1.9 RTH SPIRAL..TWO BOARDS TWO SHIPS

[biomedchad]

Betflight f3 and clraving f4air v2

Behavior

upon first sat lock and launch the ships will spiral into the ground instead of rth. after they are brought back and repowered they run just fine. gps coordinates seem to be 180 off upon initial gps lock and launch. after reboot, they are normal and read fine.

_Is this a new feature request? NO

Blackbox logs/Config (.ZIP) where problem occurs

_Go to CLI, execute dump command copy its output to PasteBin and provide a link to a paste here.

Upload a zipped blackbox log (if available)

[stronnag]

Please verify the nav sensors are working correctly by checking against https://github.com/iNavFlight/inav/wiki/GPS--and-Compass-setup and in particular https://github.com/iNavFlight/inav/wiki/GPS--and-Compass-setup#initial-flight-tests

Once these are complete, please provide a blackbox log, otherwise it is unlikely that we can help you.

[biomedchad]

I understand. I believe this is now a heading issue..gps..not sure..same gps m8n mini that many use from 2 different vendors. heading goes crazy on launch and then when I land and go into osd and reboot it works fine..hope that helps. posting video on the inav facebook group

[biomedchad]

https://www.youtube.com/watch?v=uD2rPs9HI7s

[wx4cb]

are you using the gps AND a compass? try turning the compass off and just use the heading from the gps?

[JDFPV]

Im having the very same issuse. And im not using a compass on my plane. Running omnibus f4 pro board. Ublock 8m gps. Everything worked perfectly fine on 1.8 firmware. Swithced to 1.9 and the problem started.

[shellixyz]

Please provide a config dump and blackbox log.

[JDFPV]

Here's my dump files. I did not have a sd on board when this happened to me using rth. But this issues has happened to me twice.

dump

version

INAV/OMNIBUSF4PRO 1.9.0 Mar 27 2018 / 03:57:42 (dc4ef594)

resources

mixer

mixer FLYING_WING

mmix reset

servo mix

smix reset

servo

servo 0 1000 2000 1500 100 -1 servo 1 1000 2000 1500 100 -1 servo 2 1000 2000 1500 100 -1 servo 3 1000 2000 1500 -100 -1 servo 4 1000 2000 1500 100 -1 servo 5 1000 2000 1500 100 -1 servo 6 1000 2000 1500 100 -1 servo 7 1000 2000 1500 100 -1

feature

feature -RX_PPM feature -VBAT feature -TX_PROF_SEL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -TRACE feature VBAT feature TX_PROF_SEL feature MOTOR_STOP feature GPS feature CURRENT_METER feature BLACKBOX feature AIRMODE feature PWM_OUTPUT_ENABLE feature OSD

beeper

beeper RUNTIME_CALIBRATION beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map AETR5678

name

name -

serial

serial 20 1 115200 38400 0 115200 serial 0 64 115200 38400 0 115200 serial 2 64 115200 38400 0 115200 serial 5 2 115200 115200 0 115200

led

led 0 0,0::C:0 led 1 0,0::C:0 led 2 0,0::C:0 led 3 0,0::C:0 led 4 0,0::C:0 led 5 0,0::C:0 led 6 0,0::C:0 led 7 0,0::C:0 led 8 0,0::C:0 led 9 0,0::C:0 led 10 0,0::C:0 led 11 0,0::C:0 led 12 0,0::C:0 led 13 0,0::C:0 led 14 0,0::C:0 led 15 0,0::C:0 led 16 0,0::C:0 led 17 0,0::C:0 led 18 0,0::C:0 led 19 0,0::C:0 led 20 0,0::C:0 led 21 0,0::C:0 led 22 0,0::C:0

[JDFPV]

led 23 0,0::C:0 led 24 0,0::C:0 led 25 0,0::C:0 led 26 0,0::C:0 led 27 0,0::C:0 led 28 0,0::C:0 led 29 0,0::C:0 led 30 0,0::C:0 led 31 0,0::C:0

color

color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0

mode_color

mode_color 0 0 1 mode_color 0 1 11 mode_color 0 2 2 mode_color 0 3 13 mode_color 0 4 10 mode_color 0 5 3 mode_color 1 0 5 mode_color 1 1 11 mode_color 1 2 3 mode_color 1 3 13 mode_color 1 4 10 mode_color 1 5 3 mode_color 2 0 10 mode_color 2 1 11 mode_color 2 2 4 mode_color 2 3 13 mode_color 2 4 10 mode_color 2 5 3 mode_color 3 0 8 mode_color 3 1 11 mode_color 3 2 4 mode_color 3 3 13 mode_color 3 4 10 mode_color 3 5 3 mode_color 4 0 7 mode_color 4 1 11 mode_color 4 2 3 mode_color 4 3 13 mode_color 4 4 10 mode_color 4 5 3 mode_color 5 0 9 mode_color 5 1 11 mode_color 5 2 2 mode_color 5 3 13 mode_color 5 4 10 mode_color 5 5 3 mode_color 6 0 6 mode_color 6 1 10 mode_color 6 2 1 mode_color 6 3 0 mode_color 6 4 0 mode_color 6 5 2 mode_color 6 6 3 mode_color 6 7 6 mode_color 6 8 0 mode_color 6 9 0 mode_color 6 10 0

