Looking at the VTOL Attitude Controller and I see that roll and yaw setpoints are passed through from the controller. We’ve experienced some stalls and quadchute emergency transitions if excessive roll and yaw commands are send during the transition.
Should the roll and yaw setpoints be set to zero during transition? Are there cases where we would want the aircraft other than straight and level during transition?
It looks like we should be able to control a level transition from vtol_att_control in update_mc_state and update_fw_state by setting _v_att_sp->roll_body and pitch_body to 0.0f and include a parameter check VT_LEVEL_TRANS or something.
Manual mode transitions don’t seem to follow this (I think they are mapping the manual_setpoints from the rc controller into roll/pitch.