Hello,
I have built a tailsitter with thrust vectoring and am trying to do a functionnal RTL. I have 2 probelms with this RTL:
Firstly when the VTOL does its backtransition for whatever reason once it is vertical it custs off the motors for a few seconds and then turns them back on, followed by an oscillation of thrust between the left and right motor, which can be seen and heard at the end of the video linked here:
https://drive.google.com/drive/folders/1Tk31x5f3A-48fuvoFDCFuz4HOwqIYkin?usp=sharing
I have tried to modify the roll P and D value without sucess and tried switching the Q_RTL_MODE from 1 to 3 without sucess. If there is a parameter that could change this it would help me a lot.
The second problem I have is with Q_WVANE. Since the wing of the VTOL is looking at the ski it gets pushed by the wind when it is facing the wind, so much so that the VTOL cannot hold the home point. I have set the Q_WVANE parameter on and to have the side into the wind, but the VTOL does not seem to put its side automaticcaly into the wind, and I do not know which parameters to modify to change this. I have tried to modify the gain and the pitch max value but this doesn’t seem to work. After having read the ardupilot wiki and messing around with all the parameters of the Q_RTL and its different modes I still can’t figure it out. Any help would be good for the taking.
Thank you