VTOL slows down cruise speed early and triggers q assist

ArduPlane Plane 4.6
1

Hi all,

I just installed a new flight controller on my VTOL and flew it with ArduPlane 4.6.0. I used the VTOL_LAND command with a cruise speed of 20 m/s. Normally, it stays at cruise speed and transitions to quad mode about 200 m before landing (with Q_TRANS_DECEL = 1.5).

But now, after passing the second-to-last waypoint (tested at 500 m and 300 m away), the plane slows down early. It drops below Q_ASSIST_SPEED = 17, so it switches to quad mode too soon.

Any idea why it’s slowing down after that waypoint?

my bin file

Thanks!

2

When using the VTOL Land mission, it gradually decreases to the AIRSPEED_MIN rate from the final waypoint to the VTOL Land point.

This is because AIRSPEED_MIN is smaller than Q_ASSIST_SPEED for the above log.

I don’t know if my Google translator spoke well.

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3

yeah, right, thank you for you support