{"action":"created","issue":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/3391","repository_url":"https://api.github.com/repos/iNavFlight/inav","labels_url":"https://api.github.com/repos/iNavFlight/inav/issues/3391/labels{/name}","comments_url":"https://api.github.com/repos/iNavFlight/inav/issues/3391/comments","events_url":"https://api.github.com/repos/iNavFlight/inav/issues/3391/events","html_url":"https://github.com/iNavFlight/inav/issues/3391","id":333378417,"node_id":"MDU6SXNzdWUzMzMzNzg0MTc=","number":3391,"title":"[GPS/POSHOLD] Problem with poshold, rth, slow drift in a random direction","user":{"login":"ValCx","id":32359865,"node_id":"MDQ6VXNlcjMyMzU5ODY1","avatar_url":"https://avatars0.githubusercontent.com/u/32359865?v=4","gravatar_id":"","url":"https://api.github.com/users/ValCx","html_url":"https://github.com/ValCx","followers_url":"https://api.github.com/users/ValCx/followers","following_url":"https://api.github.com/users/ValCx/following{/other_user}","gists_url":"https://api.github.com/users/ValCx/gists{/gist_id}","starred_url":"https://api.github.com/users/ValCx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ValCx/subscriptions","organizations_url":"https://api.github.com/users/ValCx/orgs","repos_url":"https://api.github.com/users/ValCx/repos","events_url":"https://api.github.com/users/ValCx/events{/privacy}","received_events_url":"https://api.github.com/users/ValCx/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-06-18T18:09:47Z","updated_at":"2018-06-20T16:58:21Z","closed_at":null,"author_association":"NONE","body":"Hi everyone,\r\n\r\nMy quad was working very well with inav 1.7.2 : rth, poshold, waypoint. During winter I let him away due to bad weather. \r\n\r\nSince I get it back I have some problem with Gps Mode : Poshold and RTH,\r\nwhen I activate poshold, nothing append, the quad drift away. For RTH mode, the quad turn to the home and go in a wrong direction. If I adjust to go to the home, the quad detect home and land.\r\n\r\nI tried to re-calibrate compass, accelerometer. I tried with older 1.7.2 version. I tried with internal compass. I tried with another GPS. I tried to re-align compass. Nothing affects, I already have the problem.\r\n\r\nI attach a logfile and a dump of my configuration. The logfile show a straight flight, some poshold and rth mode.\r\nIf someone has an Idea he is welcome!\r\n\r\nThanks\r\n\r\nValentin\r\n\r\n### Board and Version\r\nOpenpilote Revolution\r\nFW 1.9.1\r\nGps/compass neo-m8n and pam-7q for test\r\n\r\n#### DUMP\r\n\r\n[blackbox_log_2018-06-18_203107.TXT](https://github.com/iNavFlight/inav/files/2112538/blackbox_log_2018-06-18_203107.TXT)\r\n\r\n```\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n\r\n# dump\r\n\r\n# version\r\n# INAV/REVO 1.7.3 Sep  9 2017 / 10:40:06 (974440df)\r\n\r\n# resources\r\n\r\n# mixer\r\nmixer QUADX\r\n\r\nmmix reset\r\n\r\n\r\n# servo\r\nservo 0 1000 2000 1500 100 -1 \r\nservo 1 1000 2000 1500 100 -1 \r\nservo 2 1000 2000 1500 100 -1 \r\nservo 3 1000 2000 1500 100 -1 \r\nservo 4 