I had my first successful (very short) fully auto mission using the QuadRanger VTOL airframe and PX4 1.6.2. Really impressive effort from the PX4 team! And thanks to @sanderux for the great build instructions and helpful advice on the discussion board.
There is one thing I am trying to understand about the transition to FW. If I understand my log properly, in my flight, immediately after the transition, the controller found itself 5m above the target altitude at 15 m/s, set the pitch target to -17.5 degrees, and cut the pusher throttle to 0. This seems like an excessive response, and indeed the plane achieved the target pitch almost immediately and plunged 10m before recovering.
I don't see any control parameter that would affect this behavior besides FW_THR_MIN. I suppose that I should leave that param at 0 and instead try to dampen the pitch controller. The pitch controller seems to be working perfectly; it hit the target pitch very well. The issue if any seems to be that the target pitch is too aggressive for a 5m drop at 15 m/s.
So I wonder, is this is the expected behavior? Is my center of mass is too far forward? Do I misinterpret the logs? Is there some parameter that I can tweak to decrease the aggressiveness of the altitude controller's setpoints?
My log is at http://review.px4.io/plot_app?log=582aee40-2e3b-443b-8d6f-9e32362709d2 .