Nimbus Tricopter VTOL

[GregCovey]

@spetsnaz26

Why would trim auto setting change anything here? FBWA is an attitude control law and supposed to trim automatically anyway (as in you hold your pitch input the airplane tracks a certain pitch attitude without need for manual adjustment).

FBWA will always rest back at the trim levels, which may not be correct. SERVO_AUTO_TRIM slowly moves the trims (while flying) to the level position set by the ACC in Mission Planner or QGC. The SERVO_AUTO_TRIM parameter will constantly monitor how much it needs to correct the flying trim to maintain level AHRS pitch and roll while in throttle controlled modes (AUTO, CRUISE,etc.) or FBWA.

It also corrects for changes in your plane’s CG and setup (control surface changes, warping, fuel loss, etc.). There is no harm in leaving it on. Without SERVO_AUTO_TRIM set to 1, read Tridge’s tip below.

@tridge

Note that if you do fly first in manual, and you trim the aircraft using the TX trim tabs, then make sure you transfer those to the SERVOn_TRIM values before flying stabilized.

@spetsnaz26

I read the documentation several times and have the impression that it’s for the 4+1 Quadplane config only.

I believe that it works for all quadplane and tilt-rotor setups…just like the other Q_ASSIST parameters.