@Thorsten wrote:
Hi all,
I recently upgraded some copters from an early version of 3.4 to 3.4.5 or 3.5rc2.
Normally I fly in PosHold or Auto modes. For some AutoTune and config tests I used Loiter as a starting point as usual. Interestingly, on all copters loiter dangerously sluggish with slow overshots, while PosHold is perfect. This is definitely something new.I follwed the advices in the manual at http://ardupilot.org/copter/docs/loiter-mode.html?highlight=loiter%20tuning:
Common Problems
The vehicle slows to a stop very slowly after the pilot releases the sticks (aka “freight train stop”). This can be resolved by increasing WPNAV_LOIT_MAXA (to perhaps 500), WPNAV_LOIT_MINA (to perhaps 100) and WPNAV_LOIT_JERK (to perhaps 4000).But this did not help. Is there anything else I should try to adjust?
What is the most important value to fight such a behaviour - WPNAV_LOIT_MAXA, WPNAV_LOIT_MINA or WPNAV_LOIT_JERK?Thanks in advance!
Thorsten
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