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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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docs/ko/frames_vtol/index.md
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# VTOLs
PX4는 고정익의 전진 비행과 멀티콥터의 수직 이착륙 기능을 모두 가지고 있는 기체를 칭하는 용어는 VTOL입니다.
![Vertical Technologies: Deltaquad QuadPlane VTOL](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero.jpg)
VTOL은 고정익과 멀티콥터의 장점을 모두 가지고 있습니다.
- **Vertical takeoff and landing:** Even inexperienced pilots can take off and land virtually anywhere.
- **Fast and efficient fixed-wing flight:** Faster, further, and longer missions, carrying heavier payloads.
- **Hovering:** Steady platform for photography, structure scans etc.
PX4가 지원하는 VTOL 유형, 조립, 구성 및 비행 방법에 대하여 설명합니다.
## VTOL 유형
PX4는 세 가지 중요한 VTOL 유형을 지원합니다.
<div class="grid_wrapper three_column">
<div class="grid_item">
<div class="grid_item_heading"><a href="tailsitter.html" title="Tailsitter"><big>Tailsitter</big></a></div>
<div class="grid_text">
Rotors permanently in fixed-wing position.
이륙하고 꼬리로 착륙합니다. 전체 차량이 앞으로 기울어져 전진 비행으로 전환합니다.
<img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="wingtraone" />
<ul>
<li>간단하고 견고함.</li>
<li>최소한의 액추에이터 세트</li>
<li>바람이 불면 제어하기 어려울 수 있음</li>
<li>동일한 액츄에이터가 사용되므로 호버링과 전진 비행의 효율성간의 균형</li>
</ul>
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><a href="tiltrotor.html" title="Tiltrotor"><big>Tiltrotor</big></a></div>
로터는 멀티콥터에서 전진 비행 방향으로 전환하기 위하여 90도 회전합니다.
이륙하고 배로 착지합니다.
<div class="grid_text">
<img src="../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg" title="Eflight Confvergence" />
<ul>
<li>모터 틸트용 추가 액추에이터</li>
<li>기계적으로 복잡한 틸팅 메커니즘</li>
<li>더 많은 제어 권한으로 테일시터보다 호버링이 용이합니다.</li>
</ul>
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><a href="standardvtol.html" title="Standard VTOL"><big>Standard VTOL</big></a></div>
<div class="grid_text">
멀티콥터와 전진 비행을 위한 별도의 로터 및 비행 제어 장치. 이륙하고 배로 착지합니다.
<img src="../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png" title="Vertical Technologies: Deltaquad" />
<ul>
<li>별도의 호버링 및 전진 비행 추진 시스템으로 인한 중량 증가</li>
<li>전용 호버링 및 포워드 플라이트 액츄에이터로 제어가 가장 용이 </li>
<li>호버링 가능</li>
<li>전진 비행 추진을 위한 연료 엔진 사용 가능</li>
</ul>
</div>
</div>
</div>
일반적으로, 기계적 복잡성이 증가함에 따라 기체의 비행이 용이할 수 있지만, 비용과 중량이가 증가합니다.
각 유형에는 장단점이 있으며, 이를 기반으로 성공적인 상업적인 벤처 회사들이 있습니다.
위의 각 주요 유형에는 모터 수, 모터 기하학 및 비행 표면 등과 같은 많은 가능한 변형이 있습니다.
PX4 provides _airframe configurations_ for many of the more common vehicle setups.
The supported set is listed in [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol).
::: info
- If the vehicle setup you need is not supported you may need to [Add an Airframe](../dev_airframes/adding_a_new_frame.md) (requires some [PX4 Development](../development/development.md) expertise).
- The VTOL codebase is the same codebase as for all other airframes and just adds additional control logic, in particular for transitions.
:::
## 비행 모드
A VTOL aircraft can fly as either a multicopter or as fixed-wing vehicle.
