mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 23:03:35 +08:00
Link fixes galore (#25151)
This commit is contained in:
Hamish Willee
@@ -4,7 +4,7 @@
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The Falcon Venturi FPV Wing frame on which this vehicle is based is no longer available.
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:::
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The *Falcon Vertigo Hybrid VTOL* is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera.
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The _Falcon Vertigo Hybrid VTOL_ is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera.
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The RTF kit contains everything needed for a full system except an RC receiver and telemetry module.
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The components can also be purchased separately.
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@@ -17,27 +17,26 @@ Key information:
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## Bill of Materials
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Almost everything you need is provided in the RTF kit (the links next to components below are provided in case you wished to purchase any component separately):
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* Pre laminated EPP wings
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* Wingtips and full hardware
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* Dropix flight controller (discontinued) with
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* GPS u-blox M8N
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* Power Sensor
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* [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
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* Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued)
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* 4 x propeller 10”x 5” (quad motors)
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* 4 x [ESC 25A](http://www.getfpv.com/tiger-motor-flame-25a-esc.html)
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* 1 x propeller 10” x 5” (pusher motor)
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* 1 x ESC 30A
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* Pusher motor power system
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* Carbon fiber tubes and mounts
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* G10 motor mounts
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* 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
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* Dropix power distribution board and cable
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- Pre laminated EPP wings
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- Wingtips and full hardware
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- Dropix flight controller (discontinued) with
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- GPS u-blox M8N
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- Power Sensor
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- [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
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- Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued)
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- 4 x propeller 10”x 5” (quad motors)
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- 4 x [ESC 25A](https://www.getfpv.com/tiger-motor-flame-25a-esc.html)
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- 1 x propeller 10” x 5” (pusher motor)
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- 1 x ESC 30A
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- Pusher motor power system
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- Carbon fiber tubes and mounts
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- G10 motor mounts
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- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html)
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- Dropix power distribution board and cable
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The kit does not come with a radio receiver or (optional) telemetry modules.
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For this build we used the following components:
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@@ -45,23 +44,21 @@ For this build we used the following components:
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- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
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- Telemetry: [Holybro 100mW 915MHz modules](https://www.getfpv.com/holybro-100mw-fpv-transceiver-telemetry-radio-set-915mhz.html) (Discontinued)
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## Tools needed
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## Tools needed
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The following tools were used to assemble the airframe:
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* Philips screwdriver
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* 5.5 mm Hex Socket Screwdriver
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* Wire cutters
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* Soldering iron and solder
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* Hobby stainless steel tweezer
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* Gorilla glue
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* Fiberglass reinforced tape
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- Philips screwdriver
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- 5.5 mm Hex Socket Screwdriver
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- Wire cutters
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- Soldering iron and solder
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- Hobby stainless steel tweezer
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- Gorilla glue
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- Fiberglass reinforced tape
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## Assembly steps
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## Assembly steps
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The RTF kit requires the following assembly.
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@@ -70,7 +67,7 @@ The RTF kit requires the following assembly.
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1. Spread gorilla glue inside the wing brackets as shown.
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1. Attach the carbon tube in the brackets. The bracket and tube must be aligned using the white mark (as shown in the picture).
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::: info
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@@ -84,35 +81,33 @@ The RTF kit requires the following assembly.
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### Step 2: Attach the wings
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1. Insert both carbon tubes into the fuselage.
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1. Insert both carbon tubes into the fuselage.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_15_fuselage_tubes.jpg" width="500px" title="Fuselage carbon tubes" />
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1. Spread gorilla glue between the two white marks on each tube (indicated by the red arrows). The white mark in the center (blue arrow) will be placed in the center of the fuselage and the other marks on the sides.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_13_rod_apply_glue.jpg" width="500px" title="Apply glue to rod" />
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1. Once the carbon tubes are inside the fuselage, spread gorilla glue on the rest of the tube and attach the wings.
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1. The fuselage has two holes for the motor and servo cables. Pass the cables through the holes and then join the wings to the fuselage.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_17_fuselage_holes_cables.jpg" width="500px" title="Fuselage holes for cables" />
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1. Within the fuselage connect the signal cables you just passed through from the wings to the ESC using the provided connectors. The ESC are already connected to the motors and set up to turn in the correct order (you will need to connect the ESC PDB to a power module in a later step).
