APM Question

[KMD]

Hi everyone!

I'm hoping someone with some APM experience can help me here.

I have a 550 deadcat frame running APM 2.6 and it's flying really well in all modes and loiter RTL Circle etc all work well.

The problem is that in stable/alt hold/loiter, if I try to put any yaw to do a complete 360, the copter pauses every few seconds. I even programmed a toggle to send 20% yaw constantly in case it was my fingers twitching the controls or something.

I want to be able to pan shots smoothly but every time I try the copter turns a few degrees and stops, then a few more and stops.

If I use circle mode however, everything is perfect! the copter circles smoothly with no yaw problems, it only seems to happen when I am giving it yaw input.

Any and all help apreciated, thanks in advance

 

[makattack]

Welcome to the FT Forums KMD! I'm not the best authority on this, as I only have APM installed on a fixed wing (FT Blunt Nose Versa) and a tri. I don't have experience with a multirotor with more than 4 motors on APM.

That said, with the 3.2.1 software, I have not seen that you describe. I would suggest a look at your logs would probably give a hint. I would first start by looking at the ATT Yaw values: http://copter.ardupilot.com/wiki/common-downloading-and-analyzing-data-logs-in-mission-planner/

Look at YawIn (your desired yaw input), Yaw (actual heading), and NavYaw (desired heading) and see what's happening.

My guess is the yaw PID's might need some tweaking. I know in those modes, my tricopter will do a full 360 yaw in any direction without pausing.

 

[KMD]

Welcome to the FT Forums KMD! I'm not the best authority on this, as I only have APM installed on a fixed wing (FT Blunt Nose Versa) and a tri. I don't have experience with a multirotor with more than 4 motors on APM.

That said, with the 3.2.1 software, I have not seen that you describe. I would suggest a look at your logs would probably give a hint. I would first start by looking at the ATT Yaw values: http://copter.ardupilot.com/wiki/common-downloading-and-analyzing-data-logs-in-mission-planner/

Look at YawIn (your desired yaw input), Yaw (actual heading), and NavYaw (desired heading) and see what's happening.

My guess is the yaw PID's might need some tweaking. I know in those modes, my tricopter will do a full 360 yaw in any direction without pausing.

Thanks Makattack!

That's exactly what I needed to know, I have been looking at the logs but couldn't work out what data was input and what was actual.

I'll do a test flight as soon as the wind dies down here and see what I find.

Thanks again!