I am trying to build a VTOL plane and have stuck at some point. The problem is that, when I arm the plane in manual flight mode, the motors response to the throttle stick appropriately. When I switch to QSTABILAZE, QLOITER or other Q modes, the motors start twitching. I am attaching a log screenshot. The RPM plot shows the mentioned twitching like a noise in the graph.
I had tried various values but no change at all. If I set SERVO 11 and 12 MIN to a value like 1050 or 1100, motors slowly spin, without any observable problem.
Thought same thing but I can’t logically imagine a scenario. Anyway, I am going to play with the ESC parameters.
The other thing; the motors suppose to start spinning slowly when I arm the plane, right? Why RCOU seems flat all the time unless I switch to MANUAL and utilize the throttle stick?
I’ve never configured a VTOL, so excuse my potential ignorance. But since there’s been little response - I think you may have things misconfigured. I don’t think MANUAL mode throttle should affect the vertical motors at all (only Q-modes). Perhaps you have the incorrect output functions assigned.
You also can’t run dshot and PWM servos on the same group. So you’ll need to move the servos to the main outputs (1-8) and put the motors on the “aux” (9-14) outputs.
What kind of plane is this because the configuration seems to be missing things?
Correct me if I’m wrong, but this appears to be a tilt rotor setup, so shouldn’t Motor1 and Motor2 (33 and 34) be the assigned motor servo functions? Currently, they are ThrottleLeft and ThrottleRight (73 and 74), which doesn’t seem applicable.
If it is a tilt rotor, I understand the confusion about motor output and flight mode here, but I think the config is incorrect for desired behavior.
Yup, you’re on the right track. I just looked at the params for my T1 (wanted to check before I shot off my mouth). The front two tilt motors are 33,34. The rear motor is 36. Then there are the tilt servos, 75,76. Plus the airplane stuff.
Use of AUX3 and AUX4 is fine, then, with respect to timer groups - they just need to be assigned functions 33 and 34 (and double checked for motor order and direction via Motor Test).
@msyx You have set servo 11 and 12 to 1000 and 2000 µs respectively, then you should also set Q_M_PWM_MAX to 2000 instead of 1960 and Q_M_PWM_MIN to 1000 instead of 1040.
Are you sure about SERVO_DSHOT_ESC 3 ?
You have 2 ESCs, but 4 instances are logged. I can’t say anything about this because I don’t use bidirectional BD_SHOT firmware, it’s just strange.
Are you sure that the motors have 24 poles? SERVO_BLH_POLES,24
If I set them as 33 and 34, Servo Output view (in the Mission Planner) shows 0 output (instead of 1000 with my previous configuration as 73 and 74). ESCs keep beeping because there is no signal from the FC. I also lose ESC telemetry. No voltage and temperature readings from the ESCs. I am trying to figure out why.
I have fixed it. But I am having the same problem.
Oh, thanks a lot. I forgot to reverse that to 1. No effect on the problem.
ESC11 and ESC12 are showing the RPM info from DShot interface. ESC3 and ESC4 are the same ESCs, they show the same RPM information in addition to the Voltage and Temperature information coming from the physical telemetry line.
It is my bad; I didn’t specify clearly. I am trying to build a tiltrotor VTOL. Two tiltable motors on the wing tips. Both are for hovering and for forward fly.
That’s a good catch, and it appears that your initial instinct was potentially correct. I apologize that I don’t have enough expertise to guide the configuration further.
Here’s a somewhat recent post confirming as much in a longstanding topic by the dev who wrote much of the tiltrotor code:
What I can say for certain is that manual mode often results in red herring results. Users from pure RC flying backgrounds configure manual mode as they would without an autopilot and quickly get themselves into trouble because inputs and outputs are reversed in the wrong fashion (i.e., manual modes work, but the autopilot has no idea which way is “up” with respect to control surfaces or motor direction).