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_19_connect_esc_power_and_signal_cables.jpg" width="500px" title="Connect ESC power and signal cables" />
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1. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller.
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1. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_21_connect_servo_cables.jpg" width="500px" title="Connect servo cables" />
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1. Repeat these steps for the other wing.
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### Step 3: Connect the electronics
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### Step 3: Connect the electronics
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This kit includes Dropix flight controller with most of the required electronics pre-connected (if you use another Pixhawk-compatible flight controller the connections are similar).
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@@ -127,11 +122,10 @@ General information about connecting Dropix can be found in [Dropix Flight Contr
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1. Connect the ESC to the power module using the XT60 connector
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_25_aileron_esc_connections.jpg" width="500px" title="" />
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1. Pass the signals cables through to the flight controller
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_27_gps_esc_servo_connections.jpg" width="500px" title="GPS, ESC, Servo connections" />
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1. Pass the signals cables through to the flight controller
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_27_gps_esc_servo_connections.jpg" width="500px" title="GPS, ESC, Servo connections" />
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#### Motor Wiring
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@@ -140,18 +134,17 @@ The geometry and output assignment can be configured in the [Actuators Configura
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For example, you might wire it up like this example (orientation as if "sitting in the plane"):
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Port | Connection
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--- | ---
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MAIN 1 | Front right motor, CCW
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MAIN 2 | Back left motor, CCW
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MAIN 3 | Front left motor, CW
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MAIN 4 | Back right motor, CW
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AUX 1 | Left aileron
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AUX 2 | Right aileron
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AUX 3 | Elevator
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AUX 4 | Rudder
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AUX 5 | Throttle
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| Port | Connection |
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| ------ | ---------------------- |
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| MAIN 1 | Front right motor, CCW |
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| MAIN 2 | Back left motor, CCW |
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| MAIN 3 | Front left motor, CW |
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| MAIN 4 | Back right motor, CW |
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| AUX 1 | Left aileron |
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| AUX 2 | Right aileron |
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| AUX 3 | Elevator |
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| AUX 4 | Rudder |
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| AUX 5 | Throttle |
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<a id="dropix_back"></a>
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@@ -169,8 +162,7 @@ The image below shows back of the dropix flight controller, highlighting the out
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_37_connect_throttle_motor.jpg" width="500px" title="Connect throttle motor" />
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1. Connect the receiver (RC IN).
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1. Connect the receiver (RC IN).
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<a id="dropix_front"></a>
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@@ -184,10 +176,9 @@ The sensor inputs, telemetry, buzzer and safety switch are located in the front
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_39_connect_sensors.jpg" width="500px" title="Connect sensors" />
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#### Flight Controller: Connect power module and external USB
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#### Flight Controller: Connect power module and external USB
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The inputs for the USB port, power module and external USB are located on the right side of the flight controller.
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The inputs for the USB port, power module and external USB are located on the right side of the flight controller.
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1. Connect power and USB as shown
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@@ -200,7 +191,7 @@ It should be used if access to the USB port is difficult once the flight control
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#### Install the pitot tube (airspeed sensor)
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The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube.
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The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube.
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:::warning
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It is important that nothing obstructs airflow to the Pitot tube. This is critical for fixed-wing flight and for transitioning from quad to plane.
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@@ -211,27 +202,25 @@ It is important that nothing obstructs airflow to the Pitot tube. This is critic
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_43_airspeed_sensor_mounting.jpg" width="500px" title="Airspeed sensor mounting" />
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1. Secure the connecting tubing and ensure that it is not bent/kinked.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_45_airspeed_sensor_tubing.jpg" width="500px" title="Airspeed sensor mounting" />
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1. Connect the tubes to the airspeed sensor.
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1. Connect the tubes to the airspeed sensor.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_47_connect_airspeed_sensor_tubing.jpg" width="500px" title="Connect airspeed sensor and tubing" />
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#### Install/connect receiver and telemetry module
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1. Paste the receiver and telemetry module to the outside of the vehicle frame.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_49_receiver_mounting.jpg" width="500px" title="Paste receiver" />
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1. Connect the receiver to the RC IN port on the *back* of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)).
