Heewing T-1 S VTOL on 4.7.1 parameters

ArduPlane Plane 4.7
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So I got me a T-1 S VTOL and the first thing I did was upgrade it to 4.7.1 which has more VTOL improvements… then I was like oh no, the parameters Andy made for 4.4 wouldn’t apply. Then I went to work trying to Convert and follow the renaming of the parameters to the point I have came up with this attachment.

I would like thank Andy for the 6 months he put into tuning the T-1 and I hope this helps someone … please take a look at the file as another set of eyes is wanted! Also included Andy’s 4.4 tune.

Key Notes Included for This File:

  1. The 4.7.1 Position Scaling Fix: Q_P_D_ACC_P = 0.035 and Q_P_D_ACC_I = 0.070

  2. The 4.7.1 Input TC Scaling: Q_A_INPUT_TC = 0.066

  3. The 4.7.1 Angle Names: Replaced deprecated LIM_ROLL_CD and LIM_PITCH_* with ROLL_LIMIT_DEG and PTCH_LIM_*_DEG.

  4. The Critical Watchdog Fix: Q_TRANS_FAIL = 0 (eliminates the factory 3-second abort loop).

  5. The Safe Arming Setting: ARMING_REQUIRE = 1 enabled for standard field safety.

On MY specific plane, I calibrated my tilts to:

  • Left (Output 3): MIN = 1050, MAX = 2050
  • Right (Output 4): MIN = 900, MAX = 1900

In Andy’s personal plane, he had:

  • Left: MIN = 886, MAX = 2223
  • Right: MIN = 852, MAX = 2225

“Note: Servo 3 and Servo 4 MIN/MAX endpoints depend on your physical servo horn splines and clearances. You must verify horizontal (0°) and vertical (90°) alignment on the bench so your tilt servos do not bind.”

T1-Ranger-HEEWING-F405-4.7.param (4.2 KB)

Andy_T1_Tune.param (2.1 KB)

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Flight Controller Output Mapping (FX-405 / FX-405 V2)

FC Output Pin ArduPilot Parameter Assigned Function Physical Hardware Connected Notes / Reversals
Output 1 SERVO1_FUNCTION, 34 Motor 2 Front LEFT (Port) ESC Runs DShot300 w/ Bi-dir telemetry
Output 2 SERVO2_FUNCTION, 33 Motor 1 Front RIGHT (Starboard) ESC Runs DShot300 w/ Bi-dir telemetry
Output 3 SERVO3_FUNCTION, 75 TiltMotorLeft Left Wing Tilt Servo Normal direction (SERVO3_REVERSED, 0)
Output 4 SERVO4_FUNCTION, 76 TiltMotorRight Right Wing Tilt Servo Must be Reversed (SERVO4_REVERSED, 1)
Output 5 SERVO5_FUNCTION, 36 Motor 4 Rear / Tail Lift ESC Runs DShot300 w/ Bi-dir telemetry
Output 6 SERVO6_FUNCTION, 0 None UBEC 5V/6V In (or use Pin 9) Feeds 5V/6V power to the servo rail
Output 7 SERVO7_FUNCTION, 4 Aileron Aileron Servos Must be Reversed (SERVO7_REVERSED, 1)
Output 8 SERVO8_FUNCTION, 19 Elevator Elevator Servo Normal direction (SERVO8_REVERSED, 0)
Output 9 SERVO9_FUNCTION, 0 None Spare / Alt UBEC In Alternate pin to feed servo rail power
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So I run 21700 and the tune is definately a good safe starting point. I did a quicktune and the parameters where close, the autotune was quite different. I would recommend anyone else to do the same!