Ardupilot VTOL

https://www.youtube.com/watch?v=63yH3-an09E

1) Download firmware Plane Official.

2) Platform: Cube Orange.

https://www.youtube.com/watch?v=b7WltZt8CC8&t=1114s

3) Connect to Flight Controller.

4) Config - Full parameter list 

Q_ENABLE = 1

CAN_P1_DRIVER = 1 (Enable)

CAN_P2_DRIVER = 1 (Enable)

BRD_SAFETYENABLE = 0 (disabled) - Because using GPS without a safety switch

GPS_TYPE = 1 (Auto) change to 9 (DroneCAN)

ARSPD_TYPE = 1 change to 8 (CAN)

5) Reboot.

SERVO OUTPUT

1 = Aileron 1

2 = Elevator 1

3 = Throttle

4 - Rudder

5 = Elevator 2

6 = Aileron 2

7 = Disabled

8 = Disabled

9 = Motor 1

10 = Motor 2

11 = Motor 3

12 = Motor 4 

6) Reboot

7) Check SERVO Output Min, Trim, Max.

8) ESC Calibration (Vtol have 2 types of ESC - Quad/Airplane)

Q_M_PWM_MAX = 0 SET TO 1900

Q_M_PWM_MIN = 0 SET TO 1100

9) Write Parameters

10) GPS Setup/ Airspeed setup

CAN_SLCAN_CPORT = 0 Disabled change to 1.

Reboot

OPTIONAL HARDWARE - DRONE CAN/UAVCAN-SLCan Mode CAN1 - Should Detect GPS. 

11) QP Extended Tuning

12) Full Parameter List

Q_ANGLE_MAX = 3000 cdeg Bigger plane reduce this value. (10 - 15) .

https://www.youtube.com/watch?v=WCHXZJN_GG0

QHOVER = Rudder is not moving. (Quad)
MANUAL = All Control surfaces will works. Check all surfaces are in correct way. Apply reverse to correct.

Basic Tuning Page

Airspeed m/s (Setup for Forward Transition)

Cruise = target airspeed

FBW mi = Shut off vtol motors

FBW ma =  maximum speed

Airspeed Ratio = ...

Initial Testing.

Hover mode in Qstabilize mode, and transition to fixed wing to less the jerky attitude with GPS.

https://www.youtube.com/watch?v=GGfpOZUN96A