Tridge, thank you very much for taking the time to look at my logs, I wish I was half as good at analyzing them as you are!
The weather has been too windy for testing all week but I made it to the field this morning. I implemented all the changes you suggested. I also halved the roll and pitch P and I gains for fixed wing flight. My battery is attached under the wing so I was able to alter the weighting by using a smaller battery as a quick fix. My first flight was just a hover test. This time the craft felt much more controllable, responding as expected as long as I kept my inputs small. Whenever it started to get squirrely, a quick burst of power brought it level again. I was able to land with no issues.
For the second flight, I went with the original larger battery. The craft was still very controllable as long as I took it easy on the inputs. I think changing Q_A_RAT_PIT_IMAX from 0.44 to 0.8 had the greatest effect. Here’s the second flight with transition and landing:
https://youtu.be/Maz__AOTGhI
And the log:
https://drive.google.com/open?id=0B860_VUHDPWnQnEtamFIT2dhdVU
I’m thrilled with how this has been going, it’s a cool piece of code! Next time I’m going to push it a bit harder and check how it handles in mild wind. Does anyone have any advise regarding wind? I tend to land quads and planes into the wind but I feel like I should try to land at 90 degrees to the wind so as to present as small a surface area as possible, correcting my position with roll. I don’t know, we’ll see.