Yaw lag between command and reaction

ArduPlane VTOL Plane
1

Hello,
My plane is a Vtol with three engines. Two tilting at the front and one fixed at the rear.
I’m at step 6 of the setup, and my problem is this:
In stable hovering, QSTABILIZE takes 1-2 seconds for my radio request to rotate around the yaw
Following the yaw adjustment recommendations and my logs, I have X = 1 for this equation with curves of similar amplitude.
PIQY.FF + PIQY.P + PIQY.D
X * (PIQY.Act)
so Q_A_RAT_YAW_FF = Q_A_RAT_YAW_I = 1.

I should point out that I’m at mid-engine stroke (I have some reserve).
the inclination of the motors obviously goes beyond 90°.
What are the settings I need to change?

yaw_reglage
yaw_reglage1520×509 79.8 KB

redim
redim506×900 108 KB

2

Sorry, i can not help you.I’m in the same process as you.

But i have a question. What motors, props and battery are you using in your Altus?
What is total wight?

Mine is 1400g

3

I am using 4s2p li-ion murata V6 batterie
motors is the 2204 zohd altus motor X3
and propeler is 6040 3 bladed

On Vtol i have 30A and some pic to 45 A if i do hardly.
I use my own design for tilting motors and more (see ici)

I dont know total wight for the moment (i will cheek tomoow)

4

I use 21700 4s2p
I can hover at about 22amp at the moment.

I saw that vtol system on thingiverse. Congratulations, i like it.
If i saw it earlier, i wouldn’t have bought the one from zohd.

1 Like
5

I have the same issue with delayed yaw response on my quad tilt rotor plane. I’m not sure if it’s just a restriction of the servo speed or if it can be improved at all. It’s not so bad as to make the plane unflyable.

6

I’m wondering if it might be because of the lacer angle of the Vtoll motors, as I only have a few degrees and the machine has a lot of inertia on the yaw because of its length.

what angle do you use to ride the yaw on your till quad?

7

what angle do you use to ride the yaw on your till quad?

I have Q_TILT_YAW_ANGLE set to 10 degrees