VTOL RTL and LANDING ISSUE

ArduPlane Plane 4.0
1

VTOL Plane: QuadPlane with forward motor
Firmware: ArduPlane 4.0.9
FC: Pixhawk2 CubeOrange

I followed the wiki to set Q_RTL_MODE=2 to make my plane RTL as a normal fixed wing and loiter to Q_RTL_ALT, and then trans to VTOL to land. But Q_RTL_MODE=2 did not have any effect. The plane RTL as a normal fixed wing and loiter around HOME with RTL_RADIUS. It never doing a transformation to VTOL. I have to change flight mode using MissionPlanner or RC to land it.
I also tyied Q_OPTION=4 as wiki said and use VTOL_LAND mission command, but I got the same result.
I compiled the 4.0.9 source code to use the quadplane simulator. Sadly, the same test got same result.

I just want to make my plane land as this photo.
image

Please help me. Thanks.

2

VTOL approach is 4.1 and later

3

Thank you but the wiki said:

image
image727×860 64.4 KB

4

That is for VTOL approach as part of a mission, not VTOL approach from RTL.

5

@iampete
Thanks you and I undersdand this is a part of a mission.
I tried use Q_OPTION=4, and upload a mission with VTOL_LAND command. But it’s not working. The plane will change to VTOL after the waypoint before VTOL_LAND. And move to landing positon as a copter.

6

bit 4 is not a value 4, it would be a value of 16, use the tick boxes in mission planner.

7

Thank you @iampete, I think I just found that.
I tried this option on simulator several times, and I noticed that the transition began at the loiter circle and move as a copter, then make its head to wind (or home), not as the wiki picture shown us.

8

It can do that if your loiter circle is too small for the given transition deceleration.

9

Ok @iampete
Thank you very much. I will do more test and make it happen.