LibrePilot Forum

General Category => General Discussion => Topic started by: sympley on December 09, 2015, 04:04:44 am

Title: Revo major drift in GPS flight mode
Post by: sympley on December 09, 2015, 04:04:44 am
Need some help in figuring out what else I ca try to make my CC3D Revo work in GPS mode. 

Some equipment info:
250mm Tarot Robocat drone
Afro Spec with Simon K 20A ESC
Multistar Elite K2300 2 x CW
Multistar Elite K2300 2 x CCW
Revo board
Ublox M8N GPS
3S 2200mAh battery
OPLink wireless connection
F701 RX for Spektrum 7 channel TX

If I set up the FC to be used in the Basic(Complementary) mode without GPS it flies very good.  Everything works well.  Once I set up to run in the GPS navigation(INS13) mode I get major drift and overall chaotic flight.

I have tried the following:
- re-calibration of the sensors (many, many times)
- re-calibration of the sensors via wireless connection to avoid USB interference (many, many times)
- re-calibration of the full set up, including drone type, motors, transmitter, etc. (many times)
- checked if the barometer is OK via the scope tab in the GCS (seem OK , no major out of control elevation changes)
- All software and firmware is up to date. 

I am mot sure what else to try.  I spend the last 2 weeks working on this and I am not sure where to go or what else to do next.

Can anyone suggest some other things I can try?
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on December 09, 2015, 11:10:40 am
Hi,

Welcome here.

How is the Mag alarm in SystemHealth while flying ?

Please post you config file: File > Export UAV settings.
Title: Re: Revo major drift in GPS flight mode
Post by: TheOtherCliff on December 09, 2015, 05:46:49 pm
We probably need either a detailed description of what it is doing wrong, or a video with a running audio commentary of what it is doing wrong.

"major drift and overall chaotic flight"  if this is mainly a vertical problem it is one thing (baro, several possibilities).  If horizontal, be aware that before the first flight of the day, you need to let the quad sit outside, powered up, for 15 minutes, to download the almanac and get a really good satellite fix.

How well does Attitude mode with AltitudeVario thrust sub-mode fly?
Title: Re: Revo major drift in GPS flight mode
Post by: DR. COPTER on January 14, 2016, 12:59:17 pm
hello,
i have exact the same problem.... we are here on canary islands/fuerteventura and build & repair copters and used a lot of OP CC3D flight controllers. i personally build up over hundert copters with CC3D without any problem but this REVO board makes me crazy. we ordered (aliexpress + banggood) from two different sources each 3 controllers and are not able to bring them up in the air! iam now two weeks trying to calibrate them... no way.  in basic mode absolute no problem, copter flights well... changing settings to GPS mode all goes wrong!
also in the HUD very unstable when copter is sitting still on the table. somtimes power on and HUD shows 45 degree roll to the right.
somtimes also in stabilezed mode without any GPS function drifts hard to the right...
new calibration without GPS in wizzard.... copter flights smooth... changing settings again to gps and also change flight modes with gps function... all three flightmodes are not longer flighable... including 1. flight mode (stabilize 1 standard, without any GPS function or assist)
i do not like to capitulate after two weeks of intensive investigations but i need really help!
somebody here on canary islands or UK who wants to visit me :-) for some days ?
you can send me email to my personal address with your contact phone number, i will call you by skype:  [email protected]
thanks to all future help and some sunny greetings from the canary islands
Title: Re: Revo major drift in GPS flight mode
Post by: Joe_D on January 14, 2016, 01:19:58 pm
Hello, I was experiencing the same behaviour 4 months ago using a Revolution board from fisherhobby. I was not able to obtain a stable flight until I bought a separate compas and wired it instead of the on board mag. I mounted it 10cm away from all the power lines and today my tricopter is flying without problem, attached is a video showing a hovering in the wind.

You can add the external mag like I did or wait for the next release of the Librepilot that will support the I2C connection for the compas.

