Has anyone also faced the same issue under Loiter GPS or Loiter Optical flow?
Can the Loiter flight mode be tuned so that the UA does not return to the start position after the pilot releases the stick to the middle?
If the Loiter parameters are okay, what is the cause then?
CubeOrange
Arducopter 4.5.3
Here3+ GPS
Hereflow Optical flow sensor
Here are the current Loiter values.
LOIT_ACC_MAX,500
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250
LOIT_BRK_DELAY,0.3
LOIT_BRK_JERK,500
LOIT_SPEED,50
Play with the loiter tuning and loiter break parameters until it does. But there will Always be a delay due to inertia, so it will never stop at the exact location where you released the stick unless you change the source code or add a lua script.
Do you think user should change these parameters to improve the above scenario?
PSC_POSXY_P
PSC_VELXY_P
LOIT_BRK_ACCEL: max acceleration in cm/s/s while braking (i.e. pilot has moved sticks to center). Higher values will stop the vehicle more quickly
Looks like I can try increase this value. Or should I reduce?
Yes, those and the delay parameters as described in the respective step in ArduPilot methodic configurator
But the document describes “It is generally not required to adjust this”
Most people do not need it.
But the ones that want that extra performance do need to change it.
Please provide suggestions on how to improve the documentation for all users, not just for you and we’ll improve the documentation
I cannot further increase LOIT_BRK_ACCEL as 250 is the maximum. I have try to tune the PSC values, slight improvement, not ideal still.
Does anyone has some insight or direction to improve this situation?
LOIT_ACC_MAX,500
LOIT_ANG_MAX,0
LOIT_BRK_ACCEL,250
LOIT_BRK_DELAY,0.1
LOIT_BRK_JERK,500
LOIT_SPEED,20
PSC_POSXY_P,1.8
PSC_VELXY_P,3.5
You can go over the max.
keeping PSC_POSXY_P, and PSC_VELXY_P to the default, I notice the return to start position after stick release is more obvious when users reduce the LOIT_SPEED below 250.
I have tried giving LOIT_BRK_ACCEL,300 (max 250) a try, no significant improvement.