The transition to flying on the wing has finished
What ArduPilot says:
- Transition airspeed reached N.N
- Transition FW done
- Transition done
“Transition airspeed reached X”: the airspeed passed AIRSPEED_MIN and no assistance is needed any more. From then the lift motors are faded out over Q_TRANSITION_MS (5000 ms by default, never less than 500 or more than 30000), and “Transition done” marks the moment they stop: the aircraft now flies on its wing. “Transition FW done” is the same moment on a tiltrotor (motors fully forward) and on a tailsitter (nose lowered past Q_TAILSIT_ANGLE, 45° by default).
If “airspeed reached” never comes, the aircraft stays on its lift motors and drains the battery: “Transition failed, exceeded time limit” lists the reasons. In 4.7 a tiltrotor also waits for its motors to finish tilting before “Transition done”.
Parameters to look at
| Parameter | What it is |
|---|---|
AIRSPEED_MIN | Minimum Airspeed |
Q_TRANSITION_MS | Transition time |
Q_TAILSIT_ANGLE | Tailsitter fixed wing transition angle |
The code that sends it
Transition airspeed reached N.N
ArduPlane/quadplane.cpp SLT_Transition::update() · Open in ArduPilot Plane-4.7.1
Transition FW done
ArduPlane/quadplane.cpp SLT_Transition::update() · Open in ArduPilot Plane-4.7.1
ArduPlane/tailsitter.cpp Tailsitter::transition_fw_complete() · Open in ArduPilot Plane-4.7.1
Transition done
ArduPlane/quadplane.cpp SLT_Transition::update() · Open in ArduPilot Plane-4.7.1