Hi All,
I’m trying to get my quadplane VTOL altitude controller working well. I’m noticing strange behaviour with the vertical velocity setpoint. I have Q_VELZ_MAX set to 400cm/s. However, most of the time at full stick up, the vehicle will maintain a steady climb at 100 - 150 cm/s.
Every now and then, though, for some unknown reason, the climb rate limit gets unlocked and the vehicle can climb at 400cm/s and the performance is great. This persist until reboot, then I’m limited again.
Here is a log. It shows that the velocity setpoint is very low, around 150cm/s, and it’s actually matching it reasonably well. not great, but ok acceptable. The logaslo shows that the throttle stick is at 2000us PWM and the parameters show that Q_VELZ_MAX is 400cm/s.
Any idea what could be going on?
Thanks!
Log is here