we still have some questions on how the forwardtransition works on tiltrotor with normal tiltservos (Q_TILT_TYPE = 0).
The charts comes from the logfile of forwardtranistion from flight above on Apr. 8 with Arduplane V3.8 Obeta3 .Logfile: https://www.magentacloud.de/share/3oqfc0hrfz#$/
RCOU.C5/C6 front right/left motor
RCOU.C8 rear motor
RCOU.C12 tilt servo front motors
RCIN.C1 = ailron stick input
RCIN.C3 = throttle stick input
In the diagrams are marked four junctures A, B, C, D.
After switching from QHOVER to FBWA, the tilt servo runs up to 55 degrees (Q_TILTMAX 55, point A in time). The program then waits until the Airspeed has reached the value of ARSPD_FBW_MIN (8, point B in time). Until then, the forwardtransition runs perfectly without losing even a millimeter of height. But between points B and D in time follow three seconds of shock stasis, in which the rear engine is switched off from C but one can still not adjust full throttle.
In this context, some questions:
What is the meaning of Q_TRANSITION_MS (1000) at tiltrotor with normal servo (time between point B and C ?)
Is full tilting really triggered by Airspeed or by GPS-Speed (Groundspeed)?
Could it be selected, wether triggered by GPS or Airspeed?
Could not a separate new parameter be used for the limit speed instead of ARSPD_FBW_MIN?
Could you set a third speed parameter for the tilt servo that allows between B to C to bring the rotors to the final position more quickly ?