1000 2000 1500 100 -1 \r\nservo 5 1000 2000 1500 100 -1 \r\nservo 6 1000 2000 1500 100 -1 \r\nservo 7 1000 2000 1500 100 -1 \r\n\r\n# servo mix\r\nsmix reset\r\n\r\n\r\n# feature\r\nfeature -RX_PPM\r\nfeature -VBAT\r\nfeature -RX_SERIAL\r\nfeature -MOTOR_STOP\r\nfeature -SERVO_TILT\r\nfeature -SOFTSERIAL\r\nfeature -GPS\r\nfeature -TELEMETRY\r\nfeature -CURRENT_METER\r\nfeature -3D\r\nfeature -RX_PARALLEL_PWM\r\nfeature -RX_MSP\r\nfeature -RSSI_ADC\r\nfeature -LED_STRIP\r\nfeature -DASHBOARD\r\nfeature -BLACKBOX\r\nfeature -CHANNEL_FORWARDING\r\nfeature -TRANSPONDER\r\nfeature -AIRMODE\r\nfeature -SUPEREXPO\r\nfeature -VTX\r\nfeature -RX_SPI\r\nfeature -SOFTSPI\r\nfeature -PWM_SERVO_DRIVER\r\nfeature -PWM_OUTPUT_ENABLE\r\nfeature -OSD\r\nfeature RX_PPM\r\nfeature VBAT\r\nfeature GPS\r\nfeature PWM_OUTPUT_ENABLE\r\n\r\n# beeper\r\nbeeper RUNTIME_CALIBRATION\r\nbeeper HW_FAILURE\r\nbeeper RX_LOST\r\nbeeper RX_LOST_LANDING\r\nbeeper DISARMING\r\nbeeper ARMING\r\nbeeper ARMING_GPS_FIX\r\nbeeper BAT_CRIT_LOW\r\nbeeper BAT_LOW\r\nbeeper GPS_STATUS\r\nbeeper RX_SET\r\nbeeper ACTION_SUCCESS\r\nbeeper ACTION_FAIL\r\nbeeper READY_BEEP\r\nbeeper MULTI_BEEPS\r\nbeeper DISARM_REPEAT\r\nbeeper ARMED\r\nbeeper SYSTEM_INIT\r\nbeeper ON_USB\r\nbeeper LAUNCH_MODE\r\n\r\n# map\r\nmap AETR1234\r\n\r\n# name\r\nname -\r\n\r\n# serial\r\nserial 20 1 115200 38400 0 115200\r\nserial 0 2 115200 38400 0 115200\r\nserial 2 0 115200 38400 0 115200\r\nserial 5 1 115200 38400 0 115200\r\n\r\n# led\r\nled 0 0,0::C:0\r\nled 1 0,0::C:0\r\nled 2 0,0::C:0\r\nled 3 0,0::C:0\r\nled 4 0,0::C:0\r\nled 5 0,0::C:0\r\nled 6 0,0::C:0\r\nled 7 0,0::C:0\r\nled 8 0,0::C:0\r\nled 9 0,0::C:0\r\nled 10 0,0::C:0\r\nled 11 0,0::C:0\r\nled 12 0,0::C:0\r\nled 13 0,0::C:0\r\nled 14 0,0::C:0\r\nled 15 0,0::C:0\r\nled 16 0,0::C:0\r\nled 17 0,0::C:0\r\nled 18 0,0::C:0\r\nled 19 0,0::C:0\r\nled 20 0,0::C:0\r\nled 21 0,0::C:0\r\nled 22 0,0::C:0\r\nled 23 0,0::C:0\r\nled 24 0,0::C:0\r\nled 25 0,0::C:0\r\nled 26 0,0::C:0\r\nled 27 0,0::C:0\r\nled 28 0,0::C:0\r\nled 29 0,0::C:0\r\nled 30 0,0::C:0\r\nled 31 0,0::C:0\r\n\r\n# color\r\ncolor 0 0,0,0\r\ncolor 1 0,255,255\r\ncolor 2 0,0,255\r\ncolor 3 30,0,255\r\ncolor 4 60,0,255\r\ncolor 5 90,0,255\r\ncolor 6 120,0,255\r\ncolor 7 150,0,255\r\ncolor 8 180,0,255\r\ncolor 9 210,0,255\r\ncolor 10 240,0,255\r\ncolor 11 270,0,255\r\ncolor 12 300,0,255\r\ncolor 13 330,0,255\r\ncolor 14 0,0,0\r\ncolor 15 0,0,0\r\n\r\n# mode_color\r\nmode_color 0 0 1\r\nmode_color 0 1 11\r\nmode_color 0 2 2\r\nmode_color 0 3 13\r\nmode_color 0 4 10\r\nmode_color 0 5 3\r\nmode_color 1 0 5\r\nmode_color 1 1 11\r\nmode_color 1 2 3\r\nmode_color 1 3 13\r\nmode_color 1 4 10\r\nmode_color 1 5 3\r\nmode_color 2 0 10\r\nmode_color 2 1 11\r\nmode_color 2 2 4\r\nmode_color 2 3 13\r\nmode_color 2 4 10\r\nmode_color 2 5 3\r\nmode_color 3 0 8\r\nmode_color 3 1 11\r\nmode_color 3 2 4\r\nmode_color 3 3 13\r\nmode_color 3 4 10\r\nmode_color 3 5 3\r\nmode_color 4 0 7\r\nmode_color 4 1 11\r\nmode_color 4 2 3\r\nmode_color 4 3 13\r\nmode_color 4 4 