Enable VTOL Positive pitch while hovering and use pusher motor

PX4 Autopilot VTOL šŸš
1

Hi,

It is possible to adjust some parameters so that VTOL always has a small, positive pitch angle, even in multirotor mode?
We want it so that we are more sure any wind wont cause the plane to start pitching down, and so that we are more secure when trying to transition into FW, as we havenā€™t tried that yet.
And the rear motor should be the pusher, even while we try it in MC mode.

If you have any other safety advice, please suggest it.

Thanks!

Also, the plane was

2 Likes
2

Level the horizon with an offset

3

Yes thatā€™s possible. You can first of all enable the pusher for forward actuation via the parameter
VT_FWD_THRUST_EN (check options in the param description), and then set an arbitrary positive pitch offset via VT_PTCH_MIN, resp. VT_LND_PTCH_MIN for the Land phase (because there you want reduced lift, so usually no positive offset).

Level the horizon with an offset

Thatā€™s not recommended, because then you also have the pitch off in modes that donā€™t have the pusher enabled, e.g. in Stabilized mode.

1 Like
4

Good to know. Is this what was changed then moving to v1.12.3 with the psp offset since that is always how it had to be done on fw.

5

That did the trick.
Thanks!

6

Good to know. Is this what was changed then moving to v1.12.3 with the psp offset since that is always how it had to be done on fw.

On fixed-wing (or VTOL in fixed-wing mode) nothing changed recently afaik. The VT_PTCH_MIN pitch is only active for VTOL in hover mode with pusher assist enabled.