Plane 4.6.0 beta

Squirrel5 · May 9, 2025, 11:40pm

What camera and vtx is that? Beautiful analog video

menschel · May 10, 2025, 6:46am

I have hard weight constraints, complete system with cables weights less then 10g.

Caddx Baby Ratel 2 @5V,170mA
HGLRC Zeus nano VTX@25mW
FlyfishRC Osprey 40mm u.FL RHCP antenna with case removed

Audio is broken on the VTX, just static, no clue why.
I’m not happy with the black corners.
The Caddx Ant Lite I was using previously did not have that distortion.

Rolf · May 10, 2025, 8:07pm

Hi @pkvaloy
Just to understand, so we don’t get confused:

If the transition back from FBWA to Q_Stabilize does not work, did you land the VTOL in fixed-wing mode? Or what exactly do you mean?

I’m asking because I can’t reproduce this with SITL (Mission Planner) . Could you link a logfile ?
I have flown several VTOLs (and fixed wing) with 4.6.0 beta 5 and 6, but VTOLs always with Q_ASSIST enabled. If I don’t misunderstand you, I will fly a real VTOL tomorrow with Q_ASSIST off at -1.

Rolf

Rolf · May 11, 2025, 10:00am

@pkvaloy
The transition FBWA->QSTABILIZE works fine with Q_ASSIST_SPEED -1 Plane 4.6.0 Beta 6
Perhaps other conditions must be met for the error you described to occur. A log file or at least a parameter file might clarify this.

Rolf

tridge · May 12, 2025, 5:21am

@menschel I’ve reproduced and fixed the NAV_LAND with terrain alt bug.

github.com/ArduPilot/ardupilot

AP_Landing: fixed assumption of AMSL WPs

master ← tridge:pr-landing-terrain

opened 01:43AM - 12 May 25 UTC

tridge

+32 -5

the AP_Landing library assumed AMSL waypoints for both prev_WP_loc and next_WP_l…oc. This led to an incorrect glide slope for a NAV_LAND fixed wing landing when the landing WP is terrain relative. This change fixes the code to handle either an AGL or AMSL location, which are the only two location types used in plane fixes an issue in 4.6.0-beta reported here: https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/183 tested in SITL

I expect to include this in the final of 4.6.0, or next beta
Thanks very much for reporting this!

pkvaloy · May 12, 2025, 5:44am

Hi, thanks for looking into this. Our RC-pilot swithes to QSTABILIZE when the transition doesn’t occur automatic.

pkvaloy · May 12, 2025, 5:52am

Thanks a lot for looking into this

Log file from tests with a Fighter 3.0, Arduplane 4.6.0 Beta 6:
bin log
Parameters

Test were done at about high (100m) altitude. Parameters were changed during the tests to reproduce the behaviour. Some back transitions work (where Q_ASSIST_SPEED different from 0 or -1). When Q_ASSIST_SPEED is set at 14 m/s back transitions work fine.

Best regards - Pål Kvaløy

Rolf · May 12, 2025, 11:47am

@pkvaloy
Q_Assist works, but the activation message doesn’t appear, which is irritating. The quad motors are already running before your pilot switches to Q_STABILIZE, as shown in the log file.

Rolf · May 12, 2025, 5:34pm

@pkvaloy

Peter Hall (@ Iampete) told me that QASSISt activity is logged in QTUN.ASt !

Rolf

pkvaloy · May 13, 2025, 6:54am

@Rolf
Thank you very much for looking into this. Here is a log file with another failed transition. Graphing the transition the same way as you did shows that the rotors don’t start before the RC-pilot switches to QSTABILIZE.

This log is from a big VTOL, a Mugin EV460. The plane stalled before the pilot luckily saved the day switching to QSTABILIZE.

Log file

Parameters

AIRSPEED_MIN = 17
Q_ASSIST_SPEED = -1

Arduplane 4.6.0 Beta 5

menschel · May 13, 2025, 4:57pm

Confirmed fixed by #30045

54dee36624 (HEAD -> ArduPilot-4.6) AP_Landing: fixed assumption of AMSL WPs
df9d5750cc (tag: ArduPlane-beta, tag: ArduCopter-beta-heli, tag: ArduCopter-beta, tag: AntennaTracker-beta, tag: APMrover2-beta, origin/ArduPilot-4.6) Plane: version to 4.6.0-beta6

Rolf · May 13, 2025, 5:52pm

Sorry, but no failed tranistion is recognizable in this log file (00000022.BIN) either. Q_ASSIST_SPEED is -1 and therefore Q_ASSIST is switched off.

Rolf