Full house wing (2 flap + 2 aileron) + v-tail control

ArduPlane Plane 3.3
1

i´ve been using ArduPlane for a while, since APM2.0.

now i´m trying to set up a plane with 4 servos on the wing plus v-tail, and i still can´t do what i want.

i´ve read on the wiki that i would set both flaps as flaps, and both ailerons as flaperons, but it doesn´t work, i believe that because i already have the v-tail mix. tried with flaperons on RC5 and 6, with no sucess.

what i got until now:
-2 ailerons on 2 separate channels (RC2 and RC5), flaps on 2 separate channels (RC6 and RC7). aileron input on one channel, flap input on another.
-flaps min/max/trim works fine.
-ailerons min/max/trim works for one channel only, changes on both RC2 and RC5 affect only one output, not sure now if 2 or 5. had to set one manually on the transmitter, and the other on mission planner min/max/trim.
-Failsafe bug if i set reverse aileron on the tab “radio calibration”. had to reverse RC2 and 5. reverse works fine, had to reverse both to get the right movement.

what i still need:
-airbrake with full flaps down and half ailerons up (crow), for better handling of landings on smaller areas
-fix the bug to use separate min/max/trim for both aileron channels
-if possible, option to use camber control: both ailerons and flaps a little down for takeoff or slow flight, neutral for normal flight and both up for faster cruise speeds

haven´t been trhough automatic flaps for speeds or pitch settings for different flaps ammounts, but so far thats not yet my problem.

thanks in advance for any suggestions, Ricardo.

2

@ricardoaffonso1,
Please provide your full parameter file (.param) as a text file in your next post. Do not copy and past the full parameter file into your post.
Regards,
TCIII GM

3

Everything you’re trying to do should be ok.

Study this:
plane.ardupilot.com/wiki/flight- … functions/

As for the crow function, tridge did a Faq answer for it.
plane.ardupilot.com/wiki/fixed-w … crow_flaps

4

@ TCIII, could not add .txt or .param file, i´ll post it on the end of this message.

@Noircogi, thanks for the info, the crow is exactly what i want most, but unfortunally i could not set 2 ailerons as flaperons, got no output, even with flaperon set and chanels set exactly on the wiki. no action with flaps or aileron input, even with flaps output disabled. does the v-tail mixing makes any diference on how the pixhawk gets the inputs?

here´s the param file. was not connected to the plane, so extracted it from the last flight log.

