Circumferential Motor Tilt for Increased Yaw Authority

[lordvon (A)]

Seems like it can work out of the box. All of the examples I see, there is no mention of tuning or configuration changes.

Tilted motors for better yaw authority

https://ardupilot.org/plane/docs/quadplane-building.html

OctoQuadplane X Type increase Yaw authority tilt for lower motors

I have built an OctoQuad Plane that seems to have potential. I have used the X type as I have not seen any real performance difference in H type. I know I need to increase my Yaw authority by introducing some induced tilt in the motors to have thrust assist but I am a little confused on the direction of which way to tilt the lower motors… I have read the “TIP” on this page https://ardupilot.org/plane/docs/quadplane-building.html indicating that in a X config the motors would tilt out from the…

Copter Tailsitters

Actually, tilting the motors “inward” for the standard quad-x layout, greatly improves yaw authority for the BiWing model in RF8. I tried 5 degrees of downthrust on the top wing and 5 degrees of upthrust on the bottom wing. This adds a yaw moment (body-frame roll) for each motor which is in the same direction as motor torque. It looks like the Quantix has the motors tilted outward, and in that case you would need a quad-H frame for the motor torques to be in the same direction as the tilt-induc…

Mini Talon QuadPlane Conversion (cont.)

Back in the air today for some quick testing. While having low wind (3-4 MPH) is generally a good thing, it didn’t blow hard enough to allow a complete test. However, small steps can be beneficial. I made several changes. I tilted the left rear motor out 4 degrees to cancel out the 2 degree tilt in the motor boom and to leave the motor tiled out a net 2 degrees. I adjusted Q_WVANE_GAIN from 0 to .2 I adjusted Q_M_SPIN_MAX from .95 to .98. My ESCs have 1960 as their max value. I adju…

Better quadrocopter yaw response by tilting the motors.