Flew a few flights today with the Katana and the new ver .5 beta. I only used circle relative in a loop but all went well. There was about a 5 knot wind from the east and some significant thermal/turbulence. Only real comment is I had to really dial down the altitude error -> pitch P gain to about .05 to mitigate extreme pitch oscillations. I adjusted it after the first flight below. I might still go a bit lower. This was noticible on the ground when I moved the airplane attitude as very jerky elevator movement. During the second flight I let it fly hands off for about five orbits.
Circle shape is much improved over ver .3 and the circle radius measures very close to the input value.
A few minor details with gluonconfig. After a CIRCLE_REL command is set. When it is recalled for edit the lat and longs are reversed. Also negative longitudes cannot be entered for absolute coordinates. Yes, I live way over here!
It would be very nice to be able to save and load flight plans to/from a file and to invoke the "To KML" function to be able to preview a flight plan after it is built.
Thanks Tom - great progress. Now I'm going to fly some more complex flight plans and see how that goes.
first flight - altitude error -> pitch P gain was way too high
second flight