testing results are really interesting but for my thinking about it I still miss some anwers about the expected behaviour of RTH algoritm.
Most info I'm getting from here:
Stage 1
Start to navigate.
CLIMBTHROTTLE & GPS_MAXCLIMB untill plane reached GPS_ALT_HOLD
Stage 2
Navigate to home
CRUICETHROTTLE, Maintain GPS_ALT_HOLD .
Stage 3
CRUICETHROTTLE, Maintain GPS_ALT_HOLD and Cirkulate around homepos until
RTH id disabled or FAILSAFE_OFF_DELAY
But this description is maybe already obsolete and behaviour of my plane doesn't much correspond to it.
Patrik, can you please once more revise the algoritm and describe as much in details as possible what should be happening in each stage in last version?
Namely what is "setpoint" for the height in each stage and what should be happenning when the actual height is lower and what if higher than setpoint.
As I tested formely here in this video: http://www.youtube.com/watch?v=Ux266uz0WQ0, the GPS heigh isn't very reliable but for our purpose it should be sufficient.
I have really strong feeling, that this pitching down effect is caused by "request" to lower altitude (probably to zero) but I think that after reaching home there should be two options:
1) Cicle around home and maintainn safe height (e.g. 50m) until the maximum time is reached (old version does it?). This time can be quite long (e.g. 10 min) to give you time do something (e.g. change battery in TX), after that time to do the same as 2) will do immediately
2) After reaching home disarm (new version does it?) and in circles slowly descend to landing.
Patrik, when you have time, please look at questions in my last posts. I can't read answers in the code but it would help me underststand it and maybe to have more usefull ideas...
@ Andrej: Your video is interesting, I have feeling that there can be the same pitching up behaviour as I have, but unfortunately I'm little confused what mode you have activated at what time. Could you choose one or two typical flights and put simple subtitles like " RTH activation" or "Passthru and manual control".
This would help a lot to understand what's happening.
Thanks!
Further testing have to wait again - to Czech came another return of winter - new snow, strong wind and cold. But spring is scheduled in 3 days!
See you!
Roman
P.S. Sorry for too many questions, all my life I have problems that I'm asking too much...