I have a Heewing T2 with Holybro Kakute H743-Wing controller running Arduplane 4.6. The airplane flies good in fbwa and fbwb. When I switch to acro mode everything is ok. I then raise the nose a few degrees and do a right aileron roll. When the airplane has done a 360 I release the stick to neutral but the airplane has a very heavy left wing around 25 - 30 degrees down. I then switch out of acro mode into fbwa and the airplane levels its self and fly’s ok. I tried again and it did the same thing. I did not try a left aileron roll. How do I fix this?
AFAIK that is the default / intended behavior for ACRO. I can confirm that Plane 4.6 behaves like this and does not stabilize at trim neutral by itself. I did a few attempts with a sub250g ZOHD Drift but saw no benefits using ACRO over MANUAL.
I couldn’t download your log file; otherwise, I would have examined your parameters. However, I can ask questions and point out the following:
Did you set ACRO_LOCKING to 2 and YAW_RATE_ENABLE to 1 (enabled)?
Only then will you have ‘full’ acro control, i.e. Ardupilot will try to maintain the attitude in all 3 axis..
Manual mode differs considerably: gusts or wind shear that disturb the attitude around the three frame axes must be corrected manually in manual mode. This is not necessary in acro. Most planes steer a curve with ailerons input alone without rudders due to their design. However, with YAW_RATE_ENABLE, this is not the case as you only change roll without changing heading.
In addition to the Wiki, I also rescue with FBWA if I can no longer identify the aircraft’s attitude or if I have manoeuvred into an aerodynamically unstable position.
Thanks for clarification. Default is 0 and from the parameter description, I was convinced it would do exactly the opposite. ACRO_LOCKING=1 then does make it behave like STABILIZE if sticks are centered.
@Rolf No on the aforementioned flight ACRO_LOCKING=0. I have since set it to 1 but have not flown the airplane. I will set it to 2 and set YAW_RATE_ENABLE to 1 and do another autotune. I’m hopeful that will take care of the issue, Thanks!
