T1 Ranger Second Transition - QLoiter - FBWA - QLoiter

Although it didn't crash you can see the extremely unstable back transition caused by a poor fixed wing tune (FF too high)
Tunes for Matek H743 Wing:
www.dropbox.co...
Matek H743 VTOL:
www.dropbox.co...
Heewing F405:
www.dropbox.co...

[@nighthawkvs]

Interesting flapping. I thought perhaps you were slowing it down for transition and it was trying to stall. Watched again and I can hear your switch before any flapping. Still interesting. :)

[@andypiper5285]

What happens is that the feed forward from the plane controller fights the PIDs the copter controller. The main solution is a good plane tune - it was using relatively default PIDs and for roll at least feed forward was far too high. Running autotune in plane cured this. Note that what provoked this was the good copter tune that I had with high angle P - you want this for good VTOL performance but it needs to be coupled with a good plane tune

[@allansmits9621]

Andy, sorry for the late post, but I had seen your earlier videos with Lee about tuning the Heewing VTOL, and asked him what the status was. He intimated that your work had likely been incorporated by Heewing into their current T1 Ranger VTOL PNP kits. I just received my PNP kit from Heewing and assembled it and programmed it according the Heewing directions, but have not flown it yet. Can you confirm the Heewing is using at least some of your parameters (their current version is AP 4.3.5)? Any suggestions for further noise filtering and PID? Thanks!!!

[@andypiper5285]

Hi Allan, my changes were only integrated into AP 4.4.x and later so it sounds like they are not shipping the right parameters. TBH they have not been that helpful recently despite the time I have put in so I have rather gone off the project. I'm happy flying my Ranger, but am not planning to do much more.

[@allansmits9621]

@@andypiper5285 Sorry to hear Heewing was not responsive, after the effort you made! Were your parameters in AP 4.4.x with "their" FC, or a third party? Just wondering whether I should upgrade to 4.4.x to get the benefits of your tuning.

[@andypiper5285]

@@allansmits9621 You should definitely upgrade if you can, but they were using a bad board id so that makes it slightly trickier - Lee did a video about how to upgrade. My videos were done with a different flight controller, but I have a friend who has the VTOL FC (provided by Heewing I should say) and we did some parameters for that which I can post again.

[@allansmits9621]

@@andypiper5285 Andy, I think I’ll start conservatively with the current FW, but would very much like to try any parameters your friend finds helpful. Please send or re-post.

[@andypiper5285]

@@allansmits9621 I've added links to the description. Let me know how you get on.

[@andrewsabadash9428]

You can try starting the tuning process by reducing Q_A_INPUT_TC to 0.2
The precision of the XY navigation controller also is quite high.
Additionally, consider increasing Q_A_RAT_YAW_FLTE.
Q_P_POSXY_P 0,7
Q_P_VELXY_D 0,126
Q_P_VELXY_FF 0,1
Q_P_VELXY_I 0,06018
Q_P_VELXY_P 0,6
loiter controller
Q_LOIT_SPEED 1000
Q_LOIT_BRK_JERK 100
Q_LOIT_BRK_DELAY 0,5
Q_LOIT_BRK_ACCEL 25
Q_LOIT_ACC_MAX 500
czcams.com/video/9NZ5mNGRDiY/video.html

[@andypiper5285]

These are not the problem, and Q_A_INPUT_TC is an input shaping parameter so controls how the aircraft feels not how it flies. As I say in the comment below the main issue is a poor fixed wing tune which conflicts with the aggressive VTOL tune