When switching my quadcopter to Position Hold, the vehicle starts drifting away in a random direction instead of maintaining its position. This issue occurs consistently on PX4 firmware using a Cube Orange+. GPS lock is available before takeoff, compass calibration has been performed (both internal and external tested), and manual flight modes are stable. The drift begins immediately after engaging Position Hold, and the direction is not consistent between flights. Flight logs can be provided if required.
Possibly a PX4 parameter problem:
As I’ve said to him (twice)
My simulations conclusively show that random
drift can be caused by bad PID tuning.
What parameters? I dont know. I changed too many of them.
Hi,
If you follow the conversation links you will find a FlightReview log I have published and some description of my custom vehicle and custom PX4 version and parameters. PID tuning was by painful trial-and-error. If you read these you can see that the vehicle is very unusual, and you can see in the log that I have consequently arrived a very unusual set of PX4 parameters. I would be amazed if AutoTuning could find that.
I have performed autotune in Altitude Hold mode, and the system behavior is good in non-GPS mode.
I am using PX4 version 1.16.1.
I am wondering whether the default parameters are correct, as there is only one H-frame option available: Airframe: BetaFPV Beta75X 2S Brushless Whoop, Quadrotor H.
