I’ve witnessed some weird behavior when a plane in in Auto at a relatively low set airspeed. The vehicle would cut in towards the center of a loiter mission item. I am curious how arduplane handles a situation like the following:
A plane is doing a large loiter mission item at a set airspeed of 14 m/s. On one side of the loiter, winds aloft are greater than 14m/s and the plane’s ground speed is 0 or even negative. Does the plane increase its airspeed, change its ground track, or just continue to fly “backwards”?
Note: The vehicle has an airspeed sensor.
You can set a minimum ground speed so its always moving forwards.
Is this set by default? If not, how would the vehicle behave in the default scenario? I’ve observed the vehicle cut towards the center of the loiter and then back out to get back onto the prescribed ground track. I’d like to know if this behavior can be attributed to winds aloft.
I dont think it is set by default.
Checked and geofrancis is right.
By default TECS does its thing (keeping altitude and airspeed) and L1 does its own thing (lateral navigation) based on ground speed so it going a bit crazy at very low airspeeds wouldn’t be that surprising. I can imagine internal min ground speed (anti singularity) causing L1 to try and reach a point further out than actual ground speed would warrant leading to too tight turns.