@hwurzburg did you ever deal with uncommanded yaw on your boxkite? I don’t remember seeing anything in your blog post about it, but I could’ve missed it.
no never, but I also never flew it close to the thrust speed either…copter tail sitters lose control authority the faster they fly in fixed wing modes…and my vtol yaw was stable, although not rapid
Huh, that’s interesting. I didn’t fly mine near full throttle either, but definitely had the turning tendency. I wonder if the physical build I did was slightly off and that’s throwing things out of whack/trim.
Yeah, 7 and 8 would probably be best since you do have control surfaces you can leave them under the fixed wing controller. Forcing assist means the VTOL rate controller is used with the fixed wing controller slaved to it. In normal VTOL modes the VTOL rate controller also outputs to the control surfaces. The “Motors Only” option means that the VTOL rate controller is only used for the motors with no I term. The allows the control surfaces to do most of the trim hopefully reducing the tendency for motor saturation.
Thanks again @iampete . I am hoping to do a flight test of this today, hopefully I’ll be able to report back with success! 
Success! Thank you for the help! With bits 7 and 8 set from Q_OPTIONS, we have stabilized yaw and can turn in both directions “normally”. Q_OPTIONS_BIT_7_\u0026_8_applied_maiden.bin
The next questions for me are related to QuickTune and also adjusting the params for less of a “ballooning” in the FW to VTOL transition. I sure appreciate all the help with this, I am definitely learning a lot.
In terms of QuickTune, the vehicle is so light and suseptible to breeze that I think it will be somewhat difficult to find a good time/weather to peform Quicktune in QLoiter outdoors. It just gets blown all over. Would there be any reason why I couldn’t perform the Quicktune indoors using QHover (and accounting for lack of GPS fix)?
Additionally, if I’m understanding this section correctly - Tailsitter Planes — Plane documentation related to the FW to VTOL transitions, I can adjust the Q_TAILSIT_THR_VT parameter separately from the Q_M_THRST_HOVER to dial in a more level transition, correct?
The Q_M_THRST_HOVER param seems to be in a scale from 0 to 1, where Q_TAILSIT_THR_VT is in a percentage, so yesterday I did some tests where I adjusted the _Q_TAILSIT_THR_VT around a bit starting at 20% (and then trying 15% and 25%), because my Q_M_THRST_HOVER was about 0.2. I’ve attached those three logs here in the folder linked below, and it would be great if someone could confirm I’m on the right track - I saw a much more level transition yesterday on log Q_TAILSIT_THR_VT_25 but I’m not sure if it was due to me adjusting the value, or just coming into the transition much slower, or both.