We’re testing a Quad tailsitter and running into problems immediately after transition.
We’re seeing the horizontal flight in transition hold altitude, pitch, and roll very well. However, once it hits FW mode, it seems to lose altitude, ramp all motors, and then quad-chute.
Our drone has 4 rotors (in a + config) and two control surfaces that direct yaw in multicopter, and roll in FW.
Looking through the logs, we see the controller changes and yaw command spikes - we don’t see a corresponding delta in the motor outputs (motors 2 and 4) that would control yaw here. We suspect the yaw actuator command in the log corresponds to a roll command (and that corresponds with our servos moving one to one with the yaw rate set point). In any case, we’re seeing a very sharp increase in yaw setpoint that seems to cause issues with stability. Would anyone have any ideas as to why this is happening?
Log: https://review.px4.io/plot_app?log=1251c53b-8097-4dda-a3de-2e03084cd22b