I also had a baro problem with the revo clone, I had to remove a capacitor as explained in the "Warning: At least some sellers are selling Revos with bad baros" topic.

First I would recommend to check the MAG status when flying, it should stay green most of the time. Then you can check the Baro accuracy in thes cope window, it should fluctuate +/-0.5m max.

Joe
Title: Re: Revo major drift in GPS flight mode
Post by: Mateusz on January 14, 2016, 01:58:02 pm
First I would recommend to check the MAG status when flying, it should stay green most of the time. Then you can check the Baro accuracy in thes cope window, it should fluctuate +/-0.5m max.

Keep in mind that

CC3D is very different from Revo. CC3D afaik uses complementary filter to fly and only two sensors Gyro and Accel. Revo uses extended kalman filter (EKF) with additional sensors Mag, Baro and GPS.
Although EKF picks best of all sensors, if one component is badly calibrated it may introduce noise. If you see oscillations in EKF atitude.states in Scopes, then from my experience it was usually Mag problem.

When it comes to GPS
Title: Re: Revo major drift in GPS flight mode
Post by: TheOtherCliff on January 15, 2016, 12:50:02 am
What GPS are you using?  If using the OP GPS with mag, and you have configured to use external mag (the one on the GPS) then you must have GPS/mag pointing in the correct direction.

External mag puts mag sensor farther away from the bad high current wires in the quad.  Released version only supports OP GPS mag for external mag.  Next release will have more options for external mag.

All multicopters that want to use GPS must have a working mag sensor.  To make that work, you must carefully and tightly twist all high current wire pairs (and triples):  Battery to Power Distribution Board, PDB to ESC, ESC to motor.  For very small quads or very powerful quads, this is not good enough and you must use an external mag sensor.

I recommend that you start with two modes on your flight mode switch:  Attitude, and VelocityRoam.
Title: Re: Revo major drift in GPS flight mode
Post by: ptbh on February 07, 2016, 08:49:52 pm
I too am having problems trying to get my quad to work with GPS(INS13), experiencing the same issues expressed by others on this topic.  I do believe that the revo onboard mag is potentially the issues as this shows instability when the motors are powered up.  I would like to try the external I2C mag which is in the antenna housing with the uBlox M8N, mounted much further away from the power wiring.  When is the next firmware release likely to be available that will support more options for external mags?  If not soon, how could I use an external mag like Joe_D has done?
Title: Re: Revo major drift in GPS flight mode
Post by: TheOtherCliff on February 22, 2016, 01:04:06 pm
Just making some long delayed rounds of the forum.

Does your mag sensor health go red when the motors are running at hover power?  If so, it is basically not flyable in GPS modes till you fix that.

The first thing to do to fix your mag problems is to twist all your power wire pairs / triplets: mattery to PDB, PDB to ESC, ESC to motor, and use a good PDB or hand wiring.  This is required, but more is needed for powerful or small multicopters.  It is basically impossible to use the onboard mags on a small and powerful multicopter.  If you still have mag problems that only happen with the motors running, then you need an aux mag.

The second thing is to use an external (aux) mag.  With 15.09 that means OP GPS V9.  To use the mags in a cheap eBay PixHawk/APM GPS (or a DJI GPS which only needs one port, like OP GPS V9) you must:
- read https://librepilot.atlassian.net/wiki/display/LPDOC/Aux+Mag+Setup+and+Calibration
- really ... read it :)
- make a cable
- wait for the next release or build it yourself (I find build setup to be easy on a current Linux)
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 12, 2016, 05:49:15 am
Hi, I too am able to get "All Sensors Green" with GPS disabled. This includes Mag. The Mag is Green while GPS is Disabled. In fact I can enable GPS, set a light mode to use GPS assist and mag is still green and artificial horizon as flat, level and stable and correct. However Config Alarm is red now (while it was green before). When I click on it says that because I have selected a GPS assisted flight mode that I must also use INS13. So I change it from Complimentary to INS13 and this is where things go nuts. The artificial horizon is moving about and far from flat and level. The Atti and Mag alarms are now both Red :/ This is while Quad is stting on the bench not flying etc. Its like its trying to use the GPS on board compass or something.. maybe. i dunno. Eitherway, it looks pretty clear that the mag is well and trly calibrated. I can fly straight and level too, so long as GPS is not enabled. and I can still have gree Mag and Atti so long as INS13 is not selected (even with GPS enabled on main port).

