I’ve added a blog post on the test flights here:
http://discuss.ardupilot.org/t/ardupilot-flying-on-the-cl84-tiltwing-vtol-aircraft/14353
I’ve put a log file of one of the auto missions here:
http://uav.tridgell.net/CL84/2017-01-25-flight3.bin
and the parameters I used here:
http://uav.tridgell.net/CL84/cl84-parameters.parm
The servo mapping I used was:
- SERVO1: aileron
- SERVO2: elevator
- SERVO5: front right motor
- SERVO6: front left motor
- SERVO7: rear motor
- SERVO9: main wing tilt mechanism
- SERVO10: tail tilt servo
I used a 5.2Ah multistar (10C) battery, which is quite a bit bigger than the recommended battery, but its what I happened to have available. I added 30g of lead to the tail to keep it balanced with the larger battery.
Other than that I used the stock motors and ESCs from the RTF kit