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QuadPlane: QLOITER tendency to yaw over time

In QLOITER, the QuadPlane seems to yaw clockwise at the rate of 30 degrees per minute, with zero pilot input.

Everything in the logs looks “normal” and the IMUs/MAGs are registering that change.Except the FC isn’t correcting the error.

I checked my motors/props and they seem relatively well aligned.

Vibrations a little higher than I’d like but still reasonable and no clipping.

Q_A_RAT_YAW_D, 0
Q_A_RAT_YAW_FILT, 5
Q_A_RAT_YAW_I, 0.06
Q_A_RAT_YAW_IMAX, 0.222
Q_A_RAT_YAW_P, 0.6

DF log: https://www.dropbox.com/s/do9dbzpj2z2s1j4/46.BIN?dl=0

Params: v2-2017-04-22.param.txt (12.9 KB)

@tridge ? @peterbarker ?

you need to be using H Frame type, make sure u put the correct motor numbers and directions with respect to the heading of pixhawk. You can find the reference here. http://ardupilot.org/copter/docs/connect-escs-and-motors.html?highlight=hexacopter

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