10\r\nmode_color 4 5 3\r\nmode_color 5 0 9\r\nmode_color 5 1 11\r\nmode_color 5 2 2\r\nmode_color 5 3 13\r\nmode_color 5 4 10\r\nmode_color 5 5 3\r\nmode_color 6 0 6\r\nmode_color 6 1 10\r\nmode_color 6 2 1\r\nmode_color 6 3 0\r\nmode_color 6 4 0\r\nmode_color 6 5 2\r\nmode_color 6 6 3\r\nmode_color 6 7 6\r\nmode_color 6 8 0\r\nmode_color 6 9 0\r\nmode_color 6 10 0\r\n\r\n# aux\r\naux 0 1 3 900 1750\r\naux 1 2 3 1875 2100\r\naux 2 3 3 1125 1675\r\naux 3 9 3 1375 1675\r\naux 4 8 2 1500 2100\r\naux 5 19 2 1225 1400\r\naux 6 21 0 1300 1700\r\naux 7 22 0 900 2100\r\naux 8 18 0 1950 2100\r\naux 9 0 0 900 900\r\naux 10 0 0 900 900\r\naux 11 0 0 900 900\r\naux 12 0 0 900 900\r\naux 13 0 0 900 900\r\naux 14 0 0 900 900\r\naux 15 0 0 900 900\r\naux 16 0 0 900 900\r\naux 17 0 0 900 900\r\naux 18 0 0 900 900\r\naux 19 0 0 900 900\r\n\r\n# adjrange\r\nadjrange 0 0 0 900 900 0 0\r\nadjrange 1 0 0 900 900 0 0\r\nadjrange 2 0 0 900 900 0 0\r\nadjrange 3 0 0 900 900 0 0\r\nadjrange 4 0 0 900 900 0 0\r\nadjrange 5 0 0 900 900 0 0\r\nadjrange 6 0 0 900 900 0 0\r\nadjrange 7 0 0 900 900 0 0\r\nadjrange 8 0 0 900 900 0 0\r\nadjrange 9 0 0 900 900 0 0\r\nadjrange 10 0 0 900 900 0 0\r\nadjrange 11 0 0 900 900 0 0\r\n\r\n# rxrange\r\nrxrange 0 1000 2000\r\nrxrange 1 1000 2000\r\nrxrange 2 1000 2000\r\nrxrange 3 1000 2000\r\n\r\n# master\r\nset looptime = 2000\r\nset gyro_sync = OFF\r\nset gyro_sync_denom = 2\r\nset align_gyro = DEFAULT\r\nset gyro_hardware_lpf = 42HZ\r\nset gyro_lpf_hz = 60\r\nset moron_threshold = 32\r\nset gyro_notch1_hz = 0\r\nset gyro_notch1_cutoff = 1\r\nset gyro_notch2_hz = 0\r\nset gyro_notch2_cutoff = 1\r\nset vbat_adc_channel = 2\r\nset rssi_adc_channel = 3\r\nset current_adc_channel = 1\r\nset airspeed_adc_channel = 0\r\nset acc_notch_hz = 0\r\nset acc_notch_cutoff = 1\r\nset align_acc = DEFAULT\r\nset acc_hardware = MPU6000\r\nset acc_lpf_hz = 15\r\nset acczero_x = 84\r\nset acczero_y = 8\r\nset acczero_z = -515\r\nset accgain_x = 4109\r\nset accgain_y = 4064\r\nset accgain_z = 4010\r\nset rangefinder_hardware = NONE\r\nset align_mag = CW270FLIP\r\nset mag_hardware = HMC5883\r\nset mag_declination = 120\r\nset magzero_x = 56\r\nset magzero_y = 39\r\nset magzero_z = 62\r\nset mag_calibration_time = 30\r\nset baro_hardware = MS5611\r\nset baro_use_median_filter = ON\r\nset pitot_hardware = NONE\r\nset pitot_use_median_filter = ON\r\nset pitot_noise_lpf =  0.600\r\nset pitot_scale =  1.000\r\nset mid_rc = 1500\r\nset min_check = 1100\r\nset max_check = 1900\r\nset rssi_channel = 0\r\nset rssi_scale = 30\r\nset rssi_invert = OFF\r\nset rc_smoothing = ON\r\nset serialrx_provider = SPEK1024\r\nset sbus_inversion = ON\r\nset rx_spi_rf_channel_count = 0\r\nset spektrum_sat_bind = 0\r\nset rx_min_usec = 885\r\nset rx_max_usec = 2115\r\nset serialrx_halfduplex = OFF\r\nset blackbox_rate_num = 1\r\nset blackbox_rate_denom = 2\r\nset blackbox_device = SPIFLASH\r\nset min_throttle = 1050\r\nset max_throttle = 1850\r\nset min_command = 1000\r\nset motor_pwm_rate = 1000\r\nset motor_pwm_protocol = ONESHOT125\r\nset failsafe_delay = 5\r\nset failsafe_recovery_delay = 5\r\nset failsafe_off_delay = 200\r\nset failsafe_throttle = 1000\r\nset failsafe_throttle_low_delay = 100\r\nset failsafe_procedure = RTH\r\nset failsafe_stick_threshold = 50\r\nset failsafe_fw_roll_angle = -200\r\nset failsafe_fw_pitch_angle = 100\r\nset failsafe_fw_yaw_rate = -45\r\nset align_board_roll = 0\r\nset align_board_pitch = 0\r\nset align_board_yaw = 0\r\nset gimbal_mode = NORMAL\r\nset battery_capacity = 0\r\nset vbat_scale = 110\r\nset vbat_max_cell_voltage = 43\r\nset vbat_min_cell_voltage = 33\r\nset vbat_warning_cell_voltage = 35\r\nset current_meter_scale = 400\r\nset current_meter_offset = 0\r\nset multiwii_current_meter_output = OFF\r\nset current_meter_type = ADC\r\nset yaw_motor_direction = -1\r\nset yaw_jump_prevention_limit = 200\r\nset 3d_deadband_low = 1406\r\nset 3d_deadband_high = 1514\r\nset 3d_neutral = 1460\r\nset servo_center_pulse = 1500\r\nset servo_pwm_rate = 50\r\nset servo_lpf_hz = 20\r\nset flaperon_throw_offset = 200\r\nset tri_unarmed_servo = ON\r\nset reboot_character = 82\r\nset imu_dcm_kp = 2500\r\nset imu_dcm_ki = 50\r\nset imu_dcm_kp_mag = 10000\r\nset imu_dcm_ki_mag = 0\r\nset small_angle = 25\r\nset fixed_wing_auto_arm = OFF\r\nset disarm_kill_switch = OFF\r\nset auto_disarm_delay = 5\r\nset gps_provider = UBLOX7\r\nset gps_sbas_mode = AUTO\r\nset gps_dyn_model = AIR_1G\r\nset gps_auto_config = ON\r\nset gps_auto_baud = ON\r\nset gps_min_sats = 1\r\nset deadband = 5\r\nset yaw_deadband = 5\r\nset pos_hold_deadband = 20\r\nset alt_hold_deadband = 50\r\nset 3d_deadband_throttle = 50\r\nset fw_autotune_overshoot_time = 100\r\nset fw_autotune_undershoot_time = 200\r\nset fw_autotune_threshold = 50\r\nset fw_autotune_ff_to_p_gain = 10\r\nset fw_autotune_ff_to_i_tc = 600\r\nset inav_auto_mag_decl = ON\r\nset inav_gravity_cal_tolerance = 5\r\nset inav_use_gps_velned = ON\r\nset inav_gps_delay = 200\r\nset inav_reset_altitude = FIRST_ARM\r\nset inav_max_surface_altitude = 200\r\nset inav_w_z_surface_p =  3.500\r\nset inav_w_z_surface_v =  6.100\r\nset inav_w_z_baro_p =  0.350\r\nset inav_w_z_gps_p =  0.200\r\nset inav_w_z_gps_v =  0.500\r\nset inav_w_xy_gps_p =  1.000\r\nset inav_w_xy_gps_v =  2.000\r\nset inav_w_z_res_v =  0.500\r\nset inav_w_xy_res_v =  0.500\r\nset inav_w_acc_bias =  0.010\r\nset inav_max_eph_epv =  1000.000\r\nset inav_baro_epv =  100.000\r\nset nav_disarm_on_landing = OFF\r\nset nav_use_midthr_for_althold = OFF\r\nset nav_extra_arming_safety = ON\r\nset nav_user_control_mode = ATTI\r\nset nav_position_timeout = 5\r\nset nav_wp_radius = 100\r\nset nav_wp_safe_distance = 10000\r\nset nav_auto_speed = 1000\r\nset nav_auto_climb_rate = 700\r\nset nav_manual_speed = 1000\r\nset nav_manual_climb_rate = 1000\r\nset nav_landing_speed = 275\r\nset nav_land_slowdown_minalt = 500\r\nset nav_land_slowdown_maxalt = 2000\r\nset nav_emerg_landing_speed = 500\r\nset nav_min_rth_distance = 500\r\nset nav_rth_climb_first = ON\r\nset nav_rth_climb_ignore_emerg = OFF\r\nset nav_rth_tail_first = OFF\r\nset nav_rth_allow_landing = ON\r\nset nav_rth_alt_mode = MAX\r\nset nav_rth_abort_threshold = 50000\r\nset nav_rth_altitude = 1000\r\nset nav_mc_bank_angle = 45\r\nset nav_mc_hover_thr = 1500\r\nset nav_mc_auto_disarm_delay = 2000\r\nset nav_fw_cruise_thr = 1400\r\nset nav_fw_min_thr = 1200\r\nset nav_fw_max_thr = 1700\r\nset nav_fw_bank_angle = 20\r\nset nav_fw_climb_angle = 20\r\nset nav_fw_dive_angle = 15\r\nset nav_fw_pitch2thr = 10\r\nset nav_fw_loiter_radius = 5000\r\nset nav_fw_land_dive_angle = 2\r\nset nav_fw_launch_velocity = 1863\r\nset nav_fw_launch_accel = 1863\r\nset nav_fw_launch_max_angle = 45\r\nset nav_fw_launch_detect_time = 1000\r\nset nav_fw_launch_thr = 1700\r\nset nav_fw_launch_idle_thr = 1700\r\nset nav_fw_launch_motor_delay = 100\r\nset nav_fw_launch_spinup_time = 100\r\nset nav_fw_launch_timeout = 11538\r\nset nav_fw_launch_climb_angle = 18\r\nset telemetry_switch = OFF\r\nset telemetry_inversion = OFF\r\nset frsky_default_latitude =  0.000\r\nset frsky_default_longitude =  0.000\r\nset frsky_coordinates_format = 0\r\nset frsky_unit = METRIC\r\nset frsky_vfas_precision = 0\r\nset frsky_vfas_cell_voltage = OFF\r\nset hott_alarm_sound_interval = 5\r\nset smartport_uart_unidir = OFF\r\nset smartport_fuel_percent = OFF\r\nset ibus_telemetry_type = 0\r\nset ltm_update_rate = NORMAL\r\nset ledstrip_visual_beeper = OFF\r\nset i2c_speed = 400KHZ\r\nset debug_mode = NONE\r\nset acc_task_frequency = 500\r\nset attitude_task_frequency = 250\r\nset async_mode = NONE\r\nset throttle_tilt_comp_str = 0\r\nset input_filtering_mode = OFF\r\nset mode_range_logic_operator = OR\r\nset stats = OFF\r\nset stats_total_time = 0\r\nset stats_total_dist = 0\r\n\r\n# profile\r\nprofile 1\r\n\r\nset mc_p_pitch = 40\r\nset mc_i_pitch = 30\r\nset mc_d_pitch = 23\r\nset mc_p_roll = 40\r\nset mc_i_roll = 30\r\nset mc_d_roll = 23\r\nset mc_p_yaw = 85\r\nset mc_i_yaw = 45\r\nset mc_d_yaw = 0\r\nset mc_p_level = 20\r\nset mc_i_level = 15\r\nset mc_d_level = 75\r\nset fw_p_pitch = 5\r\nset fw_i_pitch = 7\r\nset fw_ff_pitch = 50\r\nset fw_p_roll = 5\r\nset fw_i_roll = 7\r\nset fw_ff_roll = 50\r\nset fw_p_yaw = 6\r\nset fw_i_yaw = 10\r\nset fw_ff_yaw = 60\r\nset fw_p_level = 20\r\nset fw_i_level = 5\r\nset fw_d_level = 75\r\nset max_angle_inclination_rll = 300\r\nset max_angle_inclination_pit = 300\r\nset dterm_lpf_hz = 40\r\nset yaw_lpf_hz = 30\r\nset dterm_setpoint_weight =  0.000\r\nset fw_iterm_throw_limit = 165\r\nset fw_reference_airspeed =  1000.000\r\nset fw_turn_assist_yaw_gain =  1.000\r\nset dterm_notch_hz = 0\r\nset dterm_notch_cutoff = 1\r\nset pidsum_limit = 500\r\nset yaw_p_limit = 300\r\nset iterm_ignore_threshold = 200\r\nset yaw_iterm_ignore_threshold = 50\r\nset rate_accel_limit_roll_pitch = 0\r\nset rate_accel_limit_yaw = 10000\r\nset heading_hold_rate_limit = 90\r\nset nav_mc_pos_z_p = 50\r\nset nav_mc_pos_z_i = 0\r\nset nav_mc_pos_z_d = 0\r\nset nav_mc_vel_z_p = 100\r\nset nav_mc_vel_z_i = 50\r\nset nav_mc_vel_z_d = 10\r\nset nav_mc_pos_xy_p = 65\r\nset nav_mc_pos_xy_i = 120\r\nset nav_mc_pos_xy_d = 10\r\nset nav_mc_vel_xy_p = 180\r\nset nav_mc_vel_xy_i = 15\r\nset nav_mc_vel_xy_d = 100\r\nset nav_fw_pos_z_p = 50\r\nset nav_fw_pos_z_i = 0\r\nset nav_fw_pos_z_d = 0\r\nset nav_fw_pos_xy_p = 75\r\nset nav_fw_pos_xy_i = 5\r\nset nav_fw_pos_xy_d = 8\r\nset rc_expo = 70\r\nset rc_yaw_expo = 20\r\nset thr_mid = 50\r\nset thr_expo = 0\r\nset roll_rate = 20\r\nset pitch_rate = 20\r\nset yaw_rate = 20\r\nset tpa_rate = 0\r\nset tpa_breakpoint = 1500\r\n\r\n# \r\n```"},"comment":{"url":"https://api.github.com/repos/iNavFlight/inav/issues/comments/398822742","html_url":"https://github.com/iNavFlight/inav/issues/3391#issuecomment-398822742","issue_url":"https://api.github.com/repos/iNavFlight/inav/issues/3391","id":398822742,"node_id":"MDEyOklzc3VlQ29tbWVudDM5ODgyMjc0Mg==","user":{"login":"stronnag","id":158229,"node_id":"MDQ6VXNlcjE1ODIyOQ==","avatar_url":"https://avatars0.githubusercontent.com/u/158229?v=4","gravatar_id":"","url":"https://api.github.com/users/stronnag","html_url":"https://github.com/stronnag","followers_url":"https://api.github.com/users/stronnag/followers","following_url":"https://api.github.com/users/stronnag/following{/other_user}","gists_url":"https://api.github.com/users/stronnag/gists{/gist_id}","starred_url":"https://api.github.com/users/stronnag/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/stronnag/subscriptions","organizations_url":"https://api.github.com/users/stronnag/orgs","repos_url":"https://api.github.com/users/stronnag/repos","events_url":"https://api.github.com/users/stronnag/events{/privacy}","received_events_url":"https://api.github.com/users/stronnag/received_events","type":"User","site_admin":false},"created_at":"2018-06-20T16:58:21Z","updated_at":"2018-06-20T16:58:21Z","author_association":"COLLABORATOR","body":"Additionally, please also confirm that the baro is well covered with open cell foam in order to protect it from sunlight and wind. The baro is behaving somewhat erratically; you may also want it reset on each arm rather than first arm.\r\n\r\nThe GPS bahaviour is marginal for navigation modes, it may be that you have other emitters (VTX for example) causing intererence that degrades GPS performance; for a M8N one would expect at least 12 satellites. HDOP > 2 I would consider marginal and would not fly under those conditions.\r\n\r\nThese, together with the obsolete `nav_mc_vel_xy_p` setting may explain the behaviour. \r\n\r\nThe machine is not flying away on RTH, it is attempting to gain altitude  prior to turning for home. The combination of poor baro performance, marginal GPS and inappropriate `nav_mc_vel_xy_p` may contribute to the long time (5+seconds) in this phase.\r\n\r\nThe wandering route home is typical of inappropriate vel_xy_p and marginal GPS behaviour. It is noticeable how the craft flys directly in the home direction once the HDOP drops below 2.\r\n\r\nSummary. Fix your settings, sort out your sensors. Some basic tuning is required."}}
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