Test beacon following. When Q_OPTION bit 16 is selected, the VTOL will hover in RTL mode (fixed wing) after completing its mission, instead of landing in QRTL mode.
I would like to ask if it may be because the wind speed is too high, causing the airspeed indicator to misjudge and not convert to QRTL?
Or are there other possible factors?
Flight control: cubeorange
Firmware: ArudPlane 4.4.0
WP:VTOL_TAKEOFF (alt:5m) >> DO_VTOL_TRANSITION(mode:3) >> LOITER_TIME(time:10s, alt:5m)
Do you have Q_RTL = Enabled ?
Yes, my Q_RTL is enabled
Thank you very much for your reply. After yesterday’s investigation, I found the reason.
If you want the VTOL to take off on the spot and always follow the beacon with the VTOL, you need to set the following parameters:
Q_OPTION = 229376
(Bit 15: When landing in QRTL mode, the altitude can be controlled through the throttle stick
Bit 16: Pure VTOL return and landing
Bit 17: When landing in QRTL mode, pitch and roll can be fine-tuned through RC)
Q_RTL_MODE = 3(Always QRTL)
Awesome, glad you figured it out and thanks for the information!