QUAD TO PLANE TRANSITION

This transition phase allows the aircraft to maintain attitude using the quadcopter control and increase its horizontal IAS until reaching the requested speed to perform a plane flight avoiding stall condition.

The guidance of this phase is Hold:

  • Desired Pitch and Roll angles: at 0 [rad].
  • Desired Yaw angle: set at the current.
  • Desired Down GV: at 0 [m/s].

Quad to Plane guidance

The only difference with a classical Hover phase is the Thrusting control of the Plane. As showed in the following image, this control increases the thrust value from 0 to 1 in 4 [s] with a delay of 0.5 [s]. This action allows reaching the necessary speed to flight horizontally and, when the IAS is reached, the system will pass automatically to Plane phases (an automation definition is necessary).

Quad to Plane thrusting control

PLANE TO QUAD TRANSITION

This transition phase allows the aircraft to maintain attitude using the quadcopter control and decrease its horizontal speed until reaching a 0 value of Ground Speed and enter in a Hover phase.

The guidance of this phase is Hold:

  • Desired Roll angle: at 0 [rad].
  • Desired Yaw angle: set at the current.
  • Desired Down GV: at 0 [m/s].
  • Desired Front GV: decrease from the initial value to o [m/s] in 15 seconds.

Plane to Quad guidance

Plane to Quad thrusting control

The previous image shows the thrusting control which is brought to 0 in 1 second. In this way, the aircraft stops to control horizontal IAS and the multicopter motors start breaking the platform.