I bring back this dicussion because I don't really get how the Q_parameters work and how to assign the outputs
I have a project of building a quadplane with a servo to control the angle of the 4 motors.
Here is the params I started to configure but that's just the beginning and nothing is pluged on my Pixhawk except the RCIN and some servos to see how the outputs are answering
15-09 Param list beginning Quadplane bis.param (12.6 KB)
The Parameters I Changed are :
_ Q_ENABLE = 1
_ Q_TILT_MASK = 15 (1111) in binary (because my 4 motors are tilting)
_ BRD_PWM_COUNT = 6 (to have the AUX5 )
_ V_TAIL_OUTPUT = 3 (Because I have a V-tail)
For the RC _FUNCTION I chenged them so I get this configuration :
MAIN5: Front right motor, CCW : RC5_FUNCTION--> 33
MAIN6: Back left motor, CCW : RC6_FUNCTION--> 34
MAIN7: Front left motor, CW : RC7_FUNCTION--> 35
MAIN8: Back right motor, CW : RC8_FUNCTION--> 36
AUX4: Servo for motor tilt angle : RC12_FUNCTION--> 41
AUX5: Servo for motor tilt angle reversed : RC13_FUNCTION--> 41, RC13_REV--> -1
I'd like to set my own PWM for the tilting angle and also have a transient mode with a 15°degree angle for exemple.
I don't understand exactly how the "tiltrotor_slew(float newtilt);" is working in quadplane.
Can I create a QHover15deg mode that could be the same as QHover but with tilting motor angle at 15 degree ?
Hope you guys can help me