Dual-motor tailsitters

Development Team
2447

Great Thanks for this Analysis !

2448

Hello,
I modify Q_TAILSIT_RAT_VT, from 50 - > 25 and I made two videos from today with good transitions:

Logs :
https://drive.google.com/file/d/13EkZxcLNrJm1wTV89qfIcz8Sw-Go_ri6/view?usp=sharing, https://drive.google.com/file/d/1KtmWd8suUnNMCk2Xqxm021VS0cSY1u1l/view?usp=sharing

Thanks Again

2449

Hi @melc good to see the progress. Looks like you lost control during QHover descend in the second flight. Log shows elevon saturated and AP cannot correct then.

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Aside from elevon area and deflection is not enough, I am advised 2 parameters will help.

2450

Thanks For you replay !

I apply today the settings and test just after, some wind : It’s really great :slight_smile:

I try to survey more the Eclipson E VTOL thread

Video of the result , sorry , I don’t see the presence of a part of my COVID MASK on my gopro !!! :slight_smile: :frowning: :slight_smile: !!!
https://youtu.be/hd5gxhTDQsE

Logs Tailsiter test with big COVID Protection !!!
https://drive.google.com/file/d/1gj4ddkusPKXCDpBki9INr7OPj1Ze5qYx/view?usp=sharing

If any idea for optimize, I take !

Thanks

1 Like
2451

Good to see the progress. I see you had scary moment in the first 15 seconds until you exit to FBWA. Noticed you have very PWM range set for RCOUT.C4, 900 to 2200. Does the servo really move to that?
One advice I got that could apply here is to raise q_a_rat_yaw_I and Imax, as high as 1. I see you struggled to point wingtip to the wind a few times?

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1 Like
2452

Hi Satoru and thanks for youtr return :slight_smile:

  • I see you had scary moment in the first 15 seconds until you exit to FBWA

yes, strange, but with 4.2dev version, the wing it’s like a spinning-top, it’s a real joke , at the limit of the fun / afreid ! I really think this experience very interesting and Great Thanks of the DEV IMPLEMENTATION EFFORTS

  • Noticed you have very PWM range set for RCOUT.C4, 900 to 2200. Does the servo really move to that?

it’s true, all the range are used

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  • One advice I got that could apply here is to raise q_a_rat_yaw_I and Imax, as high as 1
    Thaks, I proced to test in the next flight

I see you struggled to point wingtip to the wind a few times?

  • sorry, I don’t remember

Have a Great Week-end !

2453

HI to everyone!
I’m going to make a Duo Tailsitter with vector thrust, and also is a Belly sitter. I start developing using PX4, I’m new with Ardupilot because this Airframe Configuration is not support by PX4. But I see works almost the same way or exactly the same.

My question is, any recommendation related to parameters of this configuration, what are the most important ones, I already read all the documentation from the Ardupilot related to Tailsitters, but the expertise of you devs sometimes is more important that the documentation.

Here I attached an image of my setup:

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Hope someone can help me!

2 Likes
2454

looks like a bit larger version of one of mine: C1 Chaser TVBS conversion
doing a comparison of the Q_ params might give you some insight
if you use the “latest” ArduPlane firmware there are some new params like Q_TILT_ENABLE and Q_TAILSIT_ENABLE that need to be set to 1 since they now hide the tilt and tailsit parameter tree


1 Like
2455

Awesome! Perfect, yes I see that some are hide and I need to set 1 both and then reboot to be available that extended parameter tree, I’ll let you know my advances to everyone! :airplane:
Thanks a lot!

2456

Hi Alejandro,

I appreciate you model :slight_smile:

Can you please share/precise de model of

  • the servos tilt
  • servos elevons
  • esc
  • motors
  • prop
  • batt

Thanks

1 Like
2457

Hello @melc, thanks!

Yes, for sure.

  • Motor: SunnySky 4006V 740KV – KDE 3510XF 715KV
  • ESC: Hobby Wing 40A w/o BEC
  • Servos: 2x Slim Digital Servo Hitec 125MG
  • Vector Servos: LOBOT LDX-227 270° Digital Servo
  • Propeller: 2 x 15x5.5 Inch MR
  • Battery: LiPo 4S 6000mAh 25C, Li-ion 4S 10500 mAh 25C

I already do the Bench test, I have all the orientations and movements in the correct direction, about flight modes, which ones you recommend me? And about the PID tunning, what parameters you believe are the most important?

Have a nice day,

2458

Impresionante! Veo que habla español, muy buen trabajo! Felicidades @Aticof

2459

Gracias, seguimos intentando pulir el setup para AUTO, aunque el verdadero esfuerzo es el de los desarrolladores

1 Like
2460

Hi again @ALEJANDRO_VAZQUEZ ,

I’m a beginner, I just prepare recently a tailsitter

From my part, I

Question : what is the model of your wing ?

Regards

1 Like
2461

Así es, pero pulir es un gran trabajo y conlleva mucha experiencia que considero totalmente usted la tiene. Tengo 20 años estudio ing Mecatronica en Mexico, y estoy próximo a terminar un tailsitter con vector thrust para aterrizaje en vientre, espero y me apoye en cómo usted planea una mission autónoma, me interesaría ver cómo es su flujo de trabajo en los commandos para después de que lea haga el tunning y vuele manual muy bien, ya al aeronave empezar tirar misiones automåticas así como usted lo hizo impresionantemente, estoy al tanto de sus consejos! Saludos amigo @Aticof

2462

Perfect! I’m also a beginner!

Thanks so much for that resume of the information, I’m going to read all of that, I’ll let know to everyone my advances.

2463

Hi guys, first time posting here! Hoping someone can lend insight to my problem.
Built a non vectored twin motor tail-sitter (my 5th one, just love this VTOL stuff). It has developed this problem where (in Q-Stabilized) he will respond well to my pitch forward command, even in relatively stiff wind. When I ask him to pitch back toward me, he seems to only have the ability to cope with about 15 degrees and he begins to fall so rapidly that forward pitch is just inadequate. I’ve adjusted Q_ANGLE_MAX to 80 but it doesn’t seem to help. I’m using an omnibus f4 with AP 4.1.6 (eddf0367)
My log file is here
https://drive.google.com/file/d/1A91-K5M6Tk71QwRH2Uxq_y61wxp8kV2d/view?usp=sharing
And speaking of, I’m not the best at reading logs - does anybody know of a youtube channel or other source that does a good job explaining how to set up and interpret logs?

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Thanks so much in advance.
Bill

UPDATE: Found the problem! Turns out it was that one of my elevons was actually being mechanically limited in one direction (guess which one, lol). He behaves MUCH better now :grinning_face_with_smiling_eyes:. Regardless, I have still learned much in this discussion and thanks to Marius, Satoru and Henry’s points on Marius’s vehicle.

2464

That thing is GORGEOUS! :100: :heart_eyes_cat:

1 Like
2465

that looks like a MiniOrca airframe from ipbond:

I happen to have one of those, kindly sent to me by Sergio Checo. This is a recent video of me flying it with 4.2 dev firmware taken by another CanberraUAV member:

my parameters in that flight are here:
http://uav.tridgell.net/MiniOrca/logs/2022-01-30/flight3/mav.parm

2 Likes
2466

I also think you have the weight much too far back. It will likely hover OK but in fixed wing flight it would probably not be stable and will quickly crash
this is the layout I have in mine:

[3 new items added to shared album] MiniOrca

the battery is a 5.5Ah 4S LiOn pack (from my Swan-K1)

2 Likes