APM Loiter/Auto Issue's

ArduCopter Copter 3.2
1

Having Issues with my apm 450 quad in loiter and auto modes. It seems like it is either over correcting or the GPS / Baro is moving around and giving off inaccurate readings. I have a video to show what it looks like and I have tried a few different things with no luck. It flies pretty much perfect in stabilize mode.

-Tried Calibrating Compass (At Least 4 Times)
-Tried Auto Tuning The Quadcopter
-Tried Calibrating Accelerometer / Level
-Made Sure That Correct Compass Is Being Used
-Getting 10-12 Sats Inside Of House
-Added Foam To Baro Inside APM 2.8

Set Up:
-APM 2.8
-F450 Frame
-SunnySky 980kv Motors
-4in1 ESC
-Beitan GPS

I would really appreciate if anyone could make some suggestions. Thanks,
(Sorry for the crappy video :grin:)
Edit: In the video, I took the quadcopter off in stabilize and switched it to loiter. It had been on for a minute or two beforehand so should have a good GPS lock. I left the controls completely still while it was in loiter and then landed in stabilize at the end. I am also not sure if the log provided is the same as in the video but it should still show the issue.
Log.zip (94.7 KB)

2

You have so little logging turned on it’s a bit hard to determine what’s wrong.

At least have IMU, RCout, and a few others to help see what the problem might be.

3

Okay here is a new log with more info turned on. I had it in loiter for a bit longer aswell.
2ndLog.zip (981.8 KB)

4

As I suspected, in a word, vibration.

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Screen Shot 2019-04-08 at 6.19.56 am.jpg2254×835 721 KB

You will need to get the levels of vibration down. That will be causing all sorts of stabilisation issues.
Its probably causing most of these issues

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Screen Shot 2019-04-08 at 6.24.09 am.png2255×861 315 KB

Once sorted an autotune would help.

5

Thanks so much. I put on a vibration dampener and it has helped a ton. I am now playing with auto missions!