Once the QuadPlane and beacon are powered on and connected, the Dual GPS for yaw is initialized. When preparing to take off, GCS shows that the QuadPlane height (relative altitude)is not 0, and the drop is very large, sometimes negative n meters, sometimes positive n meters, but the take-off point is always at the same position. The attached picture is a screenshot of the altitude displayed on the Mission Planner during the flight.
After experiments, the QuadPlane must be powered on again 3-4 times before the height returns to normal.
I also tried to modify the parameters on the Plane side: EK3_SRC1_POSZ = 3(GPS) or 1(baro), but it had no effect.
Has anyone encountered this situation?
Is there any solution?
If you have any ideas or suggestions, please feel free to submit them. thank you very much.
I solved the problem of abnormal height by setting the EK3_OGN_HGT_MASK parameter to 0. My original parameter value of EK3_OGN_HGT_MASK is 4, which will cause the Plane side to always correct its origin height, but when combined with Beacon, this parameter must be 0.
Still the problem exists…after changing the parameter EK3_OGN_HGT_MASK to 0
Vtol autopilot - cube orange+ with here pro
Beacon - cuav x7+ with cuav 9ps
The climb rate is very less with the beacon
In Auto mission with the beacon
The VTOL takeoff height is 40 meters, and the waypoint altitude is set to 100 meters. However, the drone is not reaching the 100-meter altitude (the throttle percentage is abnormal), and the climb rate is very low.
Without the beacon, the drone flew normally.
During the flight, the beacon was switched off, and the drone continued to fly normally. However, when the beacon was active, the climb rate and altitude were abnormal.