So given that I have a green Mag and Atti, and that Artificial horizon and compass are all the way I would want them and I can fly straight and level (when GPS is NOT enabled) Doesn't this mean that something else is a miss here? It appears to be something to do with INS13. Is there something else I need to be selecting?

Should I post screenies or config files? If so. Should I post one from when GPS is NOT enabled (all sensors green), and then two from when GPS is enabled,  (but complimentary) then another with GPS enabled (but with INS13 enabled) coz it seems to only go to hell when INS13 is enabled. Cheers :D Hopefully this will help not only myself but all others who are experiencing the "Can fly with NO GPS, but when GPS enabled everything is crazy"

This is my GPS:

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=89565

This is my Revo:

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=89563
Title: Re: Revo major drift in GPS flight mode
Post by: hwh on April 12, 2016, 06:30:58 pm
The gps you posted a link to doesn't seem to have the second connector necessary for it to have a usable mag sensor.  Have you taken it apart and verified that it actually has a mag sensor and soldered wires to connect it?  Some of the gps units that say they have a mag sensor but don't have the wire also don't have the sensor on the board.

The mag sensor is unused/ignored until you select INS13.  If you didn't connect a second wire to the gps then you're trying to use the revo's onboard mag sensor.   Much of the time they don't work reliably because of interference from the magnetic fields from power wires inside the quad.  There are posts in the forums about twisting all the wiring to minimize the interference but that doesn't always work.  That was the main reason for the external mag sensors.  Other than the no longer made GPS Platinum external mags only work if you are compiling and running the next branch of the code, release 15.09 doesn't support other external mags.

In order to fly with the gps modes you have to get the mag to green while INS13 is selected.  If you click on the red status in system health it will tell you why it's red.
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 13, 2016, 11:16:07 am
OK, cool thanks for that info. I have figured how to partially get round this issue by going in to System setting> Aux Mag and you have an option for Aux Mag, On board only and Both. Mine was selected on "both" Its now on "On Board only" The on board mag seems to function just fine. Infact. I have everything working well in terms of green lights now. the problem is that the artificial horizon is pitching and rolling and the compass drifting a little even when sitting on a flat, level, stable surface. but its doesn't do that when INS13 is not selected. So I would guess its something to do with the way the Data from sensors is fused together. I imagine these "oscillations" (For lack of a better word) can be tuned out with advanced settings, but I have some reading and learning to do on that subject I would say. However I think it may be within safe limits, it doesn't seem that bad. I guess the only way to know for sure is to test fly it. and try out position hold.

I will post more information a little later. my wife is yelling at me from across the house to take our Fish & Chips out of the over. lol. BBS
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 14, 2016, 10:54:46 am
Seeing as my Magnetometer is green and seems ok (apart from some very sligt and slow drift over time. I might take my issues into a different thread, as this thread is more related to magnetometer i think :)
Title: Re: Revo major drift in GPS flight mode
Post by: Divingkiwi on April 18, 2016, 06:55:14 am
Hi there, I have just built a 250 with CC3D Revo and CC3d GPS module.

I have been able to get it up and steady without GPS enabled, telemetry is good, and all lights green. However as soon as GPS in enabled the motors hit full throttle with as little as 5% throttle and surge erratically, motor to motor.
I disable GPS and she goes back to a noisy little bee, happily scooting around. GPS on and its like a drug addict, no GPS and its all steady.