Multicopter mode is mainly used for take off and landing while the fixed-wing mode is used for efficient travel and/or mission execution.
The flight modes for VTOL vehicles are the same as for [multicopter](../flight_modes_mc/index.md) when flying in MC mode and [fixed-wing](../flight_modes_fw/index.md) when flying in FW mode.
The transition between modes is initiated either by the pilot using an RC switch or automatically by PX4 when needed in missions or other auto modes.
## 조립
:::info
For information about commercial and kit VTOL vehicles see: [Complete Vehicles](../complete_vehicles/index.md)
:::
PX4 controlled vehicles generally share the same core components: a flight controller connected to a power system, GPS, external compass (highly recommended), radio control system (optional) and/or telemetry radio system (optional), and airspeed sensor (highly recommended for VTOL vehicles).
The flight controller outputs are connected to the vehicle motor ESCs and/or flight control servos and actuators, which are separately powered.
The mapping between flight controller outputs and specific controls/motors depends on the vehicle frame used, and is specified in the [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol).
Assembly information is covered in several sections:
- [Basic Assembly](../assembly/index.md) contains topics shows the setup of core components for a number of popular [flight controllers](../flight_controller/index.md).
가이드가 없는 비행 컨트롤러는 일반적으로 거의 같은 방법으로 설정됩니다(거의 항상 유사한 설정 가이드가 포함됨).
- [Peripherals](../peripherals/index.md) contains information about other peripherals, including [Airspeed Sensors](../sensor/airspeed.md).
- [Airframes Reference > VTOL](../airframes/airframe_reference.md#vtol) explains which flight controller outputs must be connected to different flight controls for each airframe configuration:
- 정의된 기체의 구성을 선택하십시오. 이는 비행을 위하여 사전 튜닝이 충분하기 때문입니다(미세 조정만 필요할 수 있음).
- 그렇지 않으면, 기체와 일치하는 "일반 기체"를 선택하십시오.
In addition, build logs showing how others have set up different types of vehicles are provided as sub topics.
For example see [FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md).
## 설정
VTOL configuration is covered in a number of sections:
- [Basic Configuration](../config/index.md) - Configuration that is common to all vehicle types (sensors, safety systems, batteries etc).
- [VTOL Specific Configuration](../config_vtol/index.md)
- [Peripheral Hardware](../peripherals/index.md) - Configuration for optional hardware and sensors.
- [Advanced Configuration](../advanced_config/index.md): Additional configuration covering factory tuning and advanced and optional configuration.
## 비디오
### 교육
VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
<lite-youtube videoid="37BIBAzD6fE" title="VTOL control and airspeed fault detection"/>
<!-- 20190704 -->
### 테일시터
[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/)
<lite-youtube videoid="pWt6uoqpPIw" title="UAV Works VALAQ"/>
[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md)
<lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
### 틸트로터
[Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)
<lite-youtube videoid="E61P2f2WPNU" title="E-flite Convergence Autonomous Mission Flight"/>
### QuadPlane VTOL
[FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md)
<lite-youtube videoid="4K8yaa6A0ks" title="Fun Cub PX4 VTOL Maiden"/>
[Falcon Vertigo QuadPlane](../frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md)
<lite-youtube videoid="h7OHTigtU0s" title="PX4 Vtol test"/>
[Ranger QuadPlane](../frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md)
<lite-youtube videoid="7tGXkW6d3sA" title="PX4 Autopilot - Experimental VTOL with Pixhawk and U-Blox M8N GPS"/>
docs/ko/frames_vtol/standardvtol.md
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# 표준 VTOL
A **Standard VTOL** is a [VTOL](../frames_vtol/index.md) that has _completely separate_ flight controls for multicopter and fixed-wing flight.
![Vertical Technologies: Deltaquad QuadPlane VTOL](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png)
_Vertical Technologies: Deltaquad QuadPlane VTOL_
## 비디오
This section contains videos that are specific to Standard VTOL (videos that apply to all VTOL types can be found in [VTOL](../frames_vtol/index.md)).
