My VTOL UAV experiences pitch oscillation at the Transition airspeed reached and position1 phases, accompanied by motor chattering noise. Nevertheless, the attitude remains controllable, and it can complete mode transition and land safely every time. I found that this seems to be related to the minimum output of my motor, since the motor is basically at the minimum throttle during these two phases. The motor can rotate stably only at 0.15. Therefore, I set Q_M_SPIN_MIN=0.2 However, I am not sure whether this is truly related, and I dare not increase this value further.
https://drive.google.com/file/d/1UGJugEq7bS_ed7qE8cSZ46iHilnuRZ9i/view?usp=drive_link