I have wiped it so many times, done all the configuring outside, clear skies for the GPS etc, and mag.

I have been flying for quite some time, APM, Naza etc, so I know my stuff, but it seems the CC3D Revo GPS is buggy and needs some development work.

I am so somewhat a bit more at ease to see I do not have a dud unit and that others have issues too, but it does seem to be symptomatic of a software development issue.
Naza and APM have it sorted, and as long as you follow the rules about magnetic interference, those systems play ball, but this is a bit different.
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on April 18, 2016, 09:16:58 am
Hi, welcome.

So you resolve all magnetic interference on your 250 sized quad ?

Please note CC3D and Revolution are two different boards.
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 19, 2016, 08:37:10 am
Ah I get it now :/ Duuuhhh. I have always called the Revo Revolution too. For some reason, I, and many others think that's its name. Many other people often correct you and say "CC3D and Revo are two different things. Which they are. But to the UN-initiated, it sounds like those people are just telling you that there is a CC3D, and a Revolution. lol. But there is No such thing is a Revolution, Is there? lol. Its an OP Revolution and there's an OP CC3D, but not a Revolution. And these days we Swap out OP for LP.
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on April 19, 2016, 12:28:55 pm
Chinese cloners just called "Revolution" only for business.

CC3D has only gyro + accel, acro flight controller without GPS features.
Revolution add Mag + Baro and GPS modes.

You can see how looks original boards here:
https://librepilot.atlassian.net/wiki/display/LPDOC/About+LibrePilot

Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 20, 2016, 06:19:07 am
Actually I own both the CC3D and the OP/LP Revolution. I have absolutely no friggen idea what the original title, post or description etc was that caused me to start calling the the Revo a Revolution. lol. Anyway, glad its cleared up. Sighs. Lots of testing and tinkering today. Wish me luck!
Title: Re: Revo major drift in GPS flight mode
Post by: jbarchuk on April 21, 2016, 02:28:13 am
I have absolutely no friggen idea what the original title, post or description etc was that caused me to start calling the the Revo a Revolution. lol.
Because you've seen it many times. Because googling "Revolution" (with the quotes which searches for the -phrase-) returns over SEVENTY THOUSANDS hits. When, in fact, there is no such device as a 'Revolution.' It's a marketing trick to gain more hits. Some titles toss in nano and mini even if the board has nothing to do with those boards. Many chinese manufacturers follow few rules as regards truth or fact. Sometimes it's hard to slow down a glacier.
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 21, 2016, 07:16:56 pm
So im finally getting my head around the terms & conventions, and slowly getting alittle bit of an understanding on how revo works. Today, By Selecting INS13indoor, I was able to clearly see I have Interference on my Mag. I wouldn't have thought it was that  bad, but clearly its enough to cause unstable flight with EKF Also a pretty huge lack of understanding on my part too didnt help. But that's alright im getting there. I'm, one of these people that while I may take a while to get there, I surely get there in the end.

So anyway, Another hurdle I now have is my OPlink radio on board the FC seems to be stuffed, so I will have to either exchange the board or Just try with USB :/ (but ill save that for another thread)

Couple of questions :)

Is it possible to calibrate with USB, so long as all other magnetic interference is largely eliminated? Or is it an absolute must?

One more question: I have the Ublox Neo 6M (M8M) it does indeed have an on board compass, but only has a single cable set. What can I do or what are some of my options to use that Auxiliary Mag? Do I have to cut the cable and splice out a new cable? Or do I have to solder a new cable on some tabs on the GPS Board? None of the above if I build V 16.xx of LP? Cheers, thank you so much :)
Title: Re: Revo major drift in GPS flight mode
Post by: Mateusz on April 21, 2016, 08:16:21 pm
Is it possible to calibrate with USB, so long as all other magnetic interference is largely eliminated? Or is it an absolute must?

