EK3_ALT_SOURCE: Primary altitude sensor source
I use: EK3_ALT_SOURCE = 2
EK3_GPS_TYPE: GPS mode control
Note: This parameter is for advanced users
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
0 GPS 3D Vel and 2D Pos
1 GPS 2D vel and 2D pos
2 GPS 2D pos
3 No GPS
I use: EK3_GPS_TYPE = 1
(Don't know why, I certainly have tried setting 0, but probably with bad results)
I am wondering what bad result did you face it? I confuse this part. You are using the 2d vel and 2d pos but altitude source is GPS.
My short knowledge, it is hard to understand about this parameter source. I will try to 2D vel 2d pos.
Also did you try to use RTL mode? When I use the RTL mode it goes up even if I checked that the altitude parameter gives 0(I am relative distance setting ).
Also LAND instruction in a mission (waypoints) doesn't work.
We have only waypoints (and servo positions). Landing is done by going to 0m06. We than manually switch off with emergency stop (channel 8 in my params)
Land mission worked for me. Loitering also worked.
Rtl seems dangerous both .
I have big accident middle of rtl. I need to make another UAV again.
Thanks. After test normal mission I will contact you. Next week is my final exam.
Interesting..RTL didn't work for us either. We were thinking that the parameters were messed up! Okay gonna give it another try in Auto and Guided mode.
Were you guys successful in Guided?
Recently I use your Firmware and Params for testing. When I test the Loiter mode, the drone just cannot and still drifts for one direction. I find that we use the different frame type( quad and hexa) , I wonder whether this is the problem? ( I change the frame type in my Mission Planner)
And could you please give some advice for Loiter mode.
I just send RMC,GGA and VTG to pixhawk every 150ms.
The control process is taking off with Stabilize mode, changing to Loiter mode for fixing position.
When I tried to set the coordinates on QT software that uses these coordinates and converts it into nmea protocol, the drone in the Mission Planner will go to the coordinates set by me. However, the drone will oscillate about the coordinate point (up and down) and after a few milliseconds of delay, it will then go to the exact coordinate point.
Do you know the reasons behind this delay? Is it caused by the parameters?