Dual motor tailsitter yaw stabilization in FBWA?

ArduPlane VTOL Plane
1

Does anyone know how to enable differential thrust yaw stabilization in FBWA (or a similar mode) for a dual motor tailsitter?

Shef

2

Hi Shef,

What option did you use for the motors output ?
In my case I used ThrottleLeft and ThrottleRight to have the differential thrust yaw stabilization in fixed-wing modes.
Since your plank is able to fly in VTOL modes maybe you used motor1 and motor2 or something similar ?
I don’t know if the fixed-wing yaw differential thrust stabilization orders are sent to the motorN outputs.

JP

3

Hi JP!

I’m using motor left and motor right as my outputs.

You were totally right about those parameters suggested in your other post, I changed the below parameters and I can now see yaw stabilizing outputs to motor left and motor right in FBWA!

KFF-RDDRMIX: 0 WAS .2
YAW2SRV-SLIP: 0 WAS 0
YAW2SRV-DAMP: 0.08 WAS 0 (.08 is suggested)
RUDD-DT-GAIN: 100 WAS 10

I’m going to test out these parameters when it stops snowing outside, i suspect I’ll need a larger value for YAW2SRV_DAMP, but I’ll start with your .08. Thanks Jean!

Shef