The mission switched between multicopter and fixed-wing flight
InformationPlane: take-off, landing, QuadPlanePlane only
What ArduPilot says:
- Entered VTOL mode
- Exited VTOL mode
In AUTO a DO_VTOL_TRANSITION command (a mission item, or a command from the ground station) changes how the mission is flown. “Entered VTOL mode”: from here the waypoints are flown on the lift motors, like a multicopter. “Exited VTOL mode”: back to flying on the wing, with a transition. Q_ENABLE 2 starts every AUTO in VTOL mode.
Parameters to look at
| Parameter | What it is |
|---|---|
Q_ENABLE | Enable QuadPlane |
Where to do it:Mission Energy Check
The code that sends it
Entered VTOL mode
ArduPlane/quadplane.cpp QuadPlane::handle_do_vtol_transition() · Open in ArduPilot Plane-4.7.1
Exited VTOL mode
ArduPlane/quadplane.cpp QuadPlane::handle_do_vtol_transition() · Open in ArduPilot Plane-4.7.1