aux

aux 0 0 3 1200 1325 aux 1 1 0 1450 1575 aux 2 2 0 1025 1150 aux 3 3 0 1400 1600 aux 4 8 1 1850 2025 aux 5 19 1 1000 1175 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

adjrange

adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

master

set looptime = 2000 set gyro_sync = ON set gyro_sync_denom = 2

[JDFPV]

set align_gyro = DEFAULT set gyro_hardware_lpf = 20HZ set gyro_lpf_hz = 60 set moron_threshold = 32 set gyro_notch1_hz = 0 set gyro_notch1_cutoff = 1 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 1 set vbat_adc_channel = 2 set rssi_adc_channel = 3 set current_adc_channel = 1 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6000 set acc_lpf_hz = 15 set acczero_x = 144 set acczero_y = -66 set acczero_z = -259 set accgain_x = 4081 set accgain_y = 4068 set accgain_z = 4040 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set align_mag = DEFAULT set mag_hardware = NONE set mag_declination = 0 set magzero_x = 0 set magzero_y = 0 set magzero_z = 0 set mag_calibration_time = 30 set baro_hardware = NONE set baro_median_filter = ON set pitot_hardware = NONE set pitot_use_median_filter = ON set pitot_noise_lpf =  0.600 set pitot_scale =  1.000 set receiver_type = SERIAL set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 100 set rssi_invert = OFF set rc_smoothing = ON set serialrx_provider = SBUS set sbus_inversion = ON set rx_spi_rf_channel_count = 0 set spektrum_sat_bind = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SDCARD set sdcard_detect_inverted = ON set min_throttle = 1000 set max_throttle = 2000 set min_command = 1000 set motor_pwm_rate = 400 set motor_pwm_protocol = STANDARD set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_throttle_low_delay = 100 set failsafe_procedure = RTH set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set align_board_roll = 22 set align_board_pitch = -40 set align_board_yaw = 0 set gimbal_mode = NORMAL set vbat_scale = 1100 set vbat_max_cell_voltage = 430 set vbat_min_cell_voltage = 200 set vbat_warning_cell_voltage = 250 set battery_capacity = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH set current_meter_scale = 700 set current_meter_offset = 0 set current_meter_type = ADC set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_center_pulse = 1500 set servo_pwm_rate = 60 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 180 set fixed_wing_auto_arm = OFF set disarm_kill_switch = OFF set auto_disarm_delay = 60 set gps_provider = UBLOX set gps_sbas_mode = AUTO set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 20 set alt_hold_deadband = 50

[biomedchad]

It’s all in my video. No compass or mag. All turned off. This is the same fixed wing setup that everyone uses and the wiki recommended.

[shellixyz]

@biomedchad I can't see any RTH in your video and a video is not the same as a flight log.

[shellixyz]

@JDFPV Your config is incomplete and please don't post in multiple comment.

[JDFPV]

set 3d_deadband_throttle = 50 set fw_autotune_overshoot_time = 100 set fw_autotune_undershoot_time = 200 set fw_autotune_threshold = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_ff_to_i_tc = 600 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_reset_altitude = FIRST_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p =  3.500 set inav_w_z_surface_v =  6.100 set inav_w_z_baro_p =  0.350 set inav_w_z_gps_p =  0.200 set inav_w_z_gps_v =  0.500 set inav_w_xy_gps_p =  1.000 set inav_w_xy_gps_v =  2.000 set inav_w_z_res_v =  0.500 set inav_w_xy_res_v =  0.500 set inav_w_acc_bias =  0.010 set inav_max_eph_epv =  1000.000 set inav_baro_epv =  100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = NEVER set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_rth_altitude = 15240 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1500 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1800 set nav_fw_bank_angle = 35 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 4000 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_max_angle = 45 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 18 set telemetry_switch = OFF set telemetry_inversion = OFF set frsky_default_latitude =  0.000 set frsky_default_longitude =  0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set frsky_vfas_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set ledstrip_visual_beeper = OFF set osd_video_system = 0 set osd_row_shiftdown = 0 set osd_units = IMPERIAL set osd_stats_energy_unit = MAH set osd_rssi_alarm = 20 set osd_time_alarm = 200 set osd_alt_alarm = 1524 set osd_artificial_horizon_reverse_roll = OFF set osd_crosshairs_style = DEFAULT set osd_left_sidebar_scroll = NONE set osd_right_sidebar_scroll = NONE set osd_sidebar_scroll_arrows = OFF set osd_main_voltage_pos = 2456 set osd_main_voltage_decimals = 1 set osd_rssi_pos = 23 set osd_flytimer_pos = 2071 set osd_ontime_pos = 279 set osd_flymode_pos = 2444 set osd_throttle_pos = 65 set osd_vtx_channel_pos = 200 set osd_crosshairs_pos = 0 set osd_artificial_horizon_pos = 2248 set osd_current_draw_pos = 2425 set osd_mah_drawn_pos = 2401 set osd_wh_drawn_pos = 161 set osd_bat_remaining_capacity_pos = 193 set osd_bat_remaining_percent_pos = 225 set osd_craft_name_pos = 84 set osd_gps_speed_pos = 2241 set osd_gps_sats_pos = 2049 set osd_gps_lon_pos = 402 set osd_gps_lat_pos = 384 set osd_home_dir_pos = 2126

