Plane transit into Tandem Bicopter

iampete · December 19, 2021, 1:15pm

Is it now correct in VTOL flight? You might have to change the forward flight code here:

ArduPilot/ardupilot/blob/master/ArduPlane/tiltrotor.cpp

#include "tiltrotor.h"
#include "Plane.h"

#if HAL_QUADPLANE_ENABLED
const AP_Param::GroupInfo Tiltrotor::var_info[] = {

    // @Param: ENABLE
    // @DisplayName: Enable Tiltrotor functionality
    // @Values: 0:Disable, 1:Enable
    // @Description: This enables Tiltrotor functionality
    // @User: Standard
    // @RebootRequired: True
    AP_GROUPINFO_FLAGS("ENABLE", 1, Tiltrotor, enable, 0, AP_PARAM_FLAG_ENABLE),

    // @Param: MASK
    // @DisplayName: Tiltrotor mask
    // @Description: This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.
    // @User: Standard
    AP_GROUPINFO("MASK", 2, Tiltrotor, tilt_mask, 0),

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You might find it works just by setting the tilt type to continuous rather than bicopter.