Another day in the field; two failed transitions. No crashes!
Did three flights today. The first one was soley VTOL. Based on Tridge's input, I checked the CG of the airplane. The CG is forward. So I thought about what else might cause the appearance of an aft CG, which led me to the tilt system. I am thinking that perhaps the forward engines are tilted slightly aft of the correct desired position. Prior to switching to q plane we marked the physical position of the tilt mechanism relative to fuselage. The lines are centered, but I think a degree of difference might make a difference, which is hard to discern in a fat line. And we set this angle with an inclinometer according to manufactuer specifications of .7 degrees. Perviously I set servo11min to 1055, however the first hover flight the drone was drifting forward into the wind, so I dailed servo11 min to 1015, which seemed to arrest forward motion while in q hover.
So the first flight was dedicated to test this theory. We mapped servo11 to RC9in, which was mapped to a pot on the reciever. Set the initial PWM value to 1015 (same as servo11 min when servo_11_function set to 41). I took off in qhover expecting to see the drone drift aft, but didn't observe that. I recognize the aft motors may be increasing thrust to compensate. As we increased altitude the wind picked up and again, I expected to see the drone drift with wind. I didn't it stay in roughly the same position. To me this suggest the tilt is to far forward if anything. W'ell devise a jig to nail this down definitifley. Sorry for the empircal data.
Not sure what eles could cause the CG to appear to be aft when its neutral to slightly forward.
Anyway, perhaps foolishly, we tried a transition, this time in FBWB. As a long time pilot my brain just doesn't control altitude with throttle, which is why I choose this mode. Immediately upon selecting FBWB the drone departed controlled flight. While sporty, she recovered fairly well and no soiled pants.
Feeling adventureous and attempting to comply with recommendations, we attempted another transition. Same thing: immediate departure of controlled flight and a decent reovery.
Based on Greg's observation of a slower than normal looking transision, we set the tilt rate to 30 degees per second. Maybe we should dial it back to 20?
Also wondering about trim_throttle setting. Tridge and Greg's are set to 35. Does this paramter need to change with a 6s setup.
Here is the log file. Probably gonna look similar to the last flight.
This log file is from the 3rd flight, where we stayed in q hover and commanded forward and right and forward and left. While the response wasn't swift, definitely observed the plane moving in the commanded directions.
From here we will recalibrate the tilt mechanism and again check the CG. Other than that, not sure what else to do.
Suggestions and thoughts happily welcomed.