# FunCub QuadPlane (Pixhawk)

The Fun Cub QuadPlane VTOL is a standard tailplane aircraft (the Multiplex FunCub) that has been retrofitted with a QuadCopter system.

Key information:

- **Frame:** Multiplex FunCub
- **Flight controller:** Pixhawk

![Fun Cub VTOL](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_vtol_complete.jpg)

Unmodified, the Fun Cub is a relatively affordable plane and relatively easy to fly.
After the conversion the plane is significantly heavier and less aerodynamic.
It still flies quite well but needs around 75% throttle in forward flight.

## Bill of Materials

The actual plane looks roughly like as shown in the image above (other similar models will work
just fine - this is a Multiplex Fun Cub).

The minimal equipment required is:

- Multiplex FunCub (or similar)
- Pixhawk or compatible
- 数字空速传感器
- 900 kV motors (e.g. Iris propulsion set - motors and ESC)
- 10" props for quad motors (10x45 or 10x47)
- 10" prop for fixed-wing motor (10×7)
- GPS module
- 4S battery
- Aluminum frame for mounting the quad motors (10x10mm square tube, 1mm wall thickness)
- TOW is ~2.3kg with a 4200mAh 4S battery

## Structure

The structure is made out of aluminum booms as shown below.

![quad_frame](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol.jpg)
![Fun Cub -frame for vtol mounted](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol_mounted.jpg)

## 布线

Motor and servo wiring is nearly entirely up to you, but should match the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) configuration, as shown in the airframe reference.
The geometry and output assignment can be configured in the [Actuators Configuration](../config/actuators.md#actuator-outputs)

For example, you might wire it up like this example (orientation as if "sitting in the plane"):

| Port   | 接口定义                                       |
| ------ | ------------------------------------------ |
| MAIN 1 | Front right motor (CCW) |
| MAIN 2 | Back left motor (CCW)   |
| MAIN 3 | Front left motor (CW)   |
| MAIN 4 | Back right motor (CW)   |
| AUX 1  | Left aileron TODO                          |
| AUX 2  | Right aileron                              |
| AUX 3  | Elevator                                   |
| AUX 4  | Rudder                                     |
| AUX 5  | 油门                                         |

For further instructions on wiring and configurations please see:
[Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md). <!-- replace with Pixhawk Wiring Quickstart -->

## Airframe Configuration

1. For [Airframe](../config/airframe.md) select the vehicle group/type as _Standard VTOL_ and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below (do not forget to click **Apply and Restart** in the top).

   ![QCG - Select Generic Standard VTOL](../../assets/qgc/setup/airframe/px4_frame_generic_standard_vtol.png)

2. Configure the outputs and geometry following the instructions in [Actuators Configuration](../config/actuators.md)

3. The default parameters are often sufficient for stable flight. For more detailed tuning information see [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md).

After you finish calibration the VTOL is ready to fly.

## 视频

<lite-youtube videoid="4K8yaa6A0ks" title="Fun Cub PX4 VTOL Maiden"/>
