@YongChunny wrote:
Good day,
I am trying to build a bicopter VTOL similar to the V22 Osprey. I have set the Q_FRAME_CLASS to 10 and Q_TILT_TYPE to 3. Servo 1 and 2 are set to throttle left and right while servo 3 and 4 are set to tilt left and right.
However, the left tilt servo slowly tilts forward by itself the moment I increase the throttle beyond its armed state. The throttle will increase by itself when I pull up on the elevator. I can’t seem to figure out whats wrong. Additionally, I am still getting high frequency oscillations despite setting Q_A_ANG_RLL_P to its minimum.
Does anyone know what is going on? Attached is the log file from a bench top test, I first moved the aircraft in all the different directions in the armed state, then increased throttle beyond the armed state and moved the aircraft, then I moved the controls around. Looking at the log, the yaw value in the AHRS seems to increase by itself even though the aircraft is stationary on my table.
Thanks,
YC
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