The aircraft is turning itself into the wind
InformationAutoTune and control
What ArduPilot says:
- Weathervane Active: …
Weathervaning has begun: ArduPilot yaws the aircraft by itself so that it leans less to hold its place against the wind. It is on because WVANE_ENABLE is not 0, and the words say which way it turns: “nose in” (WVANE_ENABLE 1), “nose or tail in” (2), “side in” (3) or “tail in” (4). It acts only in modes that hold position and only while you give no yaw command; the line is sent once each time it becomes active.
If the nose swings round in a hover when you did not ask, this is why. The yaw stick always overrides it.
Parameters to look at
| Parameter | What it is |
|---|---|
WVANE_ENABLE | Enable |
WVANE_GAIN | Weathervaning gain |
WVANE_ANG_MIN | Weathervaning min angle |
WVANE_HGT_MIN | Weathervaning min height |
WVANE_SPD_MAX | Weathervaning max ground speed |
The code that sends it
Weathervane Active: …
libraries/AC_AttitudeControl/AC_WeatherVane.cpp AC_WeatherVane::get_yaw_out() · Open in ArduPilot Copter-4.7.1