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Update quadplane-transitions.rst #6515

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Jan 7, 2025
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Update quadplane-transitions.rst #6515

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2 changes: 1 addition & 1 deletion plane/source/docs/quadplane-transitions.rst
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Expand Up @@ -40,7 +40,7 @@ Transition to Fixed Wing Mode from VTOL

- If :ref:`Q_TRANS_FAIL<Q_TRANS_FAIL>` is not zero, then exceeding this time before reaching :ref:`AIRSPEED_MIN <AIRSPEED_MIN>` airspeed will cancel the transition and the aircraft will immediately execute the action specified by :ref:`Q_TRANS_FAIL_ACT<Q_TRANS_FAIL_ACT>`. The default is 0, which disables this timeout.

.. note:: if bit 19 of :ref:`Q_OPTIONS<Q_OPTIONS>` is set and :ref:`Q_TRANS_FAIL<Q_TRANS_FAIL>` is not zero, and if the airspeed is greater than 1/2 of :ref:`AIRSPEED_MIN<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<Q_TRANS_FAIL>` timeout and this Q_OPTION, the transition could be indefinitely long since airspeed might be reported as below :ref:`AIRSPEED_MIN<AIRSPEED_MIN>` due to low groundspeed.
.. note:: for tiltrotors only: if bit 19 of :ref:`Q_OPTIONS<Q_OPTIONS>` is set and :ref:`Q_TRANS_FAIL<Q_TRANS_FAIL>` is not zero, and if the groundspeed is greater than 1/2 of :ref:`AIRSPEED_MIN<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<Q_TRANS_FAIL>` timeout and this Q_OPTION, the transition could be indefinitely long since airspeed might be reported as below :ref:`AIRSPEED_MIN<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.

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