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.
@tridge
The most likely cause is your Q_TRANS_DECEL is too high. Posting a log also helps.
Thank you Tridge
Below is the log file showing the overshoot.
https://drive.google.com/file/d/14_f_qbalYil_SAXTxL_OK2xlTFezgA9-/view?usp=sharing
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.
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:
https://ardupilot.org/plane/docs/quadplane-vtol-tuning-process.html
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:
Thank you Tridge,
Let me test this. Will post how it goes.
I settled on Q_TRANS_DECEL value of 0.8 and I no longer have overshoots on landing.
Thank you.
Hello dev’s
I am having the overshoot problem with my tail sitter too. Once the VTOL transition is done from RTL, in QRTL part the behavior is unexpected. Its too difficult to save the bird and I’m losing my birds while testing RTL.
I request someone to look at the log.
Link for the logs
@tailor I have not worked with tail sitters but for my quadplane, I reduced the Q_TRANS_DECEL as advised by @tridge and the overshoot issue was resolved.
I think @tridge can answer this best
