December 11, 2021, 4:36am
During landing, my quadplane overshoots the home position, then “reverses” for it to start descending. Initially I thought I should increase q_loit_acc_max but even with a 50% increase (120 to 180) I don’t see any improvement.
What parameter should I change to ensure the quadplane does not overshoot home position.
December 11, 2021, 11:52pm
The most likely cause is your Q_TRANS_DECEL is too high. Posting a log also helps.
December 13, 2021, 4:57am
Thank you Tridge
Below is the log file showing the overshoot.
image showing the overshoot (about 30m past home) in QRTL
In addition, I also find my sink rate is very low (less than 1) during
RTL but during guided mode or auto, I am able to achieve sink rates of up to 5.
This is a quadplane of 40kgs with a wingspan of about 4.5m.
December 14, 2021, 2:24am
the Q_TRANS_DECEL is indeed way too high. The current value is 2.0. I suggest changing it to 1.0 to start with, and lower it some more if you still get overshoot
I’d also suggest you look at this tuning guide:
you seem to have skipped some of the basic tuning steps
the TECS.hdem and TECS.h do track each other nicely in RTL mode:
December 15, 2021, 7:39am
Thank you Tridge,
Let me test this. Will post how it goes.
February 1, 2022, 8:15am
I settled on Q_TRANS_DECEL value of 0.8 and I no longer have overshoots on landing.