Transitioning is simple once everything is tuned. All you have to do is change modes (such as going from QLOITER
to FBWA
). It will happen automatically. Again, avoid MANUAL
. This will instantly cut the multicopter motors and your aircraft will drop like a rock until you manage to regain control and lift up (much like a stall).
This is what will happen when you switch to FBWA
or STABILIZE
from a Q
mode (such as QLOITER
):
- The aircraft will attempt to maintain altitude using the quad motors and engage the airplane's tractor motor to provide thrust at user-inputted throttle.
- Quad motors will continue to provide lift and stability until
ARSPD_FBW_MIN
airspeed is reached and if there is no pitot tube, this is based on GPS estimate. Q_TRANSITION_MS
will engage and shut down the quad motors over the specified time.
The transition back to multicopter mode works similarly, but has a few differences:
- Airplane tractor motor will immediately stop.
- Controls switch to multicopter...