Significant xy drift while using z velocity change in guided mode

ArduCopter Copter 4.1
1

Hi all,

We have been integrating a non gps drone with odometery, and found out that when changing the z velocity to lower the drone in guided mode, we are having significant xy drift for no reason.
The odometry is accurate and display the drift nicely on mission planner, but we don’t know why we are having these drifts.

When integrating a Gps, these drifts doesn’t exist, and the drone decend nicely with no drift.

Any suggestions?

2

Welcome to the community.

Update to ArduCopter 4.4.2 and retest. The problem might already been fixed

3

Is this a know issue? I couldnt find any resemblance to this issue on the net…

4

Updated to 4.4.2 and tge issue has not been resolved.

Can anyone help me?

5

The best way to get useful help is to post the .bin log file from the flight. That can be downloaded off the flight controller using mission planner, or by copying the file off the SD card. You’ll need to use a file share like dropbox or google drive since the log files are too big to post on the forum directly. Just give us one file, preferably the one from the pictures you’ve posted.