Loiter/Auto issue

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Arducoper APM2
What steps will reproduce the problem?
1.Tuned for acro, then stab modes and works fine. 
2.Then turning Loiter or Auto does the same.
Banks to front left and goes that direction with increasing of bank and not 
even try to level..
If increasing Loiter_P gives faster way of that. Similar with NAV_P.
higher numbers - gives higher rate, but does the same.
Was ok with older firmwares.

Using Arducopter 2.5.3 

Virgis

Original issue reported on code.google.com by virgi...@gmail.com on 9 Apr 2012 at 2:34

Attachments:

• Arducopterissue.jpg

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Oh and does the same with waypoints.. doesn't matter where are the waypoint.

Virgis

Original comment by virgi...@gmail.com on 9 Apr 2012 at 2:36

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Virgis,
    you have a magnetometer of course?  I'm sure you do.
    Do you have any logs?

Original comment by rmackay...@gmail.com on 10 Apr 2012 at 12:12

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Yes. Magnetometer is integrated in APM 2.0
Here is a zip file with few logs that I had last night. Not all of them include 
mode change: Stab-> Auto/Loiter.
Thanks for support!

Virgis

Original comment by virgi...@gmail.com on 10 Apr 2012 at 2:02

Attachments:

• logs.rar

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I looked and your gains are just horribly off.  They are far too high. What 
version of the planner are you using? That layout seems incorrect. I've not 
used the planner in a while, and it looks like I need to soon.
Please use the default PIDs and tune them in small amounts.

Your PIDs
Loiter_kP = 4
Loiter_rate_kP = 2
If you are 100cm away from the loiter you're saying you want to move to the 
center at 400cm/s. That's pretty high. 
(.25 would mean 25cm/s)

Original comment by jasonshort on 10 Apr 2012 at 8:10

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Thanks Jason,

  I was increasing Loiter PIDs without any success.
Actually, I can't find exact description  about all PIDs and what is it doing 
at all. So difficult to tune things here. 
Is there a nice "manual" to understand them? because in Wiki, all are described 
as sluggish or oscillating if too high :)
Any help will be useful. 
Thanks

Virgis

Original comment by virgi...@gmail.com on 10 Apr 2012 at 8:18

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There is a wiki page here:
http://code.google.com/p/arducopter/wiki/AC2_loiter_PID
Let me know what can be improved!
Jason

Original comment by jasonshort on 10 Apr 2012 at 8:46

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I've read this many times and can't understand how it works. You gave me better 
understanding here about those 400cm/s than wiki page!
Need more info about Loiter and Navigation. How things are connected here.
I think, need more examples as you have wrote here (for my Loiter_kp = 4).

Virgis

Original comment by virgi...@gmail.com on 10 Apr 2012 at 8:55

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I will make better diagrams. Thanks.
Jason

Original comment by jasonshort on 11 Apr 2012 at 12:27

• Changed state: Done

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Please check out the interactive diagram. Does that help?
http://code.google.com/p/arducopter/wiki/AC2_loiter_PID

Jason

Original comment by jasonshort on 11 Apr 2012 at 5:42

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This is nice! Thanks.
When does it reach the max bank angle?
Thanks!

Virgis

Original comment by virgi...@gmail.com on 11 Apr 2012 at 5:58