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RTL Sometimes Flies Away Rather than Returning Home #502

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Arducoper NG or ACM?
Hardware: APM2
Firmware: AC2.6
Airframe: Quad, Flat Hex

What steps will reproduce the problem?
1. Take off in STABILIZE mode, altitude at least 10m
2. Fly at least 20m away from launch point, far enough to verify correct RTL 
behaviour
3. Select RTL mode and observe beahviour of drone

What is the expected output? What do you see instead?
Drone should fly over its launch point at a controlled speed.

Instead, the drone occasionally flies away rapidly in some seemingly-random 
direction.

What version of the product are you using? On what operating system?
Reliably reproduced in V2.6  
Occasionally reproduced by myself and reported by others on the forums in 
V2.7.3.  

Please provide any additional information below.
Please examine attached video and flight log excerpts.  The recording of the 
OSD is especially useful: 

* GPS coordinates reported in the OSD and the logfile is correct to within a 
few m, as confirmed in Google Earth.  

* The drone flies in the direction of the home arrow, though that direction 
changes. 

* Distance home increases.  It should decrease if flying home.

* long_error and lat_error from the NTUN lines of the log (second and third 
numbers, respectively) increase rapidly while in RTL mode.  See 
Flightlog119ExerptNTUN.txt

* target_bearing changes (perhaps to match moving lat_error and long_error)

* during this test the compass bearing shown on the OSD is incorrect (off by 
nearly 180 degrees), as it was in the flight video posted above.  In a similar 
flight from the same day, where RTL worked fine, the compass reports correctly. 
 Coincidence?  Probably not.

Original issue reported on code.google.com by googlec...@fetemobile.ca on 21 Oct 2012 at 9:56

Attachments:

GoogleCodeExporter commented 9 years ago 
Reproduced in AP2.7.3 quite reliably.  Additional data, and (sort of) a 
work-around discussed here:
http://diydrones.com/xn/detail/705844:Comment:1012382

Video of error and work-around posted here:
http://diydrones.com/forum/topics/rtl-error-additional-data

Original comment by googlec...@fetemobile.ca on 26 Oct 2012 at 5:40

GoogleCodeExporter commented 9 years ago 
As per comments on thread, built a version with MOUNT, CAMERA, AP_LIMITS off.  
5/5 flights had functional RTL and loiter.  Will test with MOUNT/CAMERA 
enabled, but AP_LIMITS still turned off.

Original comment by googlec...@fetemobile.ca on 31 Oct 2012 at 7:45

GoogleCodeExporter commented 9 years ago 
As per discussion on the forum thread, and extensive testing, problem (in my 
case and possibly in others') was tracked down to a faulty compass.  The drone 
boots up thinking it's facing north, regardless what direction it's actually 
facing.  

Not sure if this is a hardware fault or a combination firmware/hardware fault, 
but a workaround (always boot facing north) has been worked out and the problem 
has been isolated to a single (in my case) APM.

Original comment by googlec...@fetemobile.ca on 6 Nov 2012 at 5:29

GoogleCodeExporter commented 9 years ago 
Caused by a APM HW failure

Original comment by Benny.Si...@gmail.com on 19 Jan 2013 at 6:40

GoogleCodeExporter commented 9 years ago 
Issue closed. 
If you find this is an error please report it in the new issues list
https://github.com/diydrones/ardupilot/issues?labels=ArduCopter&page=1&state=ope
n

Original comment by Benny.Si...@gmail.com on 19 Jan 2013 at 6:41