Tailsitter biplane+4 motor

[jesus_taax]

Hello,
I´m trying to find the configuration for a tailsitter with 4 motor and bi-plane configuration. Something like this: https://journals.sagepub.com/doi/pdf/10.1260/1756-8293.7.4.395

But I only can found information about the tailsitter with 2 motors, anybody could tell me where can I find info for this configuration?
Thanks in advances!!!

[kd0aij (Mark Whitehorn)]

Take a look at this post:

Copter Tailsitters

@losawing I added two new frame types to the gainscaling PR here: and updated the binaries. The new frame types are: MOTOR_FRAME_TYPE_NYT_PLUS = 16, // plus frame, no differential torque for yaw MOTOR_FRAME_TYPE_NYT_X = 17, // X frame, no differential torque for yaw Note that you will need to change your Q_FRAME_TYPE parameter from MOTOR_FRAME_TYPE_PLUS = 0 to the new value of 16 to keep the previous behavior (no differential torque for yaw) for your existing quad tails…

The tailsitter quad X configuration will support the frame geometry pictured here:

Copter Tailsitters

2 photos of my copter X tailsitter in progress. I changed a little my mind in order to get something more compact. Vertical distance between wing = wing cord. Longitudinal distance = 1/2 wing cord. [quadx1] [quadX2]

Note that the PR with the new frame type with torque-based yaw has not yet been merged to master though. The quad X copter tailsitter in master should work too though.

I guess the wiki needs updating to include a description of support for “copter tailsitters”.
The parameter which selects this frame type is:
http://ardupilot.org/plane/docs/parameters.html#q-tailsit-motmx-tailsiter-mask
For a quad Tailsitter you would set Q_FRAME_CLASS to 1, Q_FRAME_TYPE to 1 and Q_TAILSIT_MOTMX to 15 if you want all 4 motors running when in forward flight. If you wanted to shut down 2 of the motors in FW modes, you would set MOTMX to 3 or 12, depending on which pair you wanted active.