My tilirotor tri qplane always underestimated the distance covered before getting in the hover and ends up reversing back to the landing waypoint in auto mode. What does it use to calculate this distance? I guess the rate that the motors tilt is a big factor? Also, even if I slow it down at the last WP to about 15m/s, as soon as the transition starts it puts high power to the motors and speeds up to about 20m/s at the start of the transition. Is there anything to tweak to either make its guess a bit more accurate or make the transition a bit shorter? Thanks.
IIRC there is a parameter for transition deceleration.
Cant find anything, other than the rate the motors tilt. Probably no harm to have this more rapid and get them vertical sooner. Also this ‘air brake maneuver’ adds around 10mts to the height and therefore uses more battery to land. It would be nice to get this all tuned up so it comes to a stop above the landing point at the set height.
Thanks.I cant see the wood for the trees sometimes. I have the DECEL set to 2 and the transition sometimes takes 200mts from 20m/s. decel of 2 gives about 100 so I will tweak that.
Also , any ideas what these values mean? d,sd,dc? I would think the h & v are height and velocity but they are a bit off from the graph values.
Ser the source code https://github.com/ArduPilot/ardupilot/blo /ArduPlane/quadplane.cpp#L2421
Next messages are a bit further down. sd is stopping distance.
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