I fly Pixhawk 2.1 and Ardupilot (latest beta) on a QuadPlane-converted Parkzone Radian.
Recently I’ve been focusing on performing rapid inbound and outbound transitions because it’s super fun.
I found an interesting behavior.
I increased Q_VELZ_MAX (Pilot maximum vertical speed) to 150cm/s (1.5 m/s for us mere mortals )
The default value is 1m/s.
I found that when I actually command maximum climb or descent, it disables yaw control.
That is, during a rapid climb or descent, it holds current heading no matter how far I deflect the rudder stick.
When I command less than full climb or descent with Q_VELZ_MAX set to 150cm/s, yaw control returns.
If I have Q_VELZ_MAX at the default value of 1m/s I always have yaw control.
Is this a bug or a feature?
When doing inbound transitions from FBWA to Q_HOVER, I would really like to command a rapid descent rate while simultaneously kicking the tail around so I point into the wind.
If I do a crosswind or downwind inbound transition and lose yaw control, then I’m temporarily stuck in a hazardous tail-to-wind condition until I arrest my descent rate.