I have built a small (1.2m wingspan) tri-tilt-vtol plane here and while the plane transitions flies acceptably I am observing a behavior where the forward tilt motors spool up to 100% for a fraction of a second at the final moment of transition, despite the VTOL and Fixed Wing throttle controllers being at ~50-60% commanded (the plane usually has no lack of airspeed and does not appear to be sinking by this point). On this small aircraft it causes a somewhat disturbing pitch up moment at the end of transition, because by that point the motors are not all the way in the forward position. On a larger aircraft I would be worried about this being more than the motors and controllers would stomach.
Unfortunately the logs are too large to upload here but I could send directly to someone if needed
It works fine (In future, link the *.bin files from the SD card, as they are somewhat shorter ) .
Without being able to look at everything now, I noticed that you have set Q_TRIM_PITCH to -8°.
Did you determine the value with little wind or no wind in Qhover or QStabilize? If not, or if you determined it in QLoiter in windy conditions, the value is not correct and I would redetermine it. I am writing this first because I know the pitch-up at the end of the forward transition in VTOLs if there is an incorrectly Q_TRIM_PITCH.
Yes, that is the value to achieve a hover in QStabilize with no wind. This platform unfortunately displays a fairly large mismatch between it’s hover trim and forward trim,
Does the problem also occur if you do not make the transition in auto mode? For example, when transitioning from QHOVER to FBWA?
I would increase Q_TILT_MAX from 25 to at least 45, possibly even more if necessary. After the transition, your props are almost horizontal with only 25° which favours the uprising.
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