Problem in Loiter - Identifed in Dataflash need help on fix

ArduCopter Copter 3.2
1

I am running APM 3.2-rc7. My quadcopter fly’s perfectly in Alt hold mode. I switch to Loiter and it will loiter perfectly in one spot. When I begin to move it will do a sharp roll and I have to switch back to Alt hold mode to prevent a crash. I have looked at all the logs and identified where the error happens.

I have attached an image of the log where the problem happens. The DesVelX vs VelX and DesVelY vs VelY don’t track properly. It looks like when I need to go left it goes right. How do you fix that?

The .log and .tlog are attached.

Thanks.

2

To me it looks normal.
Need to turn up your logs so we can see other data such as motor out and RCIN.

Mike

3

No, that’s not normal at all. He most likely has some kind of compass problem, but I really can’t get much info because the logs don’t have enough data. Unfortunately, the APM logging just isn’t good enough anymore.

I would check the compass alignment, compass calibration, CompassMot. And I wonder if you can turn on Mag datalogging (though I still don’t think that will give us much useful info).