[JDFPV]

set osd_home_dist_pos = 2433 set osd_altitude_pos = 2264 set osd_vario_pos = 183 set osd_vario_num_pos = 248 set osd_pid_roll_pos = 322 set osd_pid_pitch_pos = 354 set osd_pid_yaw_pos = 386 set osd_power_pos = 47 set osd_air_speed_pos = 163 set osd_ontime_flytime_pos = 24 set osd_rtc_time_pos = 407 set osd_messages_pos = 2338 set osd_gps_hdop_pos = 320 set osd_main_cell_voltage_pos = 44 set osd_throttle_auto_thr_pos = 70 set osd_heading_graph_pos = 2058 set osd_efficiency_mah_pos = 161 set osd_efficiency_wh_pos = 161 set i2c_speed = 400KHZ set debug_mode = NONE set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set tz_offset = 0 set display_force_sw_blink = OFF

profile

profile 1

set mc_p_pitch = 40 set mc_i_pitch = 30 set mc_d_pitch = 23 set mc_p_roll = 40 set mc_i_roll = 30 set mc_d_roll = 23 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 2 set fw_i_pitch = 15 set fw_ff_pitch = 70 set fw_p_roll = 2 set fw_i_roll = 15 set fw_ff_roll = 30 set fw_p_yaw = 50 set fw_i_yaw = 45 set fw_ff_yaw = 0 set fw_p_level = 10 set fw_i_level = 15 set fw_d_level = 75 set max_angle_inclination_rll = 600 set max_angle_inclination_pit = 600 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set dterm_setpoint_weight =  0.000 set fw_iterm_throw_limit = 165 set fw_reference_airspeed =  1000.000 set fw_turn_assist_yaw_gain =  1.000 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 50 set nav_mc_pos_z_i = 0 set nav_mc_pos_z_d = 0 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 180 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_heading_p = 60 set nav_fw_pos_z_p = 50 set nav_fw_pos_z_i = 0 set nav_fw_pos_z_d = 0 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set rc_expo = 70 set rc_yaw_expo = 20 set roll_rate = 40 set pitch_rate = 15 set yaw_rate = 20 set manual_rc_expo = 70 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100

[JDFPV]

Complete

[JDFPV]

Sorry. i just seen where you said not to send in mutiple comments. For some reason using my phone it would not allow me to send my dump files in full.

[biomedchad]

2:19 and 5:30. Can’t see how it could be any clearer unless i blow up the text. Did you watch the video or skip around? But I’ll get a log when weather cooperates.

[shellixyz]

You should check your video link. I can only see one explanation. You linked the wrong video.

[biomedchad]

https://www.youtube.com/watch?v=v13BZC4VSUc&app=desktop

[biomedchad]

Dang my bad. Ok here it is. For real this time.

[shellixyz]

@biomedchad I think your HDOP was just too high in the first flight. Seems better on the second flight when you have more sats. Also understand that the heading doesn't mean anything if you don't have a mag and are not moving. We will see with a log.

[shellixyz]

@JDFPV I can't see anything wrong with your config. Are you sure your wing can climb at 20° with throttle at 1700 ? Otherwise it is possible it is just stalling. Did you use the same config than with 1.8 ? We need more info to draw any conclusion. Log and more details on what is happening.

[JDFPV]

Yes the plane can climb at 20° with 1700 throttle. The plane is not stalling. And yes this is the same config i use with 1.8. I actually down graded back to 1.8 just to check my gear. And rth works perfect. Theres only seem to be a problem when 1.9 is on the fc. My compass heading seems to be ok. But i notice during flight the home arrow is pointing in the wrong orientation home. I went to the extent to turn my plane with the nose facing home, engaged rth and the plane still turns and spins. I have dvr footage i can upload if you would like to see this first hand. The plane im using 1.9 in is so small that there is no easy way for me to put a sd card in.

[biomedchad]

it seems like letting the gps warm up on the ground and gain more sats and improve hdop corrected my issue here after 1 flight. more testing to come

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