I was testing the endurance of a relatively large airplane today, and when I ran out of battery and started returning (QRTL), the airplane suddenly activated Q mode at a distance of 500 meters from me. Fortunately, I discovered it in time, otherwise the plane’s own battery would not be sufficient to return home. The incident occurred 239 minutes and 27 seconds after the plane took off, please refer to the flight records.
Is it due to the value of Q_SSSIST_SPEED?
The 4-hour flight log’s temporary memory usage is a bit large:)
With Q_RTL_MODE,0 then the plane should remain in fixed-wing mode and circle the home point like a traditional plane. It will not transition to VTOL as part of RTL.
If the VTOL motors kicked in then Q_ASSIST_SPEED (set to 12) or Q_ASSIST_ANGLE (set to 30) could be the reason. The delay is 0.5 seconds. _ANGLE is effective on pitch and roll so either will trigger the motors.
