Quadplane with 2 Front Tiltrotors - Servo Power Issues

[GregCovey]

Hi Wasim,

I found a post from Tridge from last May 2018 where he talks about a 4 rotor tilt quadplane. It sounds like what is not supported is when all 4 rotors tilt. If only the front rotors tilt, and are used for forward flight, then you can use vectored yaw. You’ll need to change Q_TILT_TYPE to 2 and your AUX5/AUX6 functions from 41 to 75 and 76 for left tilt and right tilt. Perhaps my interpretation is incorrect so maybe someone else can post about it.

Cheers!

@tridge

Some key things about this sort of aircraft:

• we don’t currently support doing vectored yaw with this type of aircraft. So yaw when hovering is done in the same way it is done with a normal quadplane. You should leave Q_TILT_TYPE=0
• the way its setup at the moment you should have a single logical tilt servo. You may of course have 2 or 4 servos in the aircraft, and they can be on separate output channels if you like (so you can trim them separately), but they will all be treated as a single logical tilt servo. You should set SERVOn_FUNCTION=41 (for motortilt) on all of the servos
• we currently assume that any motor that tilts should also be run in forward flight. We don’t support running only a subset of the tilted motors in fwd flight (that has been requested by a couple of people)
• when doing your first test flight I’d recommend using QHOVER and FBWA only, and setting Q_TILT_RATE_DN and Q_TILT_RATE_UP quite low (say 20 to 30 degrees/second)
• make sure you do your test transitions at a good height - say 40 meters or more, so you have time to recover

These types of aircraft are quite difficult to tune. Take it slowly and carefully.