[f5soh]

First: Before trying autotakeoff or any automatic stuff you should try PosHold alone.YOU are the pilot, at least while begin testing.

Be sure you select the right flightmode, double check moving your switch and look at PFD or RcInput.

Also take in account the GPS position can drift while flying to close from a house/wall, using almost half sat constellation.
Be sure Mag still Green while motors are running.

[TMGsi]

I did not do the automatic takeoff. ( I am the piloto)

I lifted fhight ( about 3 meters) and selected the PositionHold key on my radio.

I have no way of knowing if the mag is green while the motors are running. I have only the USB cable of i meter to connect to the computer.

[TMGsi]

Why when are with the basic algorithm the quad does not have any tendency, full stable.

When I flew with GPS InS13 algorithm presented tendency

[f5soh]

Complementary (basic) use only Accelerometers/Gyros to find how is the board attitude.

INS13 uses 13 inputs to find the attitude and position.
https://librepilot.atlassian.net/wiki/display/LPDOC/INS13+-+GPS+Navigation?src=contextnavpagetreemode
If your mag is wrong, attitude is not perfect.

But if all is calibrated correctly and not disturbed, all works fine.

AutoTakeOff, posHold, AutoLand:

[TMGsi]

I learned more one, the INS13, 13 is 13 information entries. All working 1khz, wow.

The video is also formidable.

My problem:
In the video posted earlier, to configure. At the time of leaving the 3 axis ( X axis, Y axis and z axis) I can not leave zero.
The problem here can be. Help me

[f5soh]

If you don't have set correctly the auxMag orientation you should not fly...

Set orientation:
First set the Z value: 0 or 180 > look at bar with Z label, move board. Value stay to 0 ?

Second step : change the Yaw value, -90, 0, 90, 180 and check the X and Y bars and try until the value stay around 0.

This assume the onboard mag and auxmag alarms are green and your GPS/Auxmag not oriented randomly at 30° or something.

 

[TMGsi]

I could leave PositionHold.

I'll be honest, I was almost giving up.

But I got it.   Wow....wwwww

Thank you F5soh

Need to become more fixed, it is time that varies but is time that is fixed.

Already is a beginning.

[TMGsi]

In the configuration of video you have just posted the controller and the compass.

In my case, the controller is already installed in the frame, motor, esc, all installed.
To set the compass in this mode is more complicated to make the perfect settings?

to be perfect is to be only the controller and the compass?

[f5soh]

No issue.
All calibrations should be done if flight conditions, all installed on frame... especially for Mags.
Except maybe accelerometer calibration that can be done more easily using a box on a desk.

For video, manipulate a board is more easy than a complete frame.

[TMGsi]

I did not understand how to calibrate the accelerometer using a box on the desk.

pass this tip, more detailing.

[f5soh]

This calibration should be done while the controller is unmounted on frame, a controller case is preferred and allow accurate/stable positions.
The controller can be adjoined against a box for best position.

https://librepilot.atlassian.net/wiki/display/LPDOC/Sensor+calibration#Sensorcalibration-Accelerometercalibration

Board in a case and a small box that help to maintain the case/board at all steps

[TMGsi]

I made a flight VelocityRoam. But I have to leave the quad more estable. In PositionHold so the quad can not get more than 10 seconds, it starts to encircle the point and leave may even fall.

The quad I'm testing the flight mode GPS is a 250mm. This type of quad is with good settings? or just quad greater than is good?

I can not better leave the settings.

[f5soh]

If the quad start to do "toilet boiling" after a few second the issue is Mag.

Did you set the Mag source to AuxMag only ?
Where you mount the AuxMag ?

If Mag is not disturbed and away from power wires, there is no issue with frame size.

[TMGsi]

Yes, only the GPS auxiliary.

see the photos in  which the GPS is located.


I had to make the GPS support, not support came when he got , and a two months delay to get the support, so I did this.

[f5soh]

Mag should not be disturbed here...

Be sure the orientation is ok, double check if compass heading in PFD match the North for example.
You can switch fusion algorithm from INS13 to INS13Indoor so you don't need GPS and can still indoor.