Stop & go behaviour during Auto Mission in hilly terrain


Acually I’m testing my new copter for terrain following applications. I’m facing serveral issues. Not sure if they are only parameter relatived or maybe firmware related.

  1. Stop & Go behavior in Auto Mission
    => it seems that the copter can’t climb fast enough in hilly terrain. This issue only appears in uphill flying conditions, downhill is no problem. WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL_Z, RNGFND_GAIN has no impact.

  2. Stop & Go behavior in Loiter
    => Issue not present. If I’m flying over the same terrain with the same speed no stop & go behaviour is visible. Why??

  3. Climb & Fall after last WP to RTL command
    => The copter fall or climb a few meters. the flight controller doesn’t correct the altitude during the RTL (wrong altitude for flying back home!!!) also posted here: Auto Mission - Climb after last WP => RTL

Here is a video from today where the issues are visible:

and data log (from several flights over the same terrain):

Thanks for having a look


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