The drone drifts when flying using position hold mode
Posted: Wed Jun 06, 2018 3:48 pm
Hello,
We are trying to fly the drone using UWB loco positioning system, but the effect is far from expectation.
We use a joystick to control the drone by cfclient. The firmware downloaded to the drone is in VM2018.01 with forced DWM1000deck support and TWR ranging support. The location of the drone can be shown in the client correctly as the picture shows though the response is a bit delayed. We tested in anchor identification mode and every anchor can be detected when the drone is nearby. However, when choosing position hold mode in flight control tab and flying the drone with a joystick, the drone drifts.
During the flight, we just give control over z axis. The plane is expected to only change its height under position hold mode but it drifts in random direction. The drift differs for each flight and the drift direction also changes during the flight. After ten to twenty seconds, the location of the drone can be several meters away from its initial location even though there is no command to change x and y coordinates. The location of the drone can be shown correctly in the client during the flight. Does it means the control of the position barely works? Why does that happen?
Another strange thing is that the LEDs blink normally during the start of the flight while after some time, the red light may stop blinking and stay on. We noticed that after we've done lots of tests.
The ranging mode is TWR and the 6 anchors are placed as the picture shown in lps wiki. The distance between each two anchors is larger than two meters. Before the flight, the target and actual pitch and roll trim are perfectly calibrated.
We are confused about the problem and hope you can give some help.
Thanks!
We are trying to fly the drone using UWB loco positioning system, but the effect is far from expectation.
We use a joystick to control the drone by cfclient. The firmware downloaded to the drone is in VM2018.01 with forced DWM1000deck support and TWR ranging support. The location of the drone can be shown in the client correctly as the picture shows though the response is a bit delayed. We tested in anchor identification mode and every anchor can be detected when the drone is nearby. However, when choosing position hold mode in flight control tab and flying the drone with a joystick, the drone drifts.
During the flight, we just give control over z axis. The plane is expected to only change its height under position hold mode but it drifts in random direction. The drift differs for each flight and the drift direction also changes during the flight. After ten to twenty seconds, the location of the drone can be several meters away from its initial location even though there is no command to change x and y coordinates. The location of the drone can be shown correctly in the client during the flight. Does it means the control of the position barely works? Why does that happen?
Another strange thing is that the LEDs blink normally during the start of the flight while after some time, the red light may stop blinking and stay on. We noticed that after we've done lots of tests.
The ranging mode is TWR and the 6 anchors are placed as the picture shown in lps wiki. The distance between each two anchors is larger than two meters. Before the flight, the target and actual pitch and roll trim are perfectly calibrated.
We are confused about the problem and hope you can give some help.
Thanks!