# Aggressive maneuvers in mission mode **URL:** \ **Category:** PX4 Autopilot\ **Created:** [July 19, 2024, 1:25am UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778 "2024-07-19T01:25:10Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![Garret](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/ecc23a/32.png) [@Garret](https://discuss.px4.io/u/Garret)\ **Post date:** [July 19, 2024, 1:25am UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/1 "2024-07-19T01:25:10Z")
Hello everyone, I am running some simulated missions on gazebo classics for a fixed wing plane. My mission profile has a nose diving segment. However, no matter what I tried I was not able to get the plane to nose dive. No matter how much elevation change I give it sticks to pitch angle of -10 degrees for descent and +30 deg for climb. These are the parameters I have altered so far: - FD\_FAIL\_P - max pitch fail detection - FW\_MAN\_P\_MAX - max manual pitch angle - FW\_P\_LIM\_MAX - max pitch angle - FW\_P\_LIM\_MIN - min pitch angle - FW\_P\_RMAX\_NEG - max pitch rate positive - FW\_P\_RMAX\_POS - max pitch rate negative - FW\_T\_SINK\_MAX - max descent rate - FW\_T\_VERT\_ACC - max vertical acceleration to correct speed/height errors if anyone has gotten fixed wing controller to pitch down at almost 90deg or knows how to do that - your advice would be much appreciated ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [July 20, 2024, 4:40pm UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/2 "2024-07-20T16:40:23Z")
Any logs you may share? ---
**Author:** ![Garret](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/ecc23a/32.png) [@Garret](https://discuss.px4.io/u/Garret)\ **Post date:** [July 24, 2024, 11:23pm UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/3 "2024-07-24T23:23:22Z")
hello - sorry for a delay in response here are some: - [https://logs.px4.io/plot\_app?log=50ace49c-c81e-41f4-8762-e8fe1d22de99](https://logs.px4.io/plot_app?log=50ace49c-c81e-41f4-8762-e8fe1d22de99) - [https://logs.px4.io/plot\_app?log=08789acf-c27d-4612-8aa7-70d84830f1ab](https://logs.px4.io/plot_app?log=08789acf-c27d-4612-8aa7-70d84830f1ab) basically trying to have it dive instead of circle down on this part of the flight: ![image](https://discuss.px4.io/uploads/default/original/3X/8/3/834e6112c6b5f93438ee6f4febe445d9021e84cc.jpeg) ---
**Author:** ![Garret](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/ecc23a/32.png) [@Garret](https://discuss.px4.io/u/Garret)\ **Post date:** [July 29, 2024, 8:49pm UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/4 "2024-07-29T20:49:07Z")
I did some more messing around with tuning TECS. Went over this process: [Fixed-wing Altitude/Position Controller Tuning | PX4 Guide (main)](https://docs.px4.io/main/en/config_fw/position_tuning_guide_fixedwing.html#tecs-tuning-altitude-and-airspeed), and set some parameters for a more aggressive dive performance. The resulting mission is here: [https://logs.px4.io/plot\_app?log=cb2b7ff2-2282-4217-b247-a4a1cb66d649](https://logs.px4.io/plot_app?log=cb2b7ff2-2282-4217-b247-a4a1cb66d649). with some notable TECS related parameters being: FW\_P\_LIM\_MIN = -60 deg FW\_T\_SINK\_MAX = 60mph FW\_AIRSPD\_MAX = 100 mph FW\_T\_SINK\_R\_SP = 60 mph it definitely improved the aggression of the descent, but the plane still tried doing the circling down instead of just plane dive down. If anyone knows how to disable this circling down maneuver I would be much obliged ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [July 29, 2024, 9:23pm UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/5 "2024-07-29T21:23:28Z")
Check here: I also partially could do it: [https://review.px4.io/plot\_app?log=f5fba5b7-6c30-44e6-90c5-e8f64f51718e](https://review.px4.io/plot_app?log=f5fba5b7-6c30-44e6-90c5-e8f64f51718e) [https://review.px4.io/plot\_app?log=e749af2f-2630-41f0-8f28-29d1912d5452](https://review.px4.io/plot_app?log=e749af2f-2630-41f0-8f28-29d1912d5452) [https://review.px4.io/plot\_app?log=bb65e485-74fd-4ae7-9bd5-8583134b0524](https://review.px4.io/plot_app?log=bb65e485-74fd-4ae7-9bd5-8583134b0524) ---
**Author:** ![Garret](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/ecc23a/32.png) [@Garret](https://discuss.px4.io/u/Garret)\ **Post date:** [July 31, 2024, 6:07pm UTC](https://discuss.px4.io/t/aggressive-maneuvers-in-mission-mode/39778/6 "2024-07-31T18:07:15Z")
thank you for some references! they definitely come closer to what I need than my plane. However, the very first line where you say “check here:” is empty for me. Was there a log that managed to do a proper dive or is that a typo? ![image](https://discuss.px4.io/uploads/default/original/3X/7/d/7d1cc9bc1bb33052f70c5b44c4d6ebe74d677633.png)