I have completed the simulation of the Swan K1 H-Wing and observed that Q_ASSIST_SPEED was set to 100 m/s. This resulted in a false indication of sufficient lift, as the VTOL motors continued to provide assistance during forward flight to maintain altitude. Consequently, the battery drained rapidly, and the motor current in forward flight was even higher than in hover mode.
When I reduced Q_ASSIST_SPEED to 15 m/s or lower, the aircraft began losing altitude and eventually fell, indicating that the VTOL assist was no longer active. This suggests that the wings may not be generating enough lift to sustain fixed-wing flight on their own.
I am unsure whether this behavior is due to a limitation in the Gazebo simulation environment. Specifically, I suspect that the simulation may be accurately modeling propeller-generated forces but not generating aerodynamic lift from the wings as expected.
I have completed the simulation of the Swan K1 H-Wing and observed that
Q_ASSIST_SPEEDwas set to 100 m/s. This resulted in a false indication of sufficient lift, as the VTOL motors continued to provide assistance during forward flight to maintain altitude. Consequently, the battery drained rapidly, and the motor current in forward flight was even higher than in hover mode.When I reduced
Q_ASSIST_SPEEDto 15 m/s or lower, the aircraft began losing altitude and eventually fell, indicating that the VTOL assist was no longer active. This suggests that the wings may not be generating enough lift to sustain fixed-wing flight on their own.I am unsure whether this behavior is due to a limitation in the Gazebo simulation environment. Specifically, I suspect that the simulation may be accurately modeling propeller-generated forces but not generating aerodynamic lift from the wings as expected.