---
[FunCub QuadPlane](../frames_vtol/vtol_quadplane_fun_cub_vtol_pixhawk.md)
<lite-youtube videoid="4K8yaa6A0ks" title="Fun Cub PX4 VTOL Maiden"/>
[Falcon Vertigo QuadPlane](../frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md)
<lite-youtube videoid="h7OHTigtU0s" title="PX4 Vtol test"/>
[Ranger QuadPlane](../frames_vtol/vtol_quadplane_volantex_ranger_ex_pixhawk.md)
<lite-youtube videoid="7tGXkW6d3sA" title="PX4 Autopilot - Experimental VTOL with Pixhawk and U-Blox M8N GPS"/>
docs/ko/frames_vtol/tailsitter.md
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# 테일시터 VTOL
A **Tailsitter VTOL** takes off and lands on its tail, but flips into the fixed-wing orientation for normal flight.
테일 시터 로터는 전진 비행을 위해 영구적으로 고정됩니다.
Tailsitters are typically mechanically less complex than [other types of VTOL](../frames_vtol/index.md), and hence may be less expensive to build and maintain.
그러나 공기 역학적으로 더 복잡하고 특히 바람이 부는 조건에서 호버링 및 전환을 위해 조정하고 비행하기가 더 어려울 수 있습니다.
## 테일시터 기체
:::: tabs
:::tab Duo Tailsitter
Two rotor VTOL that uses elevons to flip from hover into fixed-wing flight.
![Wingtra: WingtraOne VTOL Duo Tailsitter](../../assets/airframes/vtol/wingtraone/hero.jpg)
- 보다 효율적인 전방 비행
- 특히 바람이 부는 날에는 호버링이 더 어렵습니다.
- 호버링과 이동 튜닝이 어려움
- 더 컴팩트한 폼 팩터
:::
:::tab VTOL Tailsitter
VTOL with optional elevons. 로터를 사용하여 모드 간 전환(있는 경우 엘레본과 함께).
![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg)
- 호버 모드가 더 쉽고 안정적입니다.
- 덜 컴팩트한 폼 팩터(운반하기 어려움)
- "X" 및 "+" 로터 구성이 지원됩니다(기체 참조 참조).
:::
::::
Duo Tailsitters는 일반적으로 순항 비행에서 더 효율적이며(4개의 작은 프로펠러가 2개의 큰 프로펠러보다 덜 효율적임) 물리적으로 더 작습니다.
그러나, 호버 모드에서 공기 역학적으로 훨씬 더 복잡하기 때문에 호버와 전환 모두를 조정하기가 훨씬 더 어렵습니다.
쿼드 테일시터는 호버 모드에서 비행하기 쉽고 바람이 많이 부는 조건에서 더 안정적입니다.
Both are supported using the same aiframe type in PX4.
## 설정/비행
VTOL setup and flying are covered in the [VTOL](../frames_vtol/index.md) parent topic.
:::info
The instructions are essentially the same for all VTOL.
The main frame-specific differences are the motor wiring, and some aspects of tuning the configuration.
:::
## 조립 방법
테일시터 프레임에 PX4를 설정하는 방법에 대한 단계별 가이드는 다음과 같습니다.
- [TBS Caipiroshka Tailsitter Build (Pixracer)](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md)
:::tip
We recommend that you also review build logs for other PX4 VTOL, and Copter vehicles (most of the setup is the same).
:::
## 비디오
This section contains videos that are specific to Tailsitter VTOL (videos that apply to all VTOL types can be found in [VTOL](../frames_vtol/index.md)).
### 쿼드
---
[TBS Caipiroshka](../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md) - Tailsitter takeoff (close up), hover, level flight, transitions.
<lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
---
[Woshark](http://www.laarlab.cn/#/) _PX4 Tailsitter prototype_ - Tailsitter takeoff, transition, landing.
