“Glider” flies and circles very stably in FBWA mode.
The “Glider” should also fly just as stably in RTL or Loiter mode.
What parameters do you have to change to achieve this state?
I don’t have a Glider but if I did I would start here:
Soaring
Do you have an airspeed sensor to actually use the glider features?
From what I learned, glider and especially soaring without an airspeed sensor is not accounted for by design of ardupilot.
Thanks - TECS_SPDWEIGHT to 2.0 - was the necessary info!
Soaring — Plane documentation In firmware revisions before 4.1, it was necessary to set TECS_SPDWEIGHT to 2.0 when using soaring. This is now handled automatically.
Only if plane enters THERMAL mode. It does not work out in FBWA unless there is an airspeed sensor and TECS_SPDWEIGHT is 2.
TECS_SPDWEIGHT = 2.0
Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders).
GLIDER: The FLAPS are controlled with the THROTTLE control and the FLAPS are only needed for the landing approach to control the glide angle.
Why should you use the FLAPS control to control the altitude when circling? What is the point of this? When circling (RTL / LOITER) the GLIDER
should only curve evenly (as under FWBA).
Regardless of the altitude at which it is.
In order to circle (RTL / LOITER) only the pitch angle needs to be stabilized. Speed and altitude play no role here with the GLIDER and
only lead to unnecessary oscillation.
best regards