Hi All,
I am having an issue that would seem to have a straight forward answer but not having any luck. I am trying to get the aircraft to accelerate faster (and continue accelerating) in Loiter mode which I would think should be easily configured with LOIT_ACC_MAX. For some reason this parameter seems to have no effect on acceleration after a certain value (not exactly sure what this is). Here is the scenario:
-LOIT_SPEED: 22m/s
-ANGLE_MAX: 35 deg
-LOIT_ANG_MAX: 30deg
-Full pitch forward input given in Loiter
-Can’t remember exactly but LOIT_ACC_MAX was between 500-800cm/s/s (Very fast…)
As you will see in the graph the aircraft is not accelerating anywhere near 5m/s/s AND as it approaches 22m/s the acceleration significantly slows down. This seems to have nothing to do with available power (power never exceed 40% during this) or wind resistance as you will see in the pitch/des pitch graph the aircraft is backing off by itself and perfectly following the desired pitch? How do I get it to continue accelerating faster towards 22m/s without it feathering off like there is a high “D” term controlling the acceleration?
In this graph it appear even at the beginning of the acceleration it doesn’t want to go 5m/s/s. It appear is doesn’t break about 3.5m/s/s even during the fastest acceleration at the beginning.
I have tried playing with:
LOIT_ACC_MAX
ANGLE_MAX
LOIT_ANG_MAX
LOIT_SPEED
PSC_POSXY_P
PSC_VELXY_P
Nothing seems to have an effect. It doesn’t appear to be a gain related issue because the aircraft is closely matching the desired pitch angle.
Log (1.67mb): https://www.dropbox.com/s/0zufetybnogomoe/log_51_2020-5-6-14-19-17.bin?dl=1
Chris