<!-- provided by slack user xdwgood: https://github.com/PX4/PX4-user_guide/issues/2328#issuecomment-1467234118 -->
<!-- Update issue https://github.com/PX4/PX4-user_guide/issues/3007 -->
<lite-youtube videoid="gjHj6YsxcZk" title="PX4 Autopilot Tailsitter"/>
### Quad
[UAV Works VALAQ Patrol Tailsitter](https://www.valaqpatrol.com/valaq_patrol_technical_data/) - Tailsitter takeoff, transition, landing.
<lite-youtube videoid="pWt6uoqpPIw" title="UAV Works VALAQ"/>
## ### Duo
<div class="grid_wrapper three_column">
<div class="grid_item">
<div class="grid_item_heading"><big><a href="https://wingtra.com/mapping-drone-wingtraone/">WingtraOne</a></big></div>
<div class="grid_text">
<img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="Wingtra: WingtraOne VTOL Duo Tailsitter" alt="wingtraone" />
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><big><a href="https://www.skypull.technology/">Skypull</a></big></div>
<div class="grid_text">
<img title="Skypull SP-1 VTOL QuadTailsitter" src="../../assets/airframes/vtol/skypull/skypull_sp1.jpg" />
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><big><a href="../frames_vtol/vtol_tailsitter_caipiroshka_pixracer.html">TBS Caipiroshka</a></big></div>
<div class="grid_text">
<img title="TBS Caipiroshka" src="../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg" />
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><big><a href="http://uav-cas.ac.cn/WOSHARK/">Woshark</a></big></div>
<div class="grid_text">
<img title="Woshark" src="../../assets/airframes/vtol/xdwgood_ax1800/hero.jpg" />
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><big><a href="https://www.valaqpatrol.com/valaq_patrol_technical_data/">UAV Works VALAQ Patrol Tailsitter</a></big></div>
<div class="grid_text">
<img title="UAV Works VALAQ Patrol Tailsitter" src="../../assets/airframes/vtol/uav_works_valaq_patrol/hero.jpg" />
</div>
</div>
</div>
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# 틸트로터 VTOL
A **Tiltrotor VTOL** is a [VTOL](../frames_vtol/index.md) vehicle that has rotors that can swivel 90 degrees, allowing them to act as either multicopter rotors or as fixed-wing propellers.
![Horizon Hobby E-flite Convergence](../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg)
## Builds
- [Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)
- [OMP Hobby ZMO FPV](../frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md)
## 비디오
This section contains videos that are specific to Tiltrotor VTOL (videos that apply to all VTOL types can be found in [VTOL](../frames_vtol/index.md)).
[Convergence Tiltrotor](../frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md)
<lite-youtube videoid="E61P2f2WPNU" title="E-flite Convergence Autonomous Mission Flight"/>
docs/ko/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md
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# 단종 : Falcon Vertigo Hybrid VTOL RTF (Dropix)
:::warning
Discontinued
The Falcon Venturi FPV Wing frame on which this vehicle is based is no longer available.
:::
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. 소형 GoPro 카메라를 장착할 수 있습니다.
RTF 키트에는 RC 수신기와 텔레메트리를 제외하고, 시스템에 필요한 부품들이 포함되어 있습니다.
부품들을 별도로 구매할 수 있습니다.
주요 정보:
- **Frame:** Falcon Vertigo Hybrid VTOL
- **Flight controller:** Dropix
- **Wing span:** 1.3m
![Falcon Vertigo Hybrid VTOL RTF](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_complete.jpg)
## 부품 명세서
필요한 대부분의 부품들이 RTF 키트에 포함되어 있습니다. 부품을 별도 구매하는 경우에는, 아래 부품 목록의 링크를 참고하십시오.
