USM VTOL

20-12-2019

Q_RTL_MODE = Set to 1 (Enable VTOL)

WP_LOITER_RAD = 80 meters

Q_VFWD_GAIN = 0.025 = Change from 0 to 0.025 (referring to nimbus)(Forward motor will turn on during Qloiter positioning control)

Q_WVANE_GAIN = 0.1

Q_WVANE_MINROLL = 3 = Change from 1 to 3 (Minimum Roll in degrees before active weathervaning will start)

ALT_HOLD_RTL = 5000 cm (50 meters) = Changes from 100 meters to 50 meters. (referring to nimbus)

Q_RTL_MODE = 1 = VTOL RTL Enable

Q_LAND_FINAL_ALT = 8 = Change from 6 to 8 meters (referring to nimbus)

Q_LAND_SPEED = 50 cm/s

WP_RADIUS = 15 meters = Change from 2 meter to 15 meters