Some simple mission tests from a few days ago with v6.6r21 and the Android app.
Mag inclination and declination set to flight location values.
3 waypoints and RTH as the 4th.
- Screenshot_2012-09-21-12-50-57.png (624.38 KiB) Viewed 12038 times
[Test 1]Waypoints:
Hit radius 1 m
Relative altitude 0.0
Loiter 5 secs
PO Heading 0.0
Horizontal Speed 2.5 m/s
RTH:
Default (front of copter is always pointing to whatever compass direction it's pointing at when Home Position is set)
Sequence is:
Take off in Manual, activate PosHold, set Home via AUX2 then back to middle switch position, activate Mission.
Video begins just before I activate Mission.
Result:
Seems to work fine except that it tilts my gimbal down between WP0 and WP1.
http://youtu.be/JkYJDWjWlbM[Test 2]Same waypoints as Test 1, edited POI Heading to -0 so the nose of the copter faces the direction of travel and increased horizontal speed to 5 m/s.
Sequence is:
Take off in Manual, activate PosHold, set Home via AUX2 then back to middle switch position, activate Mission.
Video begins just before I activate Mission. I don't touch any sticks or controls between start of mission until after RTH is achieved.
Result:
Again it titled the gimbal down between WP0 and WP1.
At all three waypoints, the yaw seems to be 'hunting'.
I wonder if this has to do with my fuzzy IMU_MAG plots while the motors are turning. However, it doesn't hunt in PosHold or in Test 1, just a solid yaw and lock to the correct orientation.
http://youtu.be/zdsb1R4WMQIEdit: the "hunting" is expected behaviour for relative bearing when hovering over a waypoint and trying to maintain location.