We have a problem about Condition Yaw. We want to perform a mission with several waypoints and our aim is reaching that waypoint and turning to desired heading and waiting there. For this we use waypoint, condition yaw and delay commands.
But when condition yaw is reached, drone turns clockwise with fast rate (not at commanded wp yaw rate), then turns into our commanded yaw with desired wp yaw rate. Btw, we set WP_YAW_BEHAVIOUR = 0, since we dont want to change heading between waypoints.
Could you guide us regarding this issue? Actually our aim is simple i think, going to a waypoint, then changing heading and waiting there. Then, going to next waypoint and doing same. We combined delays with condition yaw and change their parameters (turn direction etc.) in flight plan but couldn’t succeded.
We are doing our tests with a 25-30 kg drone so don’t want to risk the system. System has CUAV X7+ with double RTK (using GPS for yaw).
Sharing the flight log below. Thanks for your help.
We tried Mission Planner simulation, but it gives the command failed to execute error. Also we think this case is hard to simulate exactly at the simulation considering our sensors and configuration.
I am adding the flight video below. Drone reaches WP1 and suddenly change heading with high yaw rate before our condition yaw command, then apply our very slow desired 10 deg/s condition yaw command. Then flies to the next WP (with “never change yaw” behaviour), and again the same behavior, change heading with very high yaw rate before the condition yaw command, then apply our desired 10 deg/s condition yaw command.
We use GPS yaw with compass fallback (EK3_SRC1_YAW=3) and CUAV X7+ internal compass only. We disabled CUAV 9Ps RTK compasses since we had some problems before (yaw inconsistency errors, yaw reset errors in flight etc). So we suspect that drone change heading suddenly due to switching (or fusion) of different sensors (RTK yaw and compass yaw). To test this, we used RTK only yaw source (EK3_SRC1_YAW=2), but the same behaviour happened. The last thing to try could be using internal compass as the only yaw source just to understand the source of the problem. But we want to use RTK yaw in the end considering interference and accuracy.
There is not much information about GPS yaw and we have a large drone (hard and risky to test everything in flight). Therefore, we would be glad if you have any suggestions regarding this problem.
Also is there a constraint while applying the mag fit offsets ? We tried to apply offsets for compasses using MagFitTool but an error showed up something like avoiding xy offsets above 120.