Q_WP_SPEED_DN -- does not work on QuadPlane Land first stage

Hello friends I am trying to configure the speed of descent of the quadplane in the first stage, but it seems that there is no such function (LAND_SPEED_HIGH) for quadplanes …

I’m trying to use the following settings:
Q_WP_SPEED_DN 250 cm / s (before it was 150 … I changed it to 250 and it seems that it didn’t change anything, it keeps going down very slowly in the first stage … in fact it seems that there is no difference between the first stage and the final stage of descent !

Q_LAND_SPEED 50 cm / s




I don’t know a lot about quadplane so I’m not really able to help. It is very possible that QuadPlane doesn’t implement the two stage land speed feature that is in Copter.

I suspect the Q_LAND_FINAL_ALT is the final altitude that the vehicle will stop at when descending in QLand. So if set to a non-zero value it may not completely land if Q_LAND_FINAL_ALT is non-zero. I’m not sure about this though.

Q_LAND_FINAL_ALT: It is the final altitude (in meters) for changing the descending speed before landing:
Q_LAND_SPEED … Determines the descent speed (in Cm / s) when the aircraft reaches the point defined in Q_LAND_FINAL_ALT

At this point there should be a change of speed to decide to have a smooth and short landing.
I understand that this speed could be a little higher at the beginning of the descent (around 150 or 200 Cm / s). And slower at the end of the descent (50 Cm / s) … It is precisely this parameter that I am not able to define. The aircraft transitions at a height of 40m and descends the entire route at the same speed of 50Cm / s … this consumes a lot of battery.

I know that in the copter version there is a LAND_SPEED_HIGH parameter that adjusts the first stage of the descent, but in the quadplane version we do not have this parameter. I tried to adjust it by Q_WP_SPEED_DN … but this parameter is to be used on missions, and not on landing … it didn’t work.

Any suggestion?

@tridge :wave:
Could you give some direction?

There is no two stage landing in quadplanes so it should still descend at the Q_WP_SPEED_DN before that, do you have a log showing its not doing this?

Thanks for your help Peter
Looks like the same speed after transition.
Here is the bin and log…


Interested in this as well. Is there no way to specify the first stage of RTL Q landing descent?

I am having this exact same issue. Plane descends at Q_LAND_SPEED independent of whether it is above or below Q_LAND_FINAL_ALT. Anyone had any luck fixing this?

Slightly embarrassing… but for any of those who have a similar issue - this arose from setting the VTOL land WP with an altitude > Q_LAND_FINAL_ALT. This in effect causes the Q_LAND_FINAL_ALT to be set to the altitude specified in the WP so that Q_LAND_SPEED (as opposed to Q_WP_SPEED_DN) is initialised way too early.