Hi,
I've been experimenting with Litchi creating some waypoint missions (Phantom 3 4K) and have noticed some bizarre behaviour after the final waypoint. It seems that if I set Litchi's "finish action" to fly back to the first waypoint, the drone initially starts flying in the right direction but slowly drifts off course. The drift direction seems to fit with the wind direction, so it's almost as if after reaching the final waypoint, the drone tries to fly back but in F-ATTI mode rather than F-GPS mode. (However looking at the Airdata UAV CSV log of the flight, the aircraft does stay in F-GPS mode.) Then, several hundred feet before getting back to waypoint 1, Litchi reports "mission ended" and the drone just hovers there at this off-track position. I have to manually fly it home at this point. The behaviour is consistent over multiple flights, and also setting Litchi with finish action to RTH does a similar thing. Everything looks good on the drone side: GPS reception is good throughout the whole flight. Compass and IMU are well calibrated.
I've attached screenshots of a test flight from Litchi Mission Hub (with finish action set to "Back to 1") and Airdata UAV, and the CSV of the flight from Airdata UAV, so you can see what I mean. Litchi mission is also here: Mission Hub - Litchi
The workaround is to create a 3rd waypoint near waypoint 1, and set the finish action to hover. The drone flies correctly when set up in this way, with no drift.
Has anyone experienced this? It's very odd. Any light anyone can shed on this would be much appreciated!
-Adrian
I've been experimenting with Litchi creating some waypoint missions (Phantom 3 4K) and have noticed some bizarre behaviour after the final waypoint. It seems that if I set Litchi's "finish action" to fly back to the first waypoint, the drone initially starts flying in the right direction but slowly drifts off course. The drift direction seems to fit with the wind direction, so it's almost as if after reaching the final waypoint, the drone tries to fly back but in F-ATTI mode rather than F-GPS mode. (However looking at the Airdata UAV CSV log of the flight, the aircraft does stay in F-GPS mode.) Then, several hundred feet before getting back to waypoint 1, Litchi reports "mission ended" and the drone just hovers there at this off-track position. I have to manually fly it home at this point. The behaviour is consistent over multiple flights, and also setting Litchi with finish action to RTH does a similar thing. Everything looks good on the drone side: GPS reception is good throughout the whole flight. Compass and IMU are well calibrated.
I've attached screenshots of a test flight from Litchi Mission Hub (with finish action set to "Back to 1") and Airdata UAV, and the CSV of the flight from Airdata UAV, so you can see what I mean. Litchi mission is also here: Mission Hub - Litchi
The workaround is to create a 3rd waypoint near waypoint 1, and set the finish action to hover. The drone flies correctly when set up in this way, with no drift.
Has anyone experienced this? It's very odd. Any light anyone can shed on this would be much appreciated!
-Adrian