One more question: I have the Ublox Neo 6M (M8M) it does indeed have an on board compass, but only has a single cable set. What can I do or what are some of my options to use that Auxiliary Mag? Do I have to cut the cable and splice out a new cable? Or do I have to solder a new cable on some tabs on the GPS Board? None of the above if I build V 16.xx of LP? Cheers, thank you so much :)

Hi Jayson,

It is not recommended to calibrate with USB, as your laptop might be too close and you may break your USB connector on Revo, they're fragile, it's micro-usb.
You should calibrate outdoors far from magnetic interference. Best is to press 5x Save, and on the last 6th calibration step, just rotate slowly at all axis, all directions, and diagonal, to get as much samples as possible.

You should also adjust Virtual Board Rotation to rotate magnetometer in GPS unit, such that it matches magnetometer in flight controller with it's orientation and level (this is important).

On your photo you have Mag which is routed to L (SCL) and A(SDA) pins. Best is to check with multi-meter (continuity mode) if those close pads correspond to the L and A pins. Then you can safely solder there your own pair of wires, route it out from GPS unit and use JST-SH 1.0 4pin connector (pre-assembled crimped wires from ebay) to connect to flexi-io port.

Other thing is that I2C uses 400kHz fast-mode, so cross-talk if SCL and SDA is too close may occur (maybe). Best practice would be to route those wires far apart and keep them short, below 10cm. If you have longer than 10cm I2C wires, it may work, or may not, depends on capacitance and timing. There are some tricks like pull-up resistor which may help on longer wires, but I am not a hardware guy, so my advice is try first by keeping I2C wires short and far apart or twisting scl with vcc and sda with vdd, if that does not work, then google a bit.

Another option is getting Naza compatible GPS, which has magnetometer and gps over just single serial line, and uses just one port on Revo instead of two.

Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 22, 2016, 10:48:25 am
thanks Mat. Thats great starting info. (re the GPS). With USB, I have been using a USB Extension cable. I think its 1.5M Extension. So I can get nearly two meters from the Lappy. But if that's still not recommended, then I may have to get my board exchanged for a new one (from HobbyKing) as I am 99.9% sure the buiilt in Op link Radio is stuffed in someway. (It may not be, I am still exploring that in another thread). I seem to be able to get some kind of a connection. but while the ground radio is definitely transmitting something, the On board Air Radio is not transmitting anything, at least not according to the OPlink settings page and the HUD on the flight page is not responding when I move the FC around. I have an external air radio, but I don't have the right cables to connect it to FC (and im not sure if I even can hook up an ext Radio to a revo that has radio built in). Exploring all these things in another thread. Hopefully will get to the bottom of it soon :)

Thanks again Mateus
Title: Re: Revo major drift in GPS flight mode
Post by: Mateusz on April 22, 2016, 11:19:39 am
For the OPlink

Having oplink is actually one of best features, I also had long USB but still managed to damage micro-usb connector on one Revo ;) Don't repeat my mistake :)
For mag calibration, it is better not to have unnecessary cables around which are not part of the quadcopter. Best calibration results you get by pressing "Save" 5 times and on the last time rotating aircraft in all directions slowly to collect as much samples as possible in all directions, rolls, pitch, yaw, diagonals, then Save.

INS31 (EKF) is really sensitive to bad magnetometer, it can deal with low noise, but magnetometer can go crazy if there is magnetic interference. Mag is not only used for heading, but also to determine up-side down position, imagine what happens if it gets disturb. That's why it is necessary to have mag away from switching components, wires, motors.

