Just yesterday I have found some time to test latest Firmware in action.
I started off once again with testing Stabilized flight. After double checking that all works as expected I started off with AP mode with CIRCLE_REL command:
Latitude: 0
Longitude: 0
Radius: 150
Height: 100
I flew to safe altitude, stabilized the flight and switch to AP.
Plane rolled to left and started a turn (circle figure). One thing I noticed that it was loosing altitude during this turn.
Every time I switched to AP it was doing a turn with loosing high.
I decided to land and double check everything.
And then came out following questions
- is given above high relative to take off position or GPS position?
- is the calibration and position of the gluonpilot board correct? I started to double check gluonpilot calibration - originally this calibration was done on flat table and then put into the plane. I have added additional pad bolts in the rear mount of the board to change the angle.
Except changing gluonpilot position angle in the plane I have changed flying height to 150m.
The flight was much better. I did 4 full circles in AP mode, but still altitude wasn't stable, but much better.
I guess that I have to work on better calibration.
Now here is the flight path:
- 04.09_Circle_rel.JPG (162.8 KiB) Viewed 75841 times
And here is another photo of my plane in the field:
- 04.09.2010_2.JPG (274.87 KiB) Viewed 75841 times