Understanding missions parameters

[bluuu]

Hello

This time I have some questions about mission configuration.
Maybe new users get some knowedge.

I done some missions, but I have some problems with understanding all parameters.

I use Ad-GCS on Android 2.3 (2.8.5)

What is "toggle movable" function ?

What is "default altitude" and how it coresponding with other settings ?

1. Take off
We can set:
- altitude - set relative alt to climb and hold
- target radius - in meters - questions:

Is it the diameter of the copter holds positions?
or if copter will be 5 meters from the point it will not start ? or if start, go to this point ?
- loiter time - wiki said it is in ms .... sure ? maybe in "s" (seconds) ? what is that time ?
- vertical speed - in m/s, it's clear
- POI Heading - default is -0.0 (degrees), that it mean - the front to starting position ? or "don't turn" ?
when we set e.g 90 deg - copter turn to face east ? or turn 90 deg from starting position ?

2. Waypoint
- lat/long - it's clear
- altitude - default 0 (in meters), this value keep previous alt, ok but when we set e.g. 10, copter climb to 10 meters or 10+previous alt ? or when previous is higher ... previous-10 meters ?
- target radius - clear - diameter of "hit" point
- loiter time - what is it ? it's time during copter set e.g POI heading ? or waiting in this posion ?
- hor. speed - clear
- poi heading - default -0.0 - it mean what ?
i have some problems with random yawing at points, i raised loiter time ... but ... not solved problem, when I set e.g 90 deg it working fine, without yawing, but seting all points ? :/

3. Orbit (excellent feature)
- lat/long - clear
- altitude 0 (default) - keep alt - cleare, different values - question like at previous
- target radius - clear
- loiter time - from what point time starting ?
- hor speed - clear
- POI Heading -0.0 (default) - works great - keep front copter inside circle, set 180 deg . keep front outside - good

4. RTL
When we can use it ? We must use it at previous point ? (e.g waypoint ?) or somewhere ?
- lat/long ? what point ?
- alt - ?
- target radius - clear
- loiter ?

5. Landing
- lat/long - ok
- alt - ? what alt ?
- hor speed ? can we set landing away from previous waypoint and copter going to landing point at this hor speed and vertical speed ?
- poi heading .. default -0.0 (keep the front ?)
(I have problem with random yawing at landing stage)

More info:
I do some missions. Always used "combo" for orbit (first waypoint and orbit set in this same point).
Landing setting the same in "combo". Waypoint and landing at the same point (it can do problem with yawing ?)

I know that all question have answere in source code ... but it is so complicated now ...

[bluuu]

ok some "fresh meet"
I do 6 successfull misions, but 2 with problems (and some minor problems).

Lets see:

Simple mission:
1. Take off, ascend to 10m - smooth fly
2. Waypoint 1 - set loiter time 10, target radius 1m, poi heading - random yawing at wp1
3. Waypoint 2 - set loiter time 10, target radius 1m, poi heading - random yawing at wp2
4. Waypoint 3 - set loiter time 10, target radius 1m, poi heading - random yawing at wp3
5. Orbit, 5m radius, loiter time 25
6. Waypoint 4
7. Landing

Something goes wrong, see pic.

gone

gone.JPG (20.32 KiB) Viewed 12199 times

Log of mission


What was wrong ?

[bluuu]

Another case

All together Mission, random yawing, "nervous" starting to orbit and ... JUMP (in other topic).

Mission settings:
1. Take off - alt - 10m, target radius 0,5, loiter time 2 (what is it ???), vertical speed 0,5, poi heading -0,0 - all ok
2. Waypoint 1 - alt 0, target radius 2, loiter time 10 (what is it ???), horizontal speed 2, poi heading -0,0 - ok, face to front and go, but in the point ... random yawing (see vid)
3. Waypoint 2 - the same settings but target radius raised to 2,5 - the same effect, random yawing
4. Waypoint 3 - the same but: target radius 2, loiter time 5 - the same effect, random yawing
5. Waypoint 4 - the same
6. Orbit - target radius 3m, loiter time 15 - as you see, nervous prepare and jump, ok, don't panic

after that (in second doing mission succesful)
7. Waypoint 5 - the same settings like Waypoint 4 - random yawing
8. Landing - h speed 0.75, v speed 0.5 - succes but random yawing

vid


LOG:

[chschmid]

Try to set yaw to -0 or -1 to stop the random yawing.

Best
Christof

[bn999]

[bluuu]

chschmid: where could i change it ?

Bill: about saturated ACCs i know. But, as you see .... after that vibes are normal.
Yes, I have rubber dumpers. Look this topic: viewtopic.php?f=24&t=2312&start=20

Next steps:
- change dumpers to nylon stands
- change proppelers size down (from 12x3.8 to 11x5)

But ... one more thing. I request a software "guard" for that.
Possibly scenario:
- do mission (or flying in auto modes) - during flight - braking proppeler - when acc saturated we've got flying killer out of control at full power ....
This situation can be when we touch trees or something.
I still understand Bill your point of view - vibes isn't normal, but accidents and errors can happend during flite.

[bn999]

[HeliHenkie]

Bill,

Can you give a range for the nav_atl_om parameter. What value equals full throttle?

Best regards,

Jan Willem
The Netherlands

[LPR]

[bn999]