitec RCD receiver with a CORONA receiver.
Thanks!
-
Permalink Reply by Florin Mingireanu on
-
Hi there,
I browsed the DIY forum and found a similar problem here: http://www.diydrones.com/forum/topics/first-ardupilot-test-flights
The person that began that topic reported that in STABILIZE everything was OK but in RTL the plane would turn away from home.
His fix was: "The paparazzi xy-sensor needs is in some way different from the FMA sensor so i had to change the settings for sensor placement from bottom to top and then change roll servo direction. This way the aileron was moving in the same direction but the roll angle was inversed. I flew my first autopilot this afternoon with a more or less perfect result!"
Can anyone confirm that paparazzi is different from the FMA sensor head and that just changing the orientation of the sensor head in configuration file might fix the RTL problem?
Right now I am using FMA IR sensor head with the configuration parameter as follows:
#define ENABLE_Z_SENSOR 0 // 0 = no Z sensor, 1 = use Z sensor (no Z requires field calibration with each flight)
#define XY_SENSOR_LOCATION 1 // XY Thermopiles Sensor placement
// Mounted right side up: 0 = cable in front, 1 = cable behind
// Mounted upside down: 2 = cable in front, 3 = cable behind
Thanks!
- ‹ Previous
- 1
- 2
- 3
- Next ›
Top Content
Groups
-
ArduCopter User Group
478 members
-
ArduPlane User Group
299 members
-
ArduCopter (traditional …
77 members
-
ArduPilot (legacy) User …
77 members
-
Moderators
50 members
-
ROS User Group
31 members
-
Team Prometheus
11 members
© 2012 Created by Chris Anderson.