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1. Connect the telemetry module to the *front* of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins).
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1. Connect the receiver to the RC IN port on the _back_ of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)).
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1. Connect the telemetry module to the _front_ of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins).
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_51_telemetry_module_mounting.jpg" width="500px" title="Paste telemetry module" />
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<a id="compass_gps"></a>
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#### GPS/Compass module
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@@ -240,17 +229,15 @@ The GPS/Compass module is already mounted on the wing, in the default orientatio
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_gps_compass.jpg" width="500px" title="GPS/Compass" />
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<a id="flight_controller_orientation"></a>
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#### Mount and orient the flight controller
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1. Set your flight controller orientation to 270 degrees.
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<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_53_flight_controller_orientation.jpg" width="500px" title="Flight controller orientation" />
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1. Secure the controller in place using vibration damping foam.
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1. Secure the controller in place using vibration damping foam.
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### Step 4: Final Assembly Checks
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@@ -263,17 +250,15 @@ The final assembly step is to check the vehicle is stable and that the motors ha
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::: info
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If necessary the servo direction can be reversed using the `Rev Range (for servos)` checkbox associated with each servo output in the QGroundControl [Actuator Output](../config/actuators.md#actuator-outputs) configuration (for servos only) (this sets the [PWM_AUX_REV](../advanced_config/parameter_reference.md#PWM_AUX_REV) or [PWM_AUX_MAIN](../advanced_config/parameter_reference.md#PWM_MAIN_REV) parameter).
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:::
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1. Check the vehicle is balanced around the expected centre of gravity
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- Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable.
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* Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable.
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* If the vehicle leans forward or backwards, move the motors to balance it.
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- If the vehicle leans forward or backwards, move the motors to balance it.
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## Configuration
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@@ -281,7 +266,7 @@ Perform the normal [Basic Configuration](../config/index.md).
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Notes:
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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.
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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.
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@@ -289,7 +274,7 @@ Notes:
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1. Configure the outputs and geometry following the instructions in [Actuators Configuration](../config/actuators.md)
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1. 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).
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After you finish calibration the VTOL is ready to fly.
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After you finish calibration the VTOL is ready to fly.
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## Video
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@@ -51,7 +51,7 @@ The following options have been tested:
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- [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
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- [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds)
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- [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840)
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- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
|
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- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
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||||
- 1x Baseplate
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||||
- 1x Stack-fixture
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||||
- 1x Fan-Mount
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||||
@@ -287,12 +287,12 @@ If you wish connect the actuators to different outputs you will need to modify t
|
||||
|
||||
### Load Parameters File
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||||
|
||||
Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
|
||||
Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
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||||
If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims.
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||||
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||||
To load the file:
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|
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1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params).
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||||
1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params).
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||||
1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
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1. Select **Load from file** and then choose the `loong.params` file you just downloaded.
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1. Reboot the vehicle.
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@@ -1,10 +1,10 @@
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# TBS Caipiroshka
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||||
|
||||
The Caipiroshka VTOL is a slightly modified *TBS Caipirinha*.
|
||||
The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_.
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||||
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||||
::: info
|
||||
The *TBS Caipirinha* has been superseded and is no longer available.
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||||
These instructions *should* work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
|
||||
The _TBS Caipirinha_ has been superseded and is no longer available.
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||||
These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
|
||||
A number of other components have been updated in the parts list too.
|
||||
:::
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||||
|
||||
@@ -12,22 +12,21 @@ A number of other components have been updated in the parts list too.
