I have a VTOL Plane that’s a mix between a tailsitter and a tiltwing.
It does not have any control surfaces, and the motors are in an X configuration. It can “transition” to a more streamlined shape via a servo.
The tilting of the wing / changing the trim pitch (since the wings tilt, and I’m currently configuring as a tailsitter) can be achieved pretty trivially with a Lua script (or even writing C++ code for a custom RC Channel). However, because the airframe changes shape and there’s also airspeed for a factor, the PID gains for the “copter” configuration usually makes the normal plane modes oscillate. (e.g. good gains for QSTABLIZE results in pretty heavy oscillation in STABILIZE)
Is there a parameter to “split” the copter PID gains? or should I just include that (changing quadplane PID parameters dynamically) in my Lua script as well?