ArduPilot / ArduPilot/ardupilot
Quad Plane vectored Tilt Tri - FBW Takeoff Problem
- Dominant language
- C++
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Description
## Bug report
**Issue details**
Quadplane vectored tilt tri does not allow FBW takeoff despite having set Q_OPTIONS bit for it (Allow FW Takeoff). Arduplane does not take care of any of the TKOFF options like TKOFF_ACCEL_CNT or TKOFF_THR_MAX just to name few. Instead, the controller push all the motors to 100% instantaneously which could lead to a disaster...
**Version**
4.5.7
**Platform**
[ ] All
[ ] AntennaTracker
[ ] Copter
[X] Plane
[ ] Rover
[ ] Submarine
**Airframe type**
Quadplane of type vectored Tilt TRI
**Hardware type**
Pixhawk 6C Mini
**Logs**
It is easy to reproduce on bench so I can do more tests if you want.
[2025-03-13 17-40-31-anon.zip](https://github.com/user-attachments/files/19234034/2025-03-13.17-40-31-anon.zip)
Contributor guide
Research direction
Reproduce the FBW takeoff on the bench with a vectored Tilt TRI QuadPlane using version 4.5.7, Q_OPTIONS Allow FW Takeoff, and the attached log. Trace how FBW takeoff handles TKOFF_ACCEL_CNT and TKOFF_THR_MAX; done when those options are honored instead of all motors reaching 100% instantaneously.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- embedded-iot, robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100