A tailsitter has finished turning nose-up to hover
InformationPlane: take-off, landing, QuadPlanePlane only
What ArduPilot says:
- Transition VTOL done, zero throttle
- Transition VTOL done
The back-transition (from flying on the wing to hovering) of a tailsitter, an aircraft that hovers standing on its tail. “Transition VTOL done”: the nose came up past Q_TAILSIT_ANG_VT (Q_TAILSIT_ANGLE when that is 0), and the hover controllers took over. With “zero throttle”: a tailsitter with tilting motors is on the ground (throttle under 5%, ground speed under 1 m/s), so the switch is made at once and the motors tilt up, clear of the ground.
Parameters to look at
| Parameter | What it is |
|---|---|
Q_TAILSIT_ANG_VT | Tailsitter VTOL transition angle |
Q_TAILSIT_ANGLE | Tailsitter fixed wing transition angle |
Q_TAILSIT_RAT_VT | Tailsitter forward flight to VTOL transition rate |
The code that sends it
Transition VTOL done, zero throttle
ArduPlane/tailsitter.cpp Tailsitter::transition_vtol_complete() · Open in ArduPilot Plane-4.7.1
Transition VTOL done
ArduPlane/tailsitter.cpp Tailsitter::transition_vtol_complete() · Open in ArduPilot Plane-4.7.1