Believer 4+2 VTOL Conversion

[Sunny52266]

Since the previous post, I managed to control yaw oscillations by re-tuning the yaw axis manually as per the following post:

Advice needed - Quadplane and big props

Hello Robin, I previously tuned a quadplane with 29’’ props, here’s some tips that was picked up: If you want to be gentle on the motors during spool-up (given the high inertia from the large props), you can increase Q_M_SPOOL_TIME. Mine were doubled from the default values and it had no problems. The spinning props responded quickly enough to handle gradual changes in roll and pitch, so long as the PIDs are tuned correctly. Not able to answer this; but they were left as default on my quadp…

Some oscillations in yaw still persisted, however, by using some of the parameters shared by @tridge for the MFE Striver, they have almost vanished. A little overshoot on yaw still persists but I think that can be ignored. The following parameters were changed:

Set Q_YAW_RATE_MAX = 50, Q_A_SLEW_YAW = 700, Q_A_ANG_YAW_P = 3, Q_ANGLE_MAX = 2000

To control slight overshoots on pitch and roll axis, SRATE was reduced from 50 to 35.

Other parameters also changed were as follows:

According to step 11 of the tuning process Tuning Process Instructions — Plane documentation, I tested the tune by setting the Q_A_RATE_FF_ENAB to 0. However, no noticeable overshoots or oscillations were observed. So I set the parameter back to 1.

I remain skeptical of going into autotune due to the fact that I think the motors are a bit overloaded. The vertical flight time is in excess of 10 mins, however, the motors get quite hot after a regular flight of 3 minutes.