Ardupilot VTOL

 

1. Install latest firmware for fixed wing. V.4.3.7

2. Mission Planner 1.3.80

3. Pixhawk Cube orange.

4. Set Q_Enable = 1 ; Quad Vtol Enable

5. Set Q_FRAME_TYPE = 3 ; H

Connections are:

MAIN OUT 1 = aileronR

MAIN OUT 2 = aileronL

MAIN OUT 3 = Throttle

MAIN OUT 4 = Elevator

MAIN OUT 5 = M1

MAIN OUT 6 = M2

MAIN OUT 7 = M3

MAIN OUT 8 = M4

RCIN = Receiver with SBUS

Do calibration

6. Accel calibration

7. Radio Calibration

8. FLTMODE_CH =5

9. BRD_SAFETYENABLE = 0

HERE3 GPS SETUP

https://docs.cubepilot.org/user-guides/here-3/here-3-manual

CAN_D1_PROTOCOL: 1 set virtual driver of CAN1 to DRONECAN

CAN_D2_PROTOCOL: 1 set virtual driver of CAN 2 to DRONECAN

CAN_P1_DRIVER: 1 set this parameter to enable CAN 1 bus

CAN_P2_DRIVER: 1 set this parameter to enable CAN 2 bus

GPS_TYPE: 9 set the communication protal type of GPS 1 to DRONECAN

NTF_LED_TYPES: 231 Set to DRONECAN for LED type

10. ARSPD_FBW_MIN = 17

11. ARSPD_FBW_MAX = 22

12. Q_ASSIST_SPEED = 14 (minus 3 ms from min speed)

13. Q_M_PWM_MIN = 1000

14. Q_M_PWM_MAX = 1900

Calibrate ESC

15. Q_ESC_CAL = 1

16. Max throttle stick

17. Connect battery

18. Reduce throttle

Check Servo output, set min same with value min of motor 1 2 3 4

19. Q_M_SPIN_ARM = 0.1

20. Q_M_SPOOL_TIME = 2

21. Q_M_SPIN_MIN = 0.15

22. Check Flight Modes (QStabilize for Multicopter mode, Manual for fixed wing)

 

Then test flight for qstabilize, and qloiter. Fly well, a bit of yawing, maybe of the weathervening set.

Next, control surfaces setup, 

flight modes (qloiter, stabilize, qstabilize),

Radio failsafe setup,

Power failsafe setup,

Groundcontrol setup.

Then,

Vtol mode setup.

Test flight transition.