FS_BATT_MAH 0
MIS_RESTART 0
AFS_WP_COMMS 0
INS_ACCOFFS_Z 0,1324629
AFS_ENABLE 0
RLL2SRV_I 0,04
PTCH2SRV_TCONST 0,5
EKF_WIND_PNOISE 0,1
RNGFND_OFFSET 0
BATT2_MONITOR 0
FBWB_ELEV_REV 0
TERRAIN_ENABLE 1
ALT_HOLD_RTL 10000
ELEVON_OUTPUT 0
ARMING_REQUIRE 0
RLL2SRV_D 0,02
RCMAP_PITCH 3
COMPASS_USE3 1
SR0_EXTRA3 2
AFS_TERM_PIN -1
BRD_PWM_COUNT 4
RELAY_DEFAULT 0
SR0_POSITION 3
AUTO_FBW_STEER 0
TECS_LAND_ARSPD -1
FORMAT_VERSION 13
BATT2_VOLT_PIN 2
AHRS_GPS_MINSATS 6
RC2_TRIM 1521
MNT_ANGMAX_PAN 4500
RALLY_TOTAL 2
GLIDE_SLOPE_THR 5
RC1_DZ 30
AFS_MAX_GPS_LOSS 0
RNGFND_PIN -1
SR3_EXTRA1 1
TECS_LAND_TCONST 2
RCMAP_YAW 4
MIXING_GAIN 0,5
RC6_DZ 0
RC9_MAX 1900
LIM_PITCH_MAX 2000
SR0_RAW_SENS 2
RC5_MAX 1950
FS_SHORT_ACTN 0
TECS_LAND_PMAX 10
RC14_MAX 1900
SR2_POSITION 3
RC12_MIN 1100
EKF_MAG_NOISE 0,05
INS_GYROFFS_X 0,01335687
INS_GYROFFS_Y 0,04497304
INS_GYROFFS_Z -0,01164051
WP_LOITER_RAD 60
EKF_POS_DELAY 220
AFS_AMSL_ERR_GPS -1
MIS_TOTAL 6
ELEVON_CH1_REV 0
BATT_CAPACITY 22000
ARSPD_FBW_MIN 9
SR2_RAW_CTRL 1
RC11_MIN 1100
FENCE_MAXALT 0
TECS_PITCH_MAX 0
COMPASS_OFS3_Y 0
RNGFND_SETTLE 0
BATT2_CURR_PIN 3
RTL_AUTOLAND 0
RC13_TRIM 1500
TKOFF_THR_MINSPD 0
SCHED_DEBUG 0
EKF_ALT_SOURCE 1
FLTMODE1 8
RC14_MIN 1100
MNT_OFF_JNT_X 0
SERIAL4_PROTOCOL 5
RC7_TRIM 1494
RC14_FUNCTION 0
STAB_PITCH_DOWN 2
GPS_SBP_LOGMASK -256
SCALING_SPEED 15
AFS_QNH_PRESSURE 0
BATT_AMP_OFFSET 0
SR3_EXTRA2 1
MNT_ANGMIN_ROL -4500
COMPASS_OFS2_Y -282
RC13_MIN 1100
FBWB_CLIMB_RATE 2
STEER2SRV_P 1,8
INS_PRODUCT_ID 5
RNGFND_MIN_CM 20
SYSID_SW_TYPE 0
RC4_REV -1
BATT2_AMP_PERVOL 17
LAND_FLARE_SEC 2
RC14_TRIM 1500
ACRO_ROLL_RATE 180
RC13_MAX 1900
RC12_FUNCTION 0
AHRS_EKF_USE 0
COMPASS_MOT2_X 0
AHRS_TRIM_Y 0,0234871
SR0_RAW_CTRL 1
RSSI_PIN -1
RC4_MIN 984
RC5_FUNCTION 4
INITIAL_MODE 0
COMPASS_AUTODEC 1
RNGFND_FUNCTION 0
THR_FAILSAFE 1
RC2_DZ 0
FLTMODE3 2
THR_MIN 0
MNT_OFF_JNT_Y 0
LOG_BITMASK 65535
ARMING_DIS_RUD 0
TECS_THR_DAMP 0,5
RC7_REV -1
TKOFF_THR_DELAY 2
TERRAIN_FOLLOW 0
INS_ACC2SCAL_Z 0,9935595
RC11_TRIM 1500
MNT_OFF_GYRO_X 0
COMPASS_ORIENT3 0
HIL_ERR_LIMIT 5
RNGFND_GNDCLEAR 10
RELAY_PIN 54
RC3_MAX 2006
SYSID_THISMAV 1
EKF_GPS_TYPE 0
PTCH2SRV_RLL 1
AFS_AMSL_LIMIT 0
WP_MAX_RADIUS 0
TECS_HGT_OMEGA 3
FLTMODE2 8
INS_ACCOFFS_X -0,06540955
TECS_SINK_MIN 2
RC10_MAX 1900
RC10_REV 1
TKOFF_TDRAG_ELEV 0
THR_FS_VALUE 950
TRIM_ARSPD_CM 1200
RUDDER_ONLY 0
MNT_NEUTRAL_Y 0
