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M600 Pro + RTK - Altitude variation in UGCS planned flight
1232 2 2020-1-30
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JayP23
New

Australia
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Hi,

I have a matrice 600 pro fitted with the D-RTK system. I am attempting to perform planned flights using UGCS, for a comparison to the flight path the position reported by the RTK system is logged during these flights. When a circular flight path at a fixed altitude is flown (altitude = 12.7m, radius = 30m) the altitude of the drone 'drifts' away from the pre-determined path by ~2m before returning to the starting point. The graph below illustrates this behaviour for two consecutive flights; one flown clockwise and one flown counter-clockwise, both of which show this behaviour is reproducable. It should be noted that I have observed this behaviour in previous planned flights and the GPS-Fused system also reports a similar altitude variation.

4HZ_RTK_3D_NormalisedPositionvsFP.png
Has anyone come across this issue before or have any insights into why this drift may be occuring?
2020-1-30
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mctaylor
lvl.1
United States
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Hello.  I too fly the same rig and though I do not have a definitive answer, I have a few SWAGs.
2020-2-10
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mctaylor
lvl.1
United States
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mctaylor Posted at 2-10 11:05
Hello.  I too fly the same rig and though I do not have a definitive answer, I have a few SWAGs.

Sorry there, misfire...

When using UgCS, are you flying terrain aware?  If yes, that could be something to investigate.
The Z axis is a wildcard at times, regardless if flying RTK but I have not experienced an ~2M difference.
Have you re-calibrated the aircraft prior to flight?

Regards.
2020-2-10
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