Waypoint

ArduCopter Copter 3.2
1

I am in the process of setting up a X8 Skyhero 850 with Pixhawk flight controller. when doing waypoint missions there is a sharp twitch at each waypoint.

I would appreciate some assistance in how to tune this out.

I have posted this on DIY Drones but should have posted support questions here.

Thanks

David

2

I guess you’re doing spline waypoints or straight line? Sorry, I could look at your log to see but if you could tell me that’d be great.
If it’s spline then it’s a known issue. We will sort it out in a future version of the firmware but it’s a little tricky to get rid of completely.

3

no these where all straight waypoints. Updated my 450 quad to 3.2 and did the same mission it also did a sharp twitch at each waypoint.

I was wondering is a waypoint radius of 2m too small or do a need to adjust WPNAV_LOIT_JERK

David Ardis

4

Hi David, I had a look at the logs, and the ones you PM’d me. I can see the little jerks you’re talking about. It may be normal, but I’ve never really noticed. I can’t see any problems in your logs, GPS looks good, vibes good. PID tuning is great. The navigation controller seems to be performing really well. It’s just those 5-10° jerks at each waypoint. I can’t see any settings wrong. You have a low waypoint speed, low acceleration rate, and normal Jerk parameter.

I’ve asked Randy to have a second look here.

5

Rob

Thanks for looking at the logs be interested to here what randy has to say.

When the weather would it be worth doing the same mission again at a slightly higher speed and I was also considering increasing pitch and roll rate I

David Ardis

6

No, I wouldn’t change any Rate Pids at this point. It appears to be flying very well. The Attitude is doing exactly what the Navigation controller wants it to do.