Is there a best practice to transition smoothly from takeoff mode to FBWA? Currently I have my throttle at idle when I change modes to takeoff. The takeoff goes fine but when I switch to FBWA the throttle goes back to idle until I advance it again. If I advance it before switching to FBWA the plane tends to behave unpredictably until I make the switch from Takeoff to FBWA.
That sounds odd. Can you share a log? Explain what you mean by unpredictably?
You could try THROTTLE_NUDGE,0
Unfortunately, I don’t have a log at the moment. In the few times I have tried to apply throttle while the plane was still in takeoff mode (not yet in loiter), it would roll hard to one side. On my last flight, it went into a spiral dive and crashed before I could get it into FBWA and stabilize. I have noticed the same behavior when trying to adjust its course while in RTL mode. It’s almost like it is in conflict between the stabilized heading of takeoff mode and trying to switch to manual mode and apply the inputs. When I have another plane set up, I will try to reproduce and get a log recorded.
I used takeoff mode and I would advance the throttle to max (or whatever cruise is) while the plane takes off and I never had problems with it, the transition is always smooth if I fly in a straight line. The RTL nudge problem is weird too, since I’m assuming your fbwa flies fine, have you checked or changed your mixing gain? I have a feeling it might be a stall if the default RTL and/or takeoff speed is set too low.