A VTOL function was asked for, but the VTOL code is not running
What ArduPilot says:
- VTOL not available
- SystemID: only for quadplane
- Q_ENABLE 0
“Q_ENABLE 0” answers a switch to a Q mode (QHOVER, QLOITER, QLAND and the others); “VTOL not available” answers a DO_VTOL_TRANSITION command; “SystemID: only for quadplane” answers the system-identification switch. Each time the request was refused because the QuadPlane code is not running. Despite its wording, “Q_ENABLE 0” is also sent when Q_ENABLE is 1 and the code failed to start.
What to do, most likely first
Q_ENABLEis 0: this aircraft is set up as a plain plane.FixFor a VTOL aircraft set
Q_ENABLEto 1, reboot, refresh the parameter list and set up the Q parameters before any flight. For a plain plane, take the Q mode off the mode switch.Q_ENABLEis set, but start-up stopped at a “Config Error”.CheckLook for a “Config Error: …” line repeating every 5 s.
FixCorrect what it names and reboot.
The firmware was built without QuadPlane support, as on some boards with little flash;
Q_ENABLEdoes not exist then.Check
Q_ENABLEis missing from the parameter list. The Firmware Inspector lists what a firmware file was built with.FixFlash a build that includes QuadPlane support.
Parameters to look at
| Parameter | What it is |
|---|---|
Q_ENABLE | Enable QuadPlane |
Where to do it:Firmware Inspector
The code that sends it
VTOL not available
ArduPlane/quadplane.cpp QuadPlane::handle_do_vtol_transition() · Open in ArduPilot Plane-4.7.1
SystemID: only for quadplane
ArduPlane/systemid.cpp AP_SystemID::start() · Open in ArduPilot Plane-4.6.3
Q_ENABLE 0
ArduPlane/system.cpp Plane::set_mode() · Open in ArduPilot Plane-4.7.1