MNT_K_RATE 5
MNT_RC_IN_PAN 0
INS_ACC3SCAL_Z 0
RC10_TRIM 1500
RC7_MAX 1800
AFS_TERMINATE 0
RNGFND2_PIN -1
RNGFND2_TYPE 0
FENCE_RET_RALLY 0
FLTMODE5 0
RC6_MIN 1250
RNGFND2_SCALING 3
ACRO_LOCKING 0
BRD_SER2_RTSCTS 2
FLAP_1_PERCNT 0
RC1_MAX 2006
EKF_VELNE_NOISE 0,5
ACRO_PITCH_RATE 180
FENCE_MINALT 0
SR0_RC_CHAN 2
PTCH2SRV_P 0,4
SR2_EXTRA3 2
BATT_VOLT_MULT 10,1
AHRS_WIND_MAX 0
TECS_LAND_SPDWGT 1
INS_ACCOFFS_Y -0,3269071
EKF_ACC_PNOISE 0,5
TRIM_RC_AT_START 1
TECS_RLL2THR 10
ELEVON_MIXING 0
GPS_RAW_DATA 0
RC9_DZ 0
GPS_MIN_ELEV -100
MNT_ANGMIN_TIL -4500
GPS_INJECT_TO 127
YAW2SRV_RLL 1
BRD_SER1_RTSCTS 2
RC6_TRIM 1469
FLOW_FYSCALER 0
ARSPD_ENABLE 1
OVERRIDE_CHAN 0
RC5_TRIM 1500
BRD_SBUS_OUT 0
MAG_ENABLE 1
FS_GCS_ENABL 0
SERIAL2_BAUD 57
RCMAP_ROLL 2
PTCH2SRV_D 0,02
RCMAP_THROTTLE 1
RLL2SRV_TCONST 0,5
RC3_DZ 30
SERIAL1_BAUD 57
THR_SLEWRATE 100
RC8_MIN 982
SR0_EXTRA2 10
INS_ACC2OFFS_Z 0,718302
RC4_MAX 2006
FLOW_FXSCALER 0
EKF_GLITCH_ACCEL 150
SR0_EXT_STAT 2
SERIAL3_PROTOCOL 5
INS_ACCSCAL_X 0,9969969
INS_ACCSCAL_Y 0,9940136
INS_ACCSCAL_Z 0,9856557
AHRS_TRIM_X -0,151181
BATT_AMP_PERVOLT 18,0018
RC4_DZ 30
COMPASS_MOT3_X 0
SERIAL2_PROTOCOL 1
EKF_GBIAS_PNOISE 1E-06
SR2_RAW_SENS 2
SERIAL4_BAUD 38
GROUND_STEER_DPS 90
LAND_FLAP_PERCNT 0
TKOFF_THR_SLEW 0
EKF_RNG_GATE 5
YAW2SRV_SLIP 0
SR3_POSITION 1
TECS_LAND_THR -1
EKF_HGT_GATE 20
SR3_RAW_SENS 1
INS_ACC3OFFS_Z 0
FENCE_CHANNEL 0
TECS_PTCH_DAMP 0
MNT_RC_IN_ROLL 0
SR0_EXTRA1 10
WP_RADIUS 90
FBWA_TDRAG_CHAN 0
COMPASS_DEV_ID3 0
RC8_FUNCTION 0
GPS_TYPE 1
SR3_PARAMS 10
FENCE_RETALT 0
RNGFND_PWRRNG 0
RC9_FUNCTION 0
COMPASS_PRIMARY 0
TKOFF_ROTATE_SPD 0
AFS_MAX_COM_LOSS 0
BATT2_CAPACITY 3300
TECS_VERT_ACC 7
BATT_VOLT_PIN 2
ALT_MIX 1
COMPASS_OFS3_Z 0
CLI_ENABLED 0
INS_GYRO_FILTER 20
ALT_OFFSET 0
EKF_GYRO_PNOISE 0,015
EKF_MAG_CAL 0
AFS_TERM_ACTION 0
MNT_RC_IN_TILT 0
TECS_INTEG_GAIN 0,1
INS_GYR3OFFS_Z 0
SR3_EXTRA3 1
MNT_NEUTRAL_X 0
MNT_JSTICK_SPD 0
TECS_SPD_OMEGA 2
GND_ABS_PRESS 95823,28
PTCH2SRV_I 0,04
RELAY_PIN4 -1
ELEVON_REVERSE 0
STEER2SRV_D 0,005
COMPASS_OFS2_Z -634
INS_ACC3SCAL_Y 0
SERIAL0_BAUD 115
RC2_REV -1
RC11_MAX 1900
AHRS_TRIM_Z 0
RNGFND2_GNDCLEAR 10
ELEVON_CH2_REV 0
RC2_MIN 1150
STEER2SRV_TCONST 0,75
INS_ACC2OFFS_Y 0,4725795
INVERTEDFLT_CH 0
THROTTLE_NUDGE 1
SR1_EXTRA3 1
THR_PASS_STAB 0
SR0_PARAMS 10
ARSPD_PIN 15
GPS_AUTO_SWITCH 1
FLAPERON_OUTPUT 0
ARSPD_SKIP_CAL 0
RC12_TRIM 1500
