I have been struggling with a new Xiake 800 VTOL wing. I ran Autotune in airplane mode, and it now flies nicedly in FBWA and Acro. However, in qLoiter, it intermittently spins clockwise. I put on new props and fine-tuned the tilt servo throws measuring prop distance to a table to be sure the motors were equally tilted in qStability. I set a mode switch to q-Autotune and set Q-Autotune_Axes = 2, which is listed as yaw in the wikki but comes up pitch when I set it in Mission Planner. I got a GPS lock and Home, started hovering in qLoiter and switched to qAutotune. My Radiomaster said Autotune was started. I several elevon twtiches and then none. After 5 minutes, I landed and disarmed, still in qAutotune mode. When I checked the QP Extended Tuning tab, the Pitch, Roll and Yaw PIDs had not changed. Why did qAutotune not work?
Xiake 800 Full Parameter list for qAutotune 7-22-23.param (21.9 KB)