that tune looks great! I think that is the best tune I’ve seen yet for a non-vectored tailsitter.
I notice that you still had some FF on pitch and yaw, which isn’t covered by the ZN method. Did you try adjusting that at all? I notice your flight had 0.2, which is the default, but I’m more curious about whether you found a way to incorporate the FF into the ZN approach.
Cheers, Tridge
Thanks James. Just trying to share my experience as I learn more about these tailsitters. Once I get comfortable I plan on putting together a series that shows how to get into the air.
Hi Tridge,
Now I learned how to profit of the information of this LOG.
Before I did not know, where the oscilations came from.
In the meantime I fount another critical Param during FBWA Flight.
Actually I had no specific reason to put the FF 0.2 there. However the P_crit was determined without FF. Only remember that FF is better for flight via control surfaces instead of rotors, so I left it for yaw and pitch.
yes, looks like D oscillation in pitch for FBWA. As usual, halve the parameter when you see oscillation.
yes, but to really improve flight a lot in wind we’ll need to move to the control strategy that Paul is developing. For now increasing Q_ANGLE_MAX makes sense, but I’d like to get Pauls controller into a release soon.
I have started working on it. I have already discovered that both the forward and back transition code needs work. The forward transition is not doing what it is supposed to do as well. It works, but it should be much smoother.
I’ll post when I have something to test.
Cheers, Tridge
Crash: Been flying in FBWA and wanted to backtransition. switched to Qloiter an nothing happened. Tried three times and then wanted to land in FBWA. Was to low and crashed into a tree. Actually ALL of my SD-Log stopped very early this day for no reason, so I only have the tlog. https://www.dropbox.com/s/nv01miyd2ii8wjl/2017-09-23%2012-07-11.tlog?dl=0
Crash: Switched to FBWA in 4m and plane got too low while transitioning.
Probably 10 times to high. My wing 900 gr Wing shakes due to the reaction of the motion of Tilt and/or Elevons already without running the mots.
0.003 ist the upper limit.
@Tridge,
As recommeded I increased Pitch I > 0.
This produce a critical Lift off with tilt over
During the slow or cautious start Phase the integrator is running high, and comes down according his value.
To show what I mean, the short video and the following Graphs.
The transitions are similar special control cases.
May a reduction of Q_PIT_IMAX help, or do you know a better solution?