From fac41df6577d7611f285c2ee8d1498da783c6082 Mon Sep 17 00:00:00 2001 From: magate <69254089+magate@users.noreply.github.com> Date: Tue, 7 Jan 2025 08:33:34 -0700 Subject: [PATCH] Update quadplane-transitions.rst This note is inaccurate. See code here: https://github.com/ArduPilot/ardupilot/blob/bb96db5466ea359139c34088f46d7b7239e1a381/ArduPlane/quadplane.cpp#L1515C13-L1534C18 See user feedback here: https://discord.com/channels/674039678562861068/1325981110601125979/1326208682018472050 --- plane/source/docs/quadplane-transitions.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/plane/source/docs/quadplane-transitions.rst b/plane/source/docs/quadplane-transitions.rst index 1963165cca..a0599d23e0 100644 --- a/plane/source/docs/quadplane-transitions.rst +++ b/plane/source/docs/quadplane-transitions.rst @@ -40,7 +40,7 @@ Transition to Fixed Wing Mode from VTOL - If :ref:`Q_TRANS_FAIL` is not zero, then exceeding this time before reaching :ref:`AIRSPEED_MIN ` airspeed will cancel the transition and the aircraft will immediately execute the action specified by :ref:`Q_TRANS_FAIL_ACT`. The default is 0, which disables this timeout. -.. note:: if bit 19 of :ref:`Q_OPTIONS` is set and :ref:`Q_TRANS_FAIL` is not zero, and if the airspeed is greater than 1/2 of :ref:`AIRSPEED_MIN`, then the transition to fixed wing will immediately complete. This is useful if no airspeed sensor is being used, and the transition is into a headwind, which could prevent an accurate airspeed estimate from being obtained until a turn is made. Without using the :ref:`Q_TRANS_FAIL` timeout and this Q_OPTION, the transition could be indefinitely long since airspeed might be reported as below :ref:`AIRSPEED_MIN` due to low groundspeed. +.. note:: for tiltrotors only: if bit 19 of :ref:`Q_OPTIONS` is set and :ref:`Q_TRANS_FAIL` is not zero, and if the groundspeed is greater than 1/2 of :ref:`AIRSPEED_MIN`, then the transition to fixed wing will immediately complete. This is useful if no airspeed sensor is being used, and the transition is into a headwind, which could prevent an accurate airspeed estimate from being obtained until a turn is made. Without using the :ref:`Q_TRANS_FAIL` timeout and this Q_OPTION, the transition could be indefinitely long since airspeed might be reported as below :ref:`AIRSPEED_MIN` due to low groundspeed. .. note:: The airspeed used during transition can be found in dataflash logs as CTUN.As. This is a canonical value which will include the airspeed sensor if enabled, or use the synthetic airspeed if not.