4.6.0 - vtol tri motor tilt - only FBWB supports vectored thrust - where in 4.5.7 FBWA supported it as well

[bibiefrat]

Bug report

4.6.0 - vtol tri motor tilt - only FBWB supports vectored thrust - where in 4.5.7 FBWA supported it as well

4.6.0 - vtol tri motor tilt - only FBWB supports vectored thrust - where in 4.5.7 FBWA supported it as well
i have heewing T2 vtol with cube orange + ---> i have just upgraded to 4.6.0 from 4.5.7
i saw FBWA no longer supports thrust vector (Q_TILT_TYPE=2)
when moving the plane in FBWA mode with 4.6.0 version - the motor no longer tilt to try to stabilize
where in 4.5.7 FBWA they did
in 4.6.0 FBWB - the motor still tilt to try to stabilize the plane

Version
4.6.0

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[X] Plane
[ ] Rover
[ ] Submarine

Airframe type
Tri

Hardware type
Pixhawk cube orange + with here 4 GPS

Logs
Please provide a link to any relevant logs that show the issue

[IamPete1]

Please add a log or parameter file. Do you mean VTOL vectoring or vectoring in forward flight?

[bibiefrat]

regarding vectoring - i mean:
i set up a VTOL plane (tri motors, only the two front ones cant tilit ). the flight mode is FBWA(the two from tilit forward, rear motor not spinning) - in this flight mode - the the two tilting motor move up/doen to keep the plane stabilize (when tilting the plane manually at home - you see the servos tilting to keep the plane vertical).
to set the above:
Q_TILT_GAIN=1
Q_TILT_TYPE=2
Q_TILT_YAW_ANGLE=19
Q_TILT_MASK=3

please note (in version 4.6.0) that in FBWB the motor indeed tilt - but in FBWA they no longer move at all.

when you ask for logs - do you mena from SD card?

[IamPete1]

What is Q_TILT_FIX_ANGLE? Note that the behavior does change depending on throttle output level and if the vehicle is armed or not. You could take your pros off so you can arm and apply some throttle.

[bibiefrat]

this is Q_TILT_FIX_ANGLE:

https://drive.google.com/file/d/1swl5U0k92hvWgOe4HwN914n5bZgQVSHY/view?usp=sharing

[bibiefrat]

this is some explaination :
https://www.youtube.com/watch?v=NJMIgvoN6aU

[bibiefrat]

https://drive.google.com/file/d/1RNm9i0MXjoPp2wJFun5yuEOd60zVg48H/view?usp=drive_link
https://drive.google.com/file/d/1UM7WOhCPS3YeWUlXulDCuVzuMXCNfn9W/view?usp=drive_link
https://drive.google.com/file/d/11DZxkWmYfpkqApCz3uvY_AghcXeOR94y/view?usp=drive_link
https://drive.google.com/file/d/1qHvifEHMGnStKOMFIkBnZDUAvo7pEK2q/view?usp=drive_link
https://drive.google.com/file/d/1JoKx4p2KhqTCY4h9m01wA86Ld-13KfsR/view?usp=drive_link

[IamPete1]

Sorry, a bin log from the SD card is what we need to debug this.

https://ardupilot.org/copter/docs/common-downloading-and-analyzing-data-logs-in-mission-planner.html#common-downloading-and-analyzing-data-logs-in-mission-planner

[bibiefrat]

https://drive.google.com/file/d/1jc91iK6FaHB9siv4FFB0Zcc-hyd3wwOj/view?usp=sharing
https://drive.google.com/file/d/1-yfO6cpiqwK0CGkj8FdnwRKOG9jI02wh/view?usp=sharing

[IamPete1]

I think its just the throttle scaling, we have changed some stuff in that area. The various modes still output throttle prior to the throttle being zeroed due to being disarmed. So although you never see it on the output the throttle input can matter. I guess if you hold your throttle stick at 0 you will find FBWA is the same as FBWB.

[bibiefrat]

hi
so - in FBWA - do i need to ARM and lift the throttle in order to see the front motor tilting as in FBWB?
10x

[IamPete1]

so - in FBWA - do i need to ARM and lift the throttle in order to see the front motor tilting as in FBWB?

In your example log the pilot throttle was at 50%, even through the vehicle was disarmed it still matters. Lower throttle will mean the tilts move more. You could also arm to test, take off the props in that case. A disarmed test is also fine, just need to lower throttle. If the issue is still there then a log of the test would be useful.

[bibiefrat]

thanks
that solved the issue - indeed as the throttle is lower the more gain i had.

[IamPete1]

Great, thanks for the update.

The throttle scaling is to try and give a linear response, at high throttle a little tilt is the same as a lot of tilt at low throttle.