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QAUTOTUNE - VTOL autotune for quadplanes

(Leonard Hall) #22

Yes, roll should behave the same as a multi-rotor and be pretty constant independent of airflow. I was specifically talking about the pitch and yaw axis (while hovering).

(Peter Hall) #23

This is my attempt to do just that for tailsitters. The thinking was that if the airspeed was high the plane mode gains work well, if the airspeed is very low then the copter mode gains work well. This just interpolates between the two based on airspeed. It seems to work well in SITL but not yet had a chance to try it in the wild.

This also allows us to use copter gains in forward flight modes for high alpha flying.

It needs a re-base but it would be great if you could give some feedback, Thanks