Stop & go behaviour during Auto Mission in hilly terrain

ArduCopter Copter 4.0
1

Hi

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

Michael

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