Tuning a navigation on a skywalker

Archive
1

Hi,

I am having problems navigating by WP and RTL. FBWA and FBWB are working very good. The compass points to the right direction. I am using a APM 2.6 with an external compass an a ublog GPS.

Attached is the log and here is an easy view of the log: arduplotter.com/view/533ca5646f41516221a840df

Also I attached the WPs so you can load them in the Mission Planner.

The problem is when the plane is going north west it should be going to WP 1 or WP 2.

It would be great if someone can have a look and see what parameter I have to tune.

Thanks!
Linus

2

Got it working.

Roll did not follow very well so I changed:

RLL2SRV_P from 0.9 to 4
RLL2SRV_I from 0 to 1

and also tuned L1 controller:

NAVL1_PERIOD from 30 to 10

:slight_smile:

3

The DO_CHANGE_SPEED is not changing the speed on auto mode.

I think the problem is that I have TRIM_THROTTLE too high (45%) because I have a very big motor for this plane and no airspeed.

Does the throttle go lower than TRIM_THROTTLE when not using airspeed? I am guessing it does not.

And how about with airspeed sensor, does the throttle go lower than TRIM_THROTTLE?

I will test it without airspeed because I don’t have one and report back on my next flight.