Once you get AuxMag communication working, you should consider twisting power wires to redirect magnetic field. First picture in attachment shows the field blue circles around the power wire. Second picture, shows what happens if you twist the wires, the field gets redirected in the direction your wire is running, so it may affect your mag less. Since it's not possible to shield from magnetic field, the only way is to redirect it. Magnetic field of earth is really weak and static compared to what wires in your quad can produce ;)
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on April 23, 2016, 07:46:23 am
Ahh thanks again Mat. I was very aware of not enabling Radio before antenna was on. So im pretty sure I didn't fry it. I think its a bad antenna connection, or perhaps a firmware thing. Because I seem to be able to get some kind of signal connection happening, but Data is not sent from the Air (I judging that by the TX/Rx Data Rate). I have done the upgrade and erase thing a few times too (on the ground radio) I haven't done a rescue though, so I might try that. When both revo and ground Radio are plugged in (Separately of course) GSC shows I have BL Version 6 on both. I wish I had an RF meter for 433. Actually, if they are cheap on ebay I might even get one ( I have a weather station I would like to test where I am getting best signal to help decide where to place base station). So at least I would have two uses for it. In fact I intend going long Range one day on 433 with my bixler, so It would prolly be handy there too.

Anyway I will try Upgrade and erase on ground radio again, as well as see if upgrade and erase on the FC Helps (prolly good idea to start over). If that doesnt work I will try a rescue. If that doesnt work, i may have to consider contacting hobbyking for a replacement/refund. :)

Thanks again Mat, you've been a great help :)
Title: Re: Revo major drift in GPS flight mode
Post by: Mateusz on April 23, 2016, 08:06:24 am
I forgot to say I have only experience with normal Oplink design by Open pilot. Not cost optimized "Oplink Air" invented by Chinese cloners. I assumed you were talking about real Oplink.
Title: Re: Revo major drift in GPS flight mode
Post by: Jayson Black on May 06, 2016, 08:53:07 am
yeah turns out the I cant use an oplink mini ground (from the oplink mini air/ground combo) with the built in OPlink radio on my revo. I dunno if its just my type of revo or which, but I finally got my proper OPlink ground station and I have a very nice good strong comms link. So happy as larry now.

So now I have to try sort out my mag problems. My particular Quad comes in a few variants of its frame (Its a Speedix S250 AQ) I have purchased a complete Frame set of another variant. My one has slight inward swept rear arms (its meant to make it more maneuverable) and this is determined by the angle of the arm attach points on the upper and lower deck carbon fiber frame. So the spare frame set I got comes with the perfect 'X' Shape (this should make calibration a little easier with the FC Mounted). I originally went on to look at just buying the upper and lower deck. They were like $8 each Au. Hobby king had a special on at the time where you could by the whole frame set for $14 lol, which includes, 4 X Arms, Legs, upper and lower Deck, stickers and a screws & Nuts. So I jumped at that. I prolly should have brought two.

Anyway, seeing as I will have an extra deck , I will use spacer/Stand Off's to add a third upper Deck to mount the FC on. about Two inches above the normal upper deck. I am then hoping this will put enough distance between the PDB, ESCS, and Power Cables to significantly reduce magnetic interference. I am hoping this will suffice until I can hook up my Neo 6M with ext compass via the one cable with LP V16.xx. I really don't like messing with surface mount stuff, or surface mount size stuff. I seem to end up cooking boards :/ The only other option would be to buy the right GPS/Compass with the the two cables and right plugs, or even swap out the plugs, so long as it has a cable for each GPS and compass.

What do you guys reckon of my plans there? Will the 3 story config work with internal compass? or must I, without doubt, go for an external compass? Is there a chinese copy compass/GPS with two cables and Revolution plugs available?

Any other suggestion would be most welcome. Thanks heaps :)
Title: Re: Revo major drift in GPS flight mode
Post by: jbarchuk on May 06, 2016, 09:36:19 am
... "Oplink Air" invented by Chinese cloners.

