SIM001 › Flying the VTOL › Flying with a radio

The throttle stick in a hover

In a hover mode, the throttle stick does not set the power. It sets how fast the plane climbs or descends. In the middle, the plane keeps its height. Push the stick above the middle and the plane climbs straight up. Pull it below the middle and the plane goes down.

A raised throttle stick lifts the plane

If the vehicle is armed, the autopilot mode is QLOITER and the plane is on the ground, move the throttle stick to the high position: all the way down is low, the middle is middle, and three quarters up is high. The plane stays at one place in the air, and the speed in the PFD is near 0. The plane leaves your hand and climbs away. The height above home is at least 15 m.

See it in Taking off with the TX15, Flying a VTOL with self-levelling, Trying the buttons of the radio, Flying a VTOL with the TX15.

How this is tested failed

Given the vehicle is armed
  And the autopilot mode is QLOITER
  And the plane is on the ground
When the throttle stick is high
Then the flight is hovering
  And the plane is flying
  And the height above home is at least 15 m

Follows: QLOITER changes forward flight back into a hover, The arm switch arms the vehicle, The mode switch picks the mode, The screen shows that the plane is armed, The screen shows the flight mode
Leads to: A centred throttle stick holds the height, A lowered throttle stick brings the plane down, QRTL brings the plane home and lands it softly, The screen shows forward flight, The screen shows the plane landed and disarmed
Tested by: Taking off with the TX15 › Arm, pick QLOITER, lift off and land failed, Flying a VTOL with self-levelling › Lift off, fly forward in FBWA, hover again and land softly failed, Trying the buttons of the radio › Lift off, try QHOVER and CRUISE, then fly home failed, Flying a VTOL with the TX15 › Arm, lift off, fly forward in FBWA, hover again and land softly failed

A centred throttle stick holds the height

If the flight is hovering, the plane is flying and the height above home is at least 5 m, move the throttle stick to the middle position: all the way down is low, the middle is middle, and three quarters up is high. The plane stays at one place in the air, and the speed in the PFD is near 0. The height above home is at least 5 m.

Screenshot to come.

See it in Taking off with the TX15.

How this is tested untested

Given the flight is hovering
  And the plane is flying
  And the height above home is at least 5 m
When the throttle stick is middle
Then the flight is hovering
  And the height above home is at least 5 m

Follows: A raised throttle stick lifts the plane, The throttle stick lifts the plane on the serial line
Tested by: Taking off with the TX15 › Arm, pick QLOITER, lift off and land failed

A lowered throttle stick brings the plane down

If the flight is hovering, the plane is flying and the height above home is at least 5 m, move the throttle stick to the low position: all the way down is low, the middle is middle, and three quarters up is high. The plane lands and stops on the ground.

Except when the autopilot is armed: see Closing the throttle holds the hover.

Screenshot to come.

See it in Taking off with the TX15.

How this is tested untested

Given the flight is hovering
  And the plane is flying
  And the height above home is at least 5 m
When the throttle stick is low
Then the plane is on the ground

Follows: A raised throttle stick lifts the plane, The throttle stick lifts the plane on the serial line
Overridden by: Closing the throttle holds the hover when the flight is hovering, the height above home is at least 5 m, the autopilot is armed and the plane is flying
Tested by: Taking off with the TX15 › Arm, pick QLOITER, lift off and land failed