Is it possible (and how would you go about) to forward fly without active steering surfaces with tilting motors?
There are parameters such as “Q_TILT_FIX_GAIN” that imply that it is possible.
My VTOL plane can roll during the transition (with motors not fully tilted), however, it does not seem to have any yaw authority. (FBWA)
Since I don’t plan on it to ever achieve above-stall flight speeds, I also tried other stuff to make it work…
a) FBWA with Q_assist, vectoring thrust, never completing transition (by intent)
b) QHOVER with Forward Throttle set instead of Pitch.
c) QLOITER with Q_VFWD_GAIN.
ad a) No yaw authority. Drone sometimes committing suicide (possibly due to insufficient Pitch P)
ad b) Drone not aware of aerodynamics and not limiting tilting at all resulting in sever instabilities the more the motors are tilted.
ad c) Seems to be working except for the drone pitching as well, which is bad.
I guess the cleanest solution would be to use FBWA as god intended, but how do I achieve yaw authority and drone not falling out of the sky when it is in sub-stall speeds all the time?
Thank you, all ideas are welcome.