I’m trying to calibrate my transition and find good values for ARSPD_FBW_MIN and Q_TRANSITION_MS.
This is a flying wing so it is rather unstable and also the VTOL motors etc. add quite a bit of weight. No landing gear. So trying to figure out its stall characteristics is a bit of work. I used eCalc to get a rough estimate, a super conservative stall speed is around 60km/h (seems high, but better be safe). So for now I set my ASPD_FWD_MIN to 17 (m/s) until I’m sure the wing does indeed provide enough lift.
My idea is to accelerate the plane and see if the quad motors slow down while keeping constant altitude. Here’s a graph I extracted from a test flight:
(I had to use GPS speed for now, for some reason my airspeed sensor seemed inop.)
C3 is the forward motor, C5-C8 the quads.
I do see a decline in quad motor speed past 9 or 10 GPS.Spd, which seems good to me. There seems to be quite some delta between C6 and C8, I’m not sure why it is so significant.
I’m hoping to get another test flight in and increase speed even more to hopefully see all 4 quad motors pretty much idle. Is this the right approach?
EDIT: in the logs, is there a way to see if the code starts transitioning at some point?