Hi all,
I’ve converted my QuadPlane to a coaxial OctoQuad configuration for VTOL. After some good test flights in qstab and qloiter, I ran QuickTune one axis per flight (to let motors cool). Roll and Pitch flights were clean. Right after the Yaw tune, I started getting pogo/throttle oscillations exactly at touchdown in QLOITER.
What’s odd is the coincidence with Q_M_THST_HOVER auto-learn: on that Yaw flight the value updated to 0.247, whereas it hadn’t changed on the previous flights (I think the issue is related to this param, because I don’t see how a yaw tuning can cause this). Since moving to coaxials (better weight/power), my hover throttle is naturally low (and it’s cool !), and Q_M_THST_HOVER = 0.247 now sits very close to Q_M_SPIN_MIN (0.15). Can it be the issue ?
Questions
- Have you seen QLOITER touchdown pogo when
Q_M_THST_HOVER≈Q_M_SPIN_MIN, especially on coaxials? - Would you **disable hover auto-learn and set a fixed, higher hover (e.g., ~0.33–0.36) to restore margin above spin_min?
- Any other advice ?
I share the anon logs (the first qloiter is the yaw tuning, the second one is a qloiter for control)