Working on my frist build using APM 2.6

Log Analysis -- deprecated Copter Logs -- deprecated
1

Im hoping i can get some info here to help me over this problem i’m having. My quad seems to hover great in stabilize mode I have performed the auto trim and now im working on try the autotune. But when i put it into the loiter flight mode it it takes off forward and to the right. I’m guessing that i need to start adjusting the loiter PIDs.

Current setting are:
Loiter PID P1.000
Rate Loiter P:1.000 I:0.5000 D:0.0000 IMAX:4.0

I have also attached the lof file from the flight.

Log File C:/Program Files (x86)/Mission Planner/logs/2014-11-03 17-43-51.log
Size (kb) 579.38671875
No of lines 9804
Duration 0:06:13
Vehicletype ArduCopter
Firmware Version V3.1.5
Firmware Hash 3c57e771
Hardware Type APM 2
Free Mem 1186
Skipped Lines 0

Test: Autotune = GOOD - incomplete autotune attempt started @7121

Test: Balance/Twist = GOOD -
Test: Brownout = GOOD -
Test: Compass = GOOD - No MAG data, unable to test mag_field interference

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERR found: GPS
Test: GPS = GOOD -
Test: Parameters = GOOD -
Test: PM = GOOD -
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = GOOD -

Thanks!!!

2

I wouldn’t touch the loiter PIDs. If loiter doesn’t work out of the box, it is because inertial navigation isn’t working properly. Things that can cause that are:

  • GPS. Rarely the issue. Your GPS looks fine, although it might have some interference since NSats is jumping up and down. Hard to say without a 3.2 log.
  • Compass. Very common. Hard to diagnose because we don’t log MAG by default on APM2.
  • Vibration. Very common as well. Also hard to diagnose because we don’t log IMU by default on APM2.

The most likely thing is a vibration or compass issue.

3

Thanks!!! I think it’s a compass issue. It’s acting up a little . I’m going to do some more work on it tonight and see if I can get it to hold the compass heading with more accuracy.

Sent from my iPhone using Tapatalk

4

Also recommend turning on MAG and IMU logging, at least for now.