Hello, I’ve custom built drone, controlled by Pixhawk (board version 2.8.4), firmware 1.7.3_v3, and I have an issue with hold mode. When drone is take off it automatically enters to hold mode and hovers about launch point. It hovers about 30-40 seconds normally and after that starting moving by exp…

This behavior is sometimes called toilet bowling :smile: and it’s usually caused, as @Fafa_Mandrake already wrote, by a wrong heading estimate due to the magnetometer. Two things that are important there: Calibration as mentioned already. Make sure the mag which is often integrated in the GPS mas…

Thanks for reply. I’m using internal magnetometer inside Pixhawk, and experiencing that problem. But will try to isolate the controller from DC wires.

I suggest to use the mag that comes with the GPS and mount it further away.

I’m found a solution. An aluminium plate with thickness 3mm underneath Pixhawk, between Pixhawk and a power distributor isolates it quite good. Before: [image] After: [image] And magnetic field strength Before: [image] After: [image]

PX4 enters into spiral while in hold mode

Pixhawk

Fafa_Mandrake January 27, 2019, 3:18pm 2

Hi,
Have you calibrate correctly the magnetometer?
I have the same issue, and solved with calibration.

Yaw rotation at take-off & unstable Position Mode

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PX4 enters into spiral while in hold mode

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