Thank you for PX4 group working.now I can fly the plane much more easier.
Everything work good when I take off using MC ,then turn to FW.
But something make me confused when I in FW mode ,then I turn to MC mode to land ,it would make the chord some extra quantities into yaw control , which is positive ratio relate to MC_YAWRATE_MAX and MC_YAWRATE_P. Yaw control is hard to control and it value can not be corrected.The value of CH5 CH6 is about 1750-1820 with defaults parameter .
Of cource I can set both of them to zero or another miner value,but the yaw control in MC would be much more harder to control.
Thank you for your help,