'Invented by cloners.' Invent... Clone... Invent... Clone... How many different ways are there to spell oxymoron. ;) The evolution of tech and the nonexistence of intellectual proprietary knowledge as the Chinese have been driving things for the past years will go through even more changes in the future. They may drive the whole concept of invention to oblivion because the way they steal things so quickly won't make it worthwhile (read: profitable) enough to design anything new.
Title: Re: Revo major drift in GPS flight mode
Post by: Thijs80 on June 12, 2016, 12:13:03 pm
I also have 'drift' issues while flying with gps assist on. (GSC 15.09+R812)

After calibrating my mags found out that for some reason in the latest release the AUXMAG is not working. Data coming from the AUXMAG seems correct (checked this in the system tab, and I2C status is green), but when i turn my external compass the data in GCS does not change.
GCS will only display the onboard mag data  :(
Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 25, 2016, 01:22:38 pm
Hi
Im using "next" version of libre, auxmag and neo7 gps.
In pos hold mode of in velroam fly and stay in place well but in altitude mode the quad keeps going to south. No matter where point the quads nose. Ins13 mode this way bad. In complemantary+mag+gps mode i have no problems.
Any idea to use ins13?
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on July 25, 2016, 01:42:38 pm
I'm not sure what do you mean but "Altitude modes" (AltitudeHold and AltitudeVario) do not prevent from position drift, it just maintain altitude.

Please post your config file. File > Export UAV settings...
Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 25, 2016, 05:09:12 pm
I'm not sure what do you mean but "Altitude modes" (AltitudeHold and AltitudeVario) do not prevent from position drift, it just maintain altitude.

Please post your config file. File > Export UAV settings...
Sorry, not altitude i meant attitude (stabilized) mode.
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on July 25, 2016, 05:20:40 pm
INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...
Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 25, 2016, 05:31:23 pm
INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...
okay
Now im home :)
attached the uav file
Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 27, 2016, 05:06:33 pm
INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...
okay
Now im home :)
attached the uav file
Hi,
Did you found something strange in config file?
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on July 27, 2016, 05:26:27 pm
Sorry, miss the post.

Nothing wrong, except the GPSSettings > UbxRate set to 25Hz, should be 10Hz max for Neo7
Also the home altitude that should be around 165m + Geoid, not 5m.
Go to the Attitude tab and hit button erase and keep the board populating the Home coordinates.

Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 27, 2016, 07:21:31 pm
Sorry, miss the post.

Nothing wrong, except the GPSSettings > UbxRate set to 25Hz, should be 10Hz max for Neo7
Also the home altitude that should be around 165m + Geoid, not 5m.
Go to the Attitude tab and hit button erase and keep the board populating the Home coordinates.
Thank you. But then why whant to go the copter south?
I calibrated the mag relating the sun with no compass. Somewhere i read that must calibrate point to real magnetic north so not paralell with ground but about 60° down to point directly to north pole.
Is it true?
Title: Re: Revo major drift in GPS flight mode
Post by: f5soh on July 27, 2016, 08:37:31 pm
From online help that refers to the individuals steps:
Quote
Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.

No need to point the exact North orientation, or know the current declination.
For calibration you can validate the first 5 steps (while the frame do not move and mag free disturbed) and next rotate the frame on all axis to cover all 3D space, like the calibration dance.
Finally validate the last step and save your calibration.

https://www.youtube.com/watch?v=-_mjfPlHL9o


Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 27, 2016, 09:39:34 pm
From online help that refers to the individuals steps:
Quote
Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.


No need to point the exact North orientation, or know the current declination.
For calibration you can validate the first 5 steps (while the frame do not move and mag free disturbed) and next rotate the frame on all axis to cover all 3D space, like the calibration dance.
Finally validate the last step and save your calibration.

https://www.youtube.com/watch?v=-_mjfPlHL9o
Thanks, will try tomorrow.
Title: Re: Revo major drift in GPS flight mode
Post by: vzoli on July 31, 2016, 08:56:55 pm
I did all that you adviced plus the aux max align (to be at zero with onboard) and now it flyes like an angel :)
Thank You.