I am working on a VTOL and I have done auto mission with the VTOL. Currently, I am facing two problems the first one is;
I set the default altitude to 40 m in the auto mission but when the transition happens it first go to 50m and then it comes back to around 40 m in the whole mission.
and the second one is that:
when it comes to the back transition all four motors come back to power but during this, the VTOL oscillates up and down in its pitch axis. I have also increased the D gain for pitch axis of Quad motors but I get the same result. I have manually tuned the quad motors (By increasing P and D values in pitch and roll axis and I am satisfied with its performance, you can check the roll and des roll and pitch in the log) but I haven’t done autotune neither in quad mode nor in fixed-wing mode.
I have attached the bin file for your reference
Thanks in Advance