QuadPlane Frame support

[adam (chc)]

ArduPlane VTOL Can it support the frame in the picture
No elevons

[iampete (Peter Hall)]

yes, recommended to have ailerons tho otherwise you cant glide if a motor fails.

0 to 300km/h a tailsitter quest

This is already the third version of my jetwing and I do not plan to make an other one as I dont look for more speed. Glad to hear you want to make another tailsitter. The configuration really depends on your objective. A non vectored dual motor is mechanically simple and can fly beautiful but need a dedicated frame and a perfect tuning. The vectored dual motor does not require a dedicated frame and is less demanding about CG position and parameter tuning. Yaw control can be very strong because…

[adam (chc)]

Q_FRAME_CLASS = ?
How to set the motor

SERVO1_FUNCTION=？
SERVO2_FUNCTION=？
SERVO3_FUNCTION=？
SERVO4_FUNCTION=？
thank you

[iampete (Peter Hall)]

https://ardupilot.org/plane/docs/guide-tailsitter.html#quad-x-motor-tailsitter

Also worth reading the thread:

Copter Tailsitters

This topic is for discussion of development for “copter” tailsitters, which are tailsitters with multicopter motor geometries. Previous discussions took place at Dual-motor tailsitters

[adam (chc)]

Q_FRAME_CLASS = 1
Q_FRAME_TYPE = 1
Q_TAILSIT_MOTMX = 15
Q_A_ANGLE_BOOST = 0

SERVO1_FUNCTION=33
SERVO2_FUNCTION=34
SERVO3_FUNCTION=35
SERVO4_FUNCTION=36
SERVO5_FUNCTION=77
SERVO6_FUNCTION=78

Is this setting correct?
thanks

[iampete (Peter Hall)]

@adam

Q_FRAME_CLASS = 1
Q_FRAME_TYPE = 1
Q_TAILSIT_MOTMX = 15
Q_A_ANGLE_BOOST = 0

yes

@adam

SERVO1_FUNCTION=33
SERVO2_FUNCTION=34
SERVO3_FUNCTION=35
SERVO4_FUNCTION=36
SERVO5_FUNCTION=77
SERVO6_FUNCTION=78

it depends on how you have plugged in all your servos/escs, you can use motor test to check, just as with a copter.

[adam (chc)]

So Q_FRAME_CLASS = 1 instead of Q_FRAME_CLASS = 10

[iampete (Peter Hall)]

yes, Q_FRAME_CLASS = 1

[adam (chc)]

Thanks for your help, tomorrow I will test the flight

I can only use
Q_RC_SPEED = 50

[adam (chc)]

Q_RC_SPEED=490 Servo is unstable

board Omnibus F4 V3

[adam (chc)]

Today’s test flight found a problem. Yaw almost didn’t work. Should motor 2 be changed to CCW and motor 4 to CW? Is there a problem with the Wiki configuration?

[iampete (Peter Hall)]

if it worked a bit then its right. Having a motor wrong would result in uncontrollable spinning.

You will have to tune the PIDs

[kunal_lad]

Won’t it be a problem with this configuration as when yaw is desired, roll action will also take place. Or is it that we very slow motion with fine tuning won’t couple yaw with roll?

[adam (chc)]

Q_A_RAT_YAW_P : 0.5
Q_A_RAT_YAW_l : 0.05
Q_A_RAT_YAW_D : 0
Q_A_RAT_YAW_FF : 1.0
Q_YAW_RAT_MAX : 180
Q_A_ACCELY_MAX : 72000
yaw is still the same almost useless

[adam (chc)]

Change to Q_FRAME_TYPE = 0 is no problem, it may be that the elevons have a greater effect on the airflow

[kunal_lad]

Hey @adam, great work.
Can you share a flight video if possible? Is Roll action having an effect on Yaw motion or vice versa in the above " + " type configuration?

[adam (chc)]

[kunal_lad]

@adam Awesome! It’s super stable! Keep it up!
When are you planning for transition to fixed wing? Would love to see that!

[adam (chc)]

The weather is not good these days, it is raining and the wind speed is 14m/s
Maybe next week