Dear Ardupilot community,
My current project revolves around an ArduPlane tilt tricopter. My frame has two vectorized tilt motors at the front and one fixed motor at the rear. (Attached is a picture of a test aircraft I want to use to try out quadplanes.)
I am currently in the process of adjusting the control parameters. I started with the roll axis and set the control parameters P, I, and D so that the initial oscillation stopped. However, the aircraft unfortunately has a constant tilt of 8° to the right. I have been looking for the error for a long time and would therefore like to ask for you
r advice.
I noticed that the controller reacted differently to roll movements to the left and right. When I rolled the aircraft manually to the left, the controller reacted very aggressively, but rather gently to the right. The log files also show that the PWM strokes of the left motor are significantly higher than those of the right motor. However, the attitude log parameters show the tilt correctly, so the FC seems to recognize the tilt.
Thank you very much for your help.