Pixhawk circles in Loiter mode

Log Analysis -- deprecated Copter Logs -- deprecated
1

Hello, All

I have Pixhawk installed on DJI F550. Everything works fine except loiter…it circles. Compass is external and it far away from DC source & cables.
LOITER P = 1
D = 0.015

Could you help me find the problem?

Best Regards,
Dmitry

2

Your magnetic offsets: -13.00, 18.00, 134.00
Correct magnetic offsets: 33.91,-90.73,255.13
Motor interference: ~5-7% at hover throttle (good)

3

If you do the Auto Analysis of your 62.bin log with mission planner, you get this message:
Test: Compass = FAIL - Large change in mag_field (39.57%)
Max mag field length (650.92) > recommended (550.00)

So you compass is impacted by magnetic field of your motors/cables. Probably your compass is still too closed to your motors and cables. Do also the compassmot to limit the issue if not already done.

4

To clarify, you can get that failure when the offsets are wrong as well. I suspect you don’t have bad interference - compassmot won’t hurt though.