Process for Adding V-tail Servo Motors to Bicopter


My team has built a vehicle that resembles a bicopter with thrust vectored propulsion and V-tail / ruddervator control surface in A configuration. I am currently using the bicopter frame in ArduCopter (instead of ArduPlane since we also need obstacle avoidance functionality) to control the vehicle and attempting to add two servos that would control the A-tail. My understanding is that the bicopter runs using AP_MotorsTailsitter.cpp and tailsitter.cpp but I am not sure how to go about adding two new servos to the mix and enable their outputs. Any help with this would be greatly appreciated :slight_smile: