I’m testing loiter mission items with a plane and also with SITL. I give various loiter radius but they always loiter in a wider circle. I tried 40m, 60m, 150m and 250m. Loiter radius expected to be 160m here but as shown in the image below it tracks a wider course
Set NAVL1_LIM_BANK and tune NAVL1.
1 Like
I think it’s not related to my problem. Decreasing the airspeed solved the problem. Even in the 400m loiter and with 24 m/s ground speed it tracks a wider course. I set the air speed to 10 m/s now it tracks exactly the given radius.
I went through this a few months ago. @LupusTheCanine is correct.
Keep in mind that while you may be able to slow a simulated plane down from 25 m/s to 10m/s, many real planes will not have the same practical flight range. Not to mention that stall speed will increase with bank angle so you may be putting your plane into a dangerous configuration.
1 Like
NAVL1_LIM_BANK is already at 0. Increasing it will cause drone to track a wider course, isn’t it? How this supposed to work?
From the wiki regarding NAVL1_LIM_BANK:
Setting to 0, will instead just scale the loiter radius directly.
Start by looking at what kind of bank angle you need for the loiter circle you’re trying to do and set the limiter about 5 degrees more than that. Of course this will depend on your altitude above sea level, size of the loiter, and specifics of the plane. Try it in the sim first.
Tried it on the SITL but does not change anything.
How fast is the plane flying, and how small is the turn?
But it’s not always tracking the given radius when the speed is 10 m/s.