I have got around to adding the independent tailsitter pitch limits,
I have been having a look at my todo list from earlier. I must say realflight SITL and cygwin make it much faster to develop the code. If anyone wants to play with my FT Bronco realflight model its here https://drive.google.com/drive/folders/17ZE85aQV1TUw1uq4aDS20j2ThS9BD-fI?usp=sharing
I have had a mess about with changing the to the plane PIDs, Q assist for vectored tailsitters and giving the code info about servo tilt angles but no improvements so far.
Turns out Auto weather vanning is already enabled for tailsitters, just need to switch it on with the parameters, has anyone tried it?
I have encountered the euler angle issue in realflight, also yaw seems to always be in earth frame, I think it would make more sense to be in body frame. If you yaw in Q modes while at large pitch angles it just sort of skids round rather than doing forward flight orientation roll. I guess this is just because quadplanes don’t really get to angles where you can tell the difference. Might be quite tricky to change in the code however as it affects all quadsplanes not just tailsitters.
Most recently i have been playing with transitions I think airspeed based transition is unnecessary, however i think it does make scene to do some sort of airspeed wait before back transition to vtol. ie it would only start transitioning once it has slowed down to some predefined speed. Currently I have it locking pitch and roll to zero and cutting the throttle, then once the speed is below the threshold speed it carrys on as before. This results in the aircraft just flying off straight when the transition switch is flicked. In realflight the aircraft can go quite a distance before it starts transition, so you have no control. This speed parameter allows you to trade off height gain for linear slowing down distance.
anyone have and ideas about other ways of doing it? I might have a look at the landing code its essentially the same problem except instead of doing a flair just before stall it would go in to the transition.Having reverse thrust would be ideal, could just stop on the spot and catch it in vtol,