FS_LONG_ACTN 0
YAW2SRV_DAMP 0
RC9_MIN 1100
LAND_PITCH_CD 0
FLAP_SLEWRATE 50
ARSPD_USE 0
LEVEL_ROLL_LIMIT 5
THR_MAX 75
COMPASS_MOT3_Z 0
INS_ACC2SCAL_Y 1,008602
RNGFND_RMETRIC 1
RC7_DZ 0
HIL_SERVOS 0
RC1_REV 1
COMPASS_DEC -0,3097303
RNGFND2_SETTLE 0
SKIP_GYRO_CAL 0
COMPASS_OFS_X 43
FENCE_ACTION 0
KFF_RDDRMIX 0,5
SR2_EXTRA2 10
STEER2SRV_IMAX 1500
ARSPD_OFFSET 2,815552
AFS_MAN_PIN -1
STEER2SRV_I 0,2
RNGFND2_MAX_CM 700
FLAP_2_PERCNT 0
CAM_TRIGG_TYPE 0
COMPASS_MOT2_Z 0
RC1_MIN 1107
RC12_MAX 1900
BATT_MONITOR 4
BATT2_VOLT_MULT 10,1
GROUND_STEER_ALT 0
RST_MISSION_CH 0
COMPASS_LEARN 0
SYSID_MYGCS 255
EKF_VEL_DELAY 220
RSSI_RANGE 5
MNT_OFF_GYRO_Y 0
EKF_FLOW_DELAY 25
FLAP_IN_CHANNEL 7
INS_GYR3OFFS_Y 0
MNT_STAB_PAN 0
SR1_POSITION 1
TKOFF_TDRAG_SPD1 0
RELAY_PIN2 55
SR1_PARAMS 10
GND_ALT_OFFSET 0
SR3_RC_CHAN 1
STEER2SRV_MINSPD 1
NAVL1_DAMPING 0,75
SR2_EXTRA1 10
RC3_REV 1
CAM_DURATION 10
FLTMODE4 2
TECS_LAND_DAMP 0,5
RC8_MAX 1988
MNT_LEAD_RLL 0
MNT_OFF_GYRO_Z 0
RALLY_LIMIT_KM 5
STALL_PREVENTION 1
COMPASS_OFS_Y 60
COMPASS_OFS_Z 74
ARSPD_RATIO 1,9936
MNT_ANGMAX_ROL 4500
RC5_REV -1
COMPASS_DEV_ID 73225
TECS_SINK_MAX 5
RC9_TRIM 1500
HIL_MODE 0
RC10_MIN 1100
MNT_TYPE 0
EKF_FLOW_NOISE 0,3
COMPASS_ORIENT2 0
STICK_MIXING 1
INS_ACCEL_FILTER 20
RC5_MIN 1150
TECS_LAND_SINK 0,25
AFS_HB_PIN -1
MNT_OFF_JNT_Z 0
YAW2SRV_INT 0
TKOFF_FLAP_PCNT 0
AHRS_GPS_GAIN 1
AFS_WP_GPS_LOSS 0
AHRS_GPS_USE 1
FLTMODE6 0
GPS_SBAS_MODE 2
EKF_MAX_FLOW 2,5
FLTMODE_CH 8
EKF_VELD_NOISE 0,7
COMPASS_EXTERN3 0
MNT_LEAD_PTCH 0
RC12_REV 1
GND_TEMP 25
RC8_REV 1
LIM_ROLL_CD 4500
NAVL1_PERIOD 20
SERIAL1_PROTOCOL 1
ARSPD_FBW_MAX 22
GPS_NAVFILTER 8
MNT_NEUTRAL_Z 0
RLL2SRV_RMAX 0
FLAP_2_SPEED 0
RC11_REV 1
RLL2SRV_IMAX 3000
FS_LONG_TIMEOUT 5
INS_ACC2OFFS_X 0,2018286
TECS_TIME_CONST 5
COMPASS_USE 1
SR1_EXT_STAT 1
RC7_MIN 1270
RC14_REV 1
RC9_REV 1
FLOW_ENABLE 0
EKF_MAGB_PNOISE 0,0003
RC6_REV 1
ARSPD_AUTOCAL 0
RNGFND_LANDING 0
RC13_REV 1
THR_SUPP_MAN 0
GPS_TYPE2 0
RC2_MAX 1950
EKF_MAG_GATE 3
BATT_CURR_PIN 3
RC13_FUNCTION 0
INS_ACC3OFFS_Y 0
INS_GYR2OFFS_Z -0,01455857
RC8_TRIM 1494
PTCH2SRV_RMAX_DN 0
TRIM_THROTTLE 45
RNGFND2_OFFSET 0
RC10_FUNCTION 0
PTCH2SRV_IMAX 3000
TKOFF_THR_MAX 0
INS_GYR2OFFS_X 0,02285237
COMPASS_ORIENT 0
RNGFND_TYPE 0
SR1_RAW_SENS 1
RNGFND_SCALING 3
SR2_EXT_STAT 2
RC11_FUNCTION 0
MIN_GNDSPD_CM 0
RC3_TRIM 1492
RC6_MAX 1600
FENCE_TOTAL 0
LIM_PITCH_MIN -2500
