First flight in Q_ENABLE=1 was fun. I only flew in VTOL for now. I have a few follow up questions. I use ArduPlane 3.7.0 with a Pixhawk.
- Are the PID settings of Plane used, or the Copter ones, or the Q_ ones, or all three? Or are the Plane ones used in fixed-wing, and the Copter ones in VTOL? Or are only the Q_ ones used for both VTOL and fixed wing?
- Is AutoTune recommended for a QuadPlane? If yes, what's the proper way of doing it for both modes? Is it just a matter of switching to AutoTune mode in VTOL, and then fly fixed wing and again switch to AutoTune?
- I tried to fly a small 3-waypoint mission in AUTO after I took off manually in QSTABILIZE. The mission was just that, three WAYPOINT commands at different lat/long, no VTOL commands. Should I expect this to work, especially as I was flying a Plane in VTOL? I thought it had started navigating after I flipped the switch to AUTO and I saw the aircraft kind of move around as if it was going to catch the first waypoint. But I had to switch back to QSTABILIZE as it was drifting (was windy) a few meters too close from a tree. WP_RADIUS=3.
- I noticed my HUD saying "EKF2 IMU1 switching to compass". Looking at the code it doesn't seem expected. Should I suspect something wrong with my GPS's (primary mag) to be at fault?