I have a well tuned drone and when I twiddle the joystick on the transmitter, it responds quickly and stably in LOITER and STABILIZE modes.
These are my params: params.param (16.7 KB)
EDIT: here is the log: https://www.dropbox.com/s/sgil3y3thnm1vqj/2022-05-25%2012-17-44.bin?dl=0
Now I am trying to achieve the same responsiveness as this in software in GUIDED mode by talking to my Pixhawk (v4.1.5 - only upgraded just now to v4.2.0) via Mavlink. I send the SET_POSITION_TARGET_GLOBAL_INT message with the SET_POSITION_TARGET_GLOBAL_INT Mavlink message with just the velocity fields set (and appropriate typemask).
I alternate between these sets of values at 300ms intervals for a total of 6 seconds:
vx=5, vy=-5, vz=0
vx=-5, vy=5, vz=0
but when I do this, the best my drone does is to gently twitch one way then the next and it barely changes pitch/roll (ANGLE_MAX=80 degrees). I did do a test with 1000ms interval and I saw the same behviour (sadly the dataflash log is missing from the Pixhawk).
- I have read that WPNAV_ params can affect GUIDED mode performance so is it as simple as increasing these?
- What about using the afx/afy/afz acceleration terms in SET_POSITION_TARGET_GLOBAL_INT that apparently are now supported by Arducopter?
- Is it as simple as modifying GUID_OPTIONS “Do not stabilize VelocityXY” or “Do not stabilize PositionXY”?
- How can I make my drone behave in the same agile manner as I see when I am in LOITER or STABILIZE mode using position targets?
I wanted to get a proper answer rather than relying on guesswork as the place that I fly at is 45 minutes away. I’d really appreciate getting this sorted out as my application requires a fair degree of agility. Many thanks to those that read this.