EKF_GLITCH_RAD 20
BATT2_AMP_OFFSET 0
EKF_GND_GRADIENT 2
GPS_MIN_DGPS 100
COMPASS_EXTERNAL 1
TKOFF_THR_MINACC 0
COMPASS_OFS3_X 0
COMPASS_MOTCT 0
MNT_ANGMIN_PAN -4500
CAM_SERVO_OFF 1100
TRIM_PITCH_CD 0
FENCE_AUTOENABLE 0
SR3_RAW_CTRL 1
AHRS_YAW_P 0,2
FS_SHORT_TIMEOUT 1,5
TERRAIN_LOOKAHD 2000
RC4_TRIM 1540
INS_GYR3OFFS_X 0
EKF_WIND_PSCALE 0,5
AHRS_ORIENTATION 0
COMPASS_MOT3_Y 0
EKF_MAGE_PNOISE 0,0003
MNT_DEFLT_MODE 3
INS_ACC3OFFS_X 0
TECS_CLMB_MAX 5
RC1_TRIM 1579
COMPASS_OFS2_X 218
ALT_HOLD_FBWCM 0
RC8_DZ 0
RNGFND2_FUNCTION 0
RNGFND_STOP_PIN -1
AHRS_COMP_BETA 0,1
COMPASS_MOT2_Y 0
CAM_SERVO_ON 1300
SR1_EXTRA1 1
SR1_RC_CHAN 1
INS_ACC3SCAL_X 0
YAW2SRV_IMAX 1500
KFF_THR2PTCH 0
CAM_TRIGG_DIST 0
INS_GYR2OFFS_Y -0,01290383
SR2_RC_CHAN 2
EKF_POSNE_NOISE 0,5
SR1_RAW_CTRL 1
INS_ACC2SCAL_X 0,9898739
RC14_DZ 0
RELAY_PIN3 -1
EKF_ALT_NOISE 0,5
SR1_EXTRA2 1
MNT_RETRACT_Z 0
MNT_RETRACT_X 0
MNT_RETRACT_Y 0
SYS_NUM_RESETS 15
COMPASS_USE2 1
NAV_CONTROLLER 1
MNT_OFF_ACC_Z 0
MNT_OFF_ACC_Y 0
MNT_OFF_ACC_X 0
PTCH2SRV_RMAX_UP 0
COMPASS_DEV_ID2 131594
RC13_DZ 0
EKF_EAS_NOISE 1,4
ARSPD_TUBE_ORDER 2
COMPASS_EXTERN2 0
LAND_FLARE_ALT 3
RC6_FUNCTION 2
SR3_EXT_STAT 1
RC5_DZ 0
RNGFND2_RMETRIC 1
RST_SWITCH_CH 0
RC7_FUNCTION 2
BRD_SAFETYENABLE 1
RC12_DZ 0
VTAIL_OUTPUT 3
RC3_MIN 982
RNGFND2_STOP_PIN -1
EKF_VEL_GATE 6
FLOW_ORIENT_YAW 0
SR2_PARAMS 10
COMPASS_MOT_Z 0
ALT_CTRL_ALG 0
COMPASS_MOT_X 0
COMPASS_MOT_Y 0
EKF_EAS_GATE 10
AHRS_RP_P 0,2
RC11_DZ 0
TECS_SPDWEIGHT 1
RNGFND_MAX_CM 700
EKF_POS_GATE 30
MNT_STAB_TILT 0
LAND_DISARMDELAY 20
MNT_STAB_ROLL 0
AFS_RC_FAIL_MS 0
RC10_DZ 0
AUTOTUNE_LEVEL 7
TELEM_DELAY 0
FLAP_1_SPEED 0
TERRAIN_SPACING 100
SERIAL3_BAUD 38
TECS_PITCH_MIN 0
EKF_FLOW_GATE 3
ARMING_CHECK 0
EKF_FALLBACK 1
TRIM_AUTO 1
RNGFND2_MIN_CM 20
GLIDE_SLOPE_MIN 15
MNT_ANGMAX_TIL 4500
FS_BATT_VOLTAGE 0
RLL2SRV_P 0,4
EKF_ABIAS_PNOISE 5E-05

5

Are you trying to do mixing in your RC transmitter or in the pixhawk?

I recommend no mixing on the radio end. Send the simple 4 flight controls plus flaps with your radio and have the pixhawk do the V-Tail and crow mixing.

I haven’t tried to mix v-tail and crow but I don’t see why they should interact at all.

6

all the mixing was done directly on the pixhawk, i still have no clue why it didn´t respond to flaperon commands. i´ll try to erase and start over, see what happens.

7

Hi - any updates?

Thanks, Grant.