|
||||
|
||||
## Parts List
|
||||
|
||||
* TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp))
|
||||
* Left and right 3D-printed motor mount (<a href="https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/caipiroshka/motor_mounts.zip" target="_blank">design files</a>)
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||||
* CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
|
||||
* CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
|
||||
* 2x 1800 kV 120-180W motors
|
||||
* [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913)
|
||||
* [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8)
|
||||
- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp))
|
||||
- Left and right 3D-printed motor mount (<a href="https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/caipiroshka/motor_mounts.zip" target="_blank">design files</a>)
|
||||
- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
|
||||
- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html))
|
||||
- 2x 1800 kV 120-180W motors
|
||||
- [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913)
|
||||
- [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8)
|
||||
<!-- equivalent replacement must match: kV (1800), motor size (2208) and number of LiPo cells (3S). -->
|
||||
* 2x 20-30S ESC
|
||||
* [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
|
||||
* BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail)
|
||||
* 3S 2200 mA LiPo battery
|
||||
* Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
|
||||
* [Pixracer autopilot board + power module](../flight_controller/pixracer.md)
|
||||
* [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
|
||||
|
||||
- 2x 20-30S ESC
|
||||
- [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
|
||||
- BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail)
|
||||
- 3S 2200 mA LiPo battery
|
||||
- Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html))
|
||||
- [Pixracer autopilot board + power module](../flight_controller/pixracer.md)
|
||||
- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html)
|
||||
|
||||
## Assembly
|
||||
|
||||
@@ -47,7 +46,7 @@ Print the motor mount (2 times) of which the link to the STL file was specified
|
||||
Attach one motor mount on each wing side such that the motor axis will be roughly going through the center of the elevons (see picture).
|
||||
In the upper picture the horizontal distance between the two motor mounts is 56cm.
|
||||
Once you have marked the correct position on the wing you can cover the area which will be in contact with the mount with standard transparent tape on both the upper and lower wing side.
|
||||
Then apply a layer of hot glue onto this area and glue the motor mount onto the wing.
|
||||
Then apply a layer of hot glue onto this area and glue the motor mount onto the wing.
|
||||
The reason for having tape in between the wing surface and the hot glue is that you can very easily remove the motor mount by ripping of the tape from the wing without any damage.
|
||||
This is useful when trying to replace a damaged motor mount.
|
||||
|
||||
@@ -55,27 +54,27 @@ This is useful when trying to replace a damaged motor mount.
|
||||
|
||||
The motor controllers can be directly mounted on a flat surface of the motor mounts using glue or a cable binder.
|
||||
You will have to route the power cables to the battery bay. You can use an old soldering iron to melt channels into the foam.
|
||||
Connect the power cables of both motor controllers in the battery bay and solder a plug to the end.
|
||||
Connect the power cables of both motor controllers in the battery bay and solder a plug to the end.
|
||||
This will enable you to connect both the motor controllers to the power module.
|
||||
If you don't have motor controllers which can provide 5V for the output rail of the autopilot then you will have to use an external power supply (BEC).
|
||||
|
||||
### GPS
|
||||
|
||||
The GPS can be mounted in the middle at the very back of the airframe. This helps shifting the weight of the plane to the back since the two motors, a camera and a potentially bigger battery can make it quite nose heavy.
|
||||
The GPS can be mounted in the middle at the very back of the airframe. This helps shifting the weight of the plane to the back since the two motors, a camera and a potentially bigger battery can make it quite nose heavy.
|
||||
Also the large distance to the 12V power cables is beneficial for reducing magnetic interference of the external magnetometer.
|
||||
|
||||
### Airspeed sensor
|
||||
|
||||
Attach the pitot tube close to the outside edge of one of the wing sides.
|
||||
Make sure that the pitot is not affected by the airflow of the propeller.
|
||||
You should be fine if the horizontal distance from the tube to the axis of the motors is larger than the radius of the propeller.
|
||||
Use e.g. an old soldering iron to create a recess for the pitot tube, the tubing and the actual sensor (see picture).
|
||||
Attach the pitot tube close to the outside edge of one of the wing sides.
|
||||
Make sure that the pitot is not affected by the airflow of the propeller.
|
||||
You should be fine if the horizontal distance from the tube to the axis of the motors is larger than the radius of the propeller.
|
||||
Use e.g. an old soldering iron to create a recess for the pitot tube, the tubing and the actual sensor (see picture).
|
||||
Create a channel for routing the cable across the wing to the other components.
|
||||
|
||||
### Sensor connection to the I2C bus
|
||||
|
||||
Both the airspeed sensor and the external magnetometer (located in the gps housing) need to be connected to the I2C bus of the autopilot.
|
||||
Therefore, you will have to use an I2C splitter like the one indicated in the part list.
|
||||
Both the airspeed sensor and the external magnetometer (located in the gps housing) need to be connected to the I2C bus of the autopilot.
|
||||
Therefore, you will have to use an I2C splitter like the one indicated in the part list.
