Dear all,
I did auto take-off and first 20 meters the UAV was running along the runway but then suddenly turned left off the runway and we had to take over manually.
The runway heading is 12 degrees. The compass heading was around 0 and GPS heading was increasing to 11-12 degrees as the speed was going up. I assume that Desired heading was driven by Compass heading and autopilot tried to reduce GPS heading to Desired heading turning left that drove the UAV off the runway.
If i recalibrate the Compass to get the right heading will that fix the problem of slipping off the runway? Is there a way to offset the current compass calibration to adjust it to the right heading? Is there a way to set Desired heading manually in Horizon?
The log and vrs files are attached. Appreciate your help.
Regards,
Yuri
Replies
Hello Yuri,
As you mentioned, you will need the compass to give the right heading to prevent this problem. The desired heading locked on at 2 degrees during takeoff due to the incorrect compass heading.
You can replay the last compass calibration you did by opening the compassCal plugin, clicking File -> Replay calibration data, and then selecting the last calibration folder. This will let you repeat certain steps if you think they were not done well initially, or you can adjust the calibration values on the last step and test the results immediately to try and fix the bias.
There is currently no way to set a specific desired heading before takeoff.
If you have added any new equipment to the plane or repositioned any hardware that is affecting the compass reading it would be best to perform a full compass calibration.
Evan Schellenberg
MicroPilot Support