Some problem about VTOL Duo Tailsitter from FW to MC


Thank you for PX4 group 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,