|
||||
Connect the splitter board with the I2C bus of the autopilot.
|
||||
Then connect both the external magnetometer and the airspeed sensor to the splitter board with a standard I2C cable.
|
||||
In the upper picture the splitter board is located on the left side of the GPS unit.
|
||||
@@ -91,21 +90,20 @@ Depending on the additional components you want to have onboard (e.g. GoPro in f
|
||||
|
||||
## Airframe configuration
|
||||
|
||||
Switch to the configuration section in [QGroundControl](../config/airframe.md) and select the airframe tab.
|
||||
Scroll down the list to find the *VTOL Duo Tailsitter* icon. Select the *Caipiroshka Duo Tailsitter* from the drop-down list.
|
||||
Switch to the configuration section in [QGroundControl](../config/airframe.md) and select the airframe tab.
|
||||
Scroll down the list to find the _VTOL Duo Tailsitter_ icon. Select the _Caipiroshka Duo Tailsitter_ from the drop-down list.
|
||||
|
||||
|
||||
|
||||
|
||||
## Servo Connections
|
||||
|
||||
The descriptions in the table below are referring to the user facing the front of the vehicle when it lies flat on its belly on a table.
|
||||
|
||||
Output | Rate | Actuator
|
||||
--- | --- | ---
|
||||
MAIN1 | 400 Hz | Right (starboard) motor controller
|
||||
MAIN2 | 400 Hz | Left (port) motor controller
|
||||
MAIN3 | 400 Hz | Empty
|
||||
MAIN4 | 400 Hz | Empty
|
||||
MAIN5 | 50 Hz | Right (starboard) aileron servo
|
||||
MAIN6 | 50 Hz | Left (port) aileron servo
|
||||
| Output | Rate | Actuator |
|
||||
| ------ | ------ | ---------------------------------- |
|
||||
| MAIN1 | 400 Hz | Right (starboard) motor controller |
|
||||
| MAIN2 | 400 Hz | Left (port) motor controller |
|
||||
| MAIN3 | 400 Hz | Empty |
|
||||
| MAIN4 | 400 Hz | Empty |
|
||||
| MAIN5 | 50 Hz | Right (starboard) aileron servo |
|
||||
| MAIN6 | 50 Hz | Left (port) aileron servo |
|
||||
|
||||
@@ -52,7 +52,7 @@ The approximate maximum size of the FC is: 50x110x22mm
|
||||
- [Servo cable extension cable male 30cm 10 pcs](https://www.getfpv.com/male-to-male-servo-extension-cable-twisted-22awg-jr-style-5-pcs.html)
|
||||
- [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds)
|
||||
- [3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y)
|
||||
- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip)
|
||||
- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip)
|
||||
- 2x wing connector mount
|
||||
- 1x Airspeed sensor mount
|
||||
- 1x GPS-Mount
|
||||
@@ -155,7 +155,6 @@ The connector glued into the fuselage. Make sure to properly align the connector
|
||||
If you own a crimp tool, then you can also directly add the connectors without soldering.
|
||||
|
||||
1. Plug the servo cables into the adapter IO board in the following order:
|
||||
|
||||
- 1 - Aileron left
|
||||
- 2 - Aileron right
|
||||
- 3 - V-Tail left
|
||||
@@ -164,7 +163,6 @@ The connector glued into the fuselage. Make sure to properly align the connector
|
||||
- 6 - Tilt right
|
||||
|
||||
1. Plug in the motor signal cables into the FMU adapter board in the following order:
|
||||
|
||||
- 1 - Front left
|
||||
- 2 - Front right
|
||||
- 3 - Rear
|
||||
@@ -276,12 +274,12 @@ An inexpensive example would be a [SiK Telemetry Radio](../telemetry/sik_radio.m
|
||||
|
||||
### Load Parameters File
|
||||
|
||||
Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
|
||||
Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to!
|
||||
If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims.
|
||||
|
||||
To load the file:
|
||||
|
||||
1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params).
|
||||
1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params).
|
||||
1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
|
||||
1. Select **Load from file** and then choose the `omp_hobby_zmo.params` file you just downloaded.
|
||||
1. Reboot the vehicle.
|
||||
|
||||
Reference in New Issue
Block a user