Many thanks pete.
I am using 3dr pixhawk. It is a bit old, i will update it to the newest firmware tommorow, and recheck if there is an option for bicopter.
This is master with my patch. You should be able to select tailsitter(bicotper) with Q_FRAME_CLASS as 10. Then you need to set Q_TILT_MASK to 3, i think it shouldn’t matter but we might need to take another look at this if it’s not doing the right stuff. But you should at least be able to get hovering with this build, i hope
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big thanks pete, i’m going to implement it as soon as possible 
I have just been playing in the simulator, this firmware does not work yet, will try and get something working in the next few days
Hi, Pete
some of my first tailsitters used bicopter in baseflight and it worked well for all kinds of setups…
also thanks for all the great work and help and will also use your bicopter
Rick …research air
I have now got this working. this is the pixhawk build
Parameters should be set so Q_FRAME_CLASS = 10 and Q_TILT_TYPE = 3. Flys OK, pitch in the hover is very tricky to tune and it defiantly cant go backwards.
updated PR is here Plane: add bi-copter tilt rotors quadplanes by IamPete1 · Pull Request #10793 · ArduPilot/ardupilot · GitHub
I suggest you get your plane built and flying in forward flight, then we can go over the setup for the hover.
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Wooo, looks very promising. Well done. Thank you for the work you did.
I’m starting a project that will be based on this.
I’ll keep you updated.
I’m planning to use pixhawk 2 cube. Is different from pixhawk? Arduplane code & ground station.
What will be the arrangement of channels in this configuration?
1 & 2 Elevon
Throttle @ 3
Right Motor @ 5
Left motor @ 6
Tilt R servo @ Aux1
Tilt L Servo @ Aux2?
Thanks, Itzik
The pixhawk build should mostly work on the CUBE, although some stuff will not work. I will do you a proper CUBE build for you after easter. The arrangement of the channels is whatever your set them to be using SERVOx_FUNCTION 's.
I really appreciate it. Happy holiday.
Dear Peter,
I decided to make my first attempt on a small and simple plane equipped with the usual Pixhawk (the 3DR not the Cube Model). If the system works well, I will move on to a new and larger system.
Saying that, what PR I need to use for this arrangement?
you can use the build here:
its is built from this branch
https://github.com/IamPete1/ardupilot/tree/bicopter-tiltrotor
Thanks Peter,
Should I enter/download something from this branch? Or is it just my info?
Itzik
no need to do anything, just if you want to look at the code changes or build for a different flight controller yourself.
Thank you, unfortunately I do not understand software at a sufficient level to do so. I trust your blessed help. But I do know how to build, do integration & to run system level debugging process … so I hope to help the community and those who come after me.
Hi Pete,
I’m Damar. Many thanks on your work on this one.
I want to implement in on my 3dr pixhawk. Can i know the servo configuration for your firmware? I mean what servo goes to what channel
Hi Damar,
Set tilt left and right and throttle left and right on the servo outputs page, all the plane stuff is standard
I already set it up that way, tilt right and left in servo 7,8 and throttle right and left in servo 5,6. But when i monitor the output pwm in mission planner i dont see any pwm output on those chanel.
and actually there is no option 3 in my Q_TILT_TYPE although i already upload your firmware
Pada Kamis, 7 November 2019 16.44.28 WIB, Peter Hall via ArduPilot Discourse noreply@ardupilot.org menulis:
November 7
Hi Damar,
Set tilt left and right and throttle left and right on the servo outputs page, all the plane stuff is standard
have you pressed your safety button if one is fitted? You will have to update mission planner to get the latest parameter descriptions.
this is now in master so it would recommend flying that,
Hi Pete, i already download your new firmware and install it in my pixhawk but i still doesnt work. and i already make sure that my safety switch is pressed. Do i miss something here? I already attached my parameter file in this email. Could you help me to see if there is something i miss? Thanks in advance.
I want the configuration be like,
Servo 1 = Aileron
Servo 2 = Elevator
Servo 3 = Throttle
Servo 4 = Rudder
Servo 5 = Motor Right
Servo 6 = Motor Left
Servo 7 = Tilt Right
Servo 8 = Tilt Left
The vehicle configuration is the same like falcon21 shared before
So far i already set it up that way, and when i set it to the stabilize mode, i expect that the servo 7 and 8 output some PWM right? But unfortunately i don’t see any change in those channel. And i also confuse how we can change between vtol mode and conventional fixed wing during the flight.
Thank you you so much pete if you can help me
Pada Kamis, 7 November 2019 17.17.16 WIB, Peter Hall via ArduPilot Discourse noreply@ardupilot.org menulis:
November 7
have you pressed your safety button if one is fitted? You will have to update mission planner to get the latest parameter descriptions.
DamarHardy:
upload your firmware
this is now in master so it would recommend flying that,
http://firmware.ardupilot.org/Plane/latest/
DamarVTOL.param (20.6 KB)