- 사전 적층 EPP 날개
- 윙팁 및 전체 하드웨어
- Dropix flight controller (discontinued) with
- GPS u-blox M8N
- 전원 센서:
- [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html)
- Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued)
- 4 x 프로펠러 10”x 5”(쿼드 모터)
- 4 x [ESC 25A](http://www.getfpv.com/tiger-motor-flame-25a-esc.html)
- 프로펠러 10”x 5”1 개 (푸셔 모터)
- 1 x ESC 30A
- 푸셔 모터 전원 시스템
- 탄소 섬유 튜브 및 마운트
- G10 모터 마운트
- 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)
- Dropix power distribution board and cable
이 키트는 라디오 수신기 또는 텔레메트리(선택 사항)는 제공하지 않습니다.
다음의 부품을 사용하여 조립하였습니다.
- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
- Telemetry: [Holybro 100mW 915MHz modules](https://www.getfpv.com/holybro-100mw-fpv-transceiver-telemetry-radio-set-915mhz.html) (Discontinued)
## 필요한 공구들
아래의 도구들을 사용하여 기체를 조립하였습니다.
- 필립스 스크류드라이버
- 5.5 mm 육각 스크류드라이버
- 전선 커터
- 납땜 인두 및 땜납
- 취미 스테인리스 핀셋
- 고릴라 접착제
- 유리 섬유 강화 테이프
![Build tools](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_build_tools.jpg)
## 조립 단계
RTF 키트는 아래와 같이 조립하여야 합니다.
### 1 단계 : 모터 마운트 부착
1. 그림과 같이 윙 브래킷 내부에 고릴라 접착제를 펴서 바릅니다.
![Add glue on wing brackets](../../assets/airframes/vtol/falcon_vertigo/wing_brackets_glue.jpg)
2. 브래킷에 카본 튜브를 부착합니다. 브래킷과 튜브는 흰색 표시를 사용하여 정렬합니다 (그림 참조).
::: info
This is very important because the white mark indicates the center of gravity.
:::
<img src="../../assets/airframes/vtol/falcon_vertigo/carbon_tube_in_brackets.jpg" title="Carbon tube in brackets" width="300px" />
3. 다음 이미지는 다른 관점에서 막대들의 정렬을 보여줍니다.
![quad motor frame rod alignment from bottom](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_9_bottom_view_rod_alignment.jpg)
![quad motor frame rod alignment schematic](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_11_rod_alignment_schamatic.jpg)
### 2 단계 : 날개 부착
1. 두 탄소 튜브를 동체에 삽입합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_15_fuselage_tubes.jpg" width="500px" title="Fuselage carbon tubes" />
2. 각 튜브에있는 두 개의 흰색 표시 사이에 고릴라 접착제를 바릅니다 (빨간색 화살표로 표시됨). 중앙의 흰색 표시 (파란색 화살표)는 동체 중앙에 배치되고, 다른 표시는 측면에 배치됩니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_13_rod_apply_glue.jpg" width="500px" title="Apply glue to rod" />
3. 탄소 튜브가 동체 내부에 있으면, 튜브의 나머지 부분에 고릴라 접착제를 바르고 날개를 부착하십시오.
4. 동체에는 모터와 서보 케이블을 위한 두 개의 구멍이 있습니다. 구멍으로 케이블을 통과시킨 다음 날개를 동체에 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_17_fuselage_holes_cables.jpg" width="500px" title="Fuselage holes for cables" />
5. 동체 내에 제공된 커넥터를 사용하여 방금 날개에서 ESC로 통과한 신호 케이블을 연결합니다. ESC는 이미 모터에 연결되어 있으며, 올바른 순서로 회전하도록 설정되어 있습니다 (나중 단계에서 ESC PDB를 전원 모듈에 연결해야 함).
<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" />
6. ESC와 마찬가지로 서보는 이미 설치되어 있습니다. 날개 (동체를 통과)에서 비행 컨트롤러로 신호 케이블을 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_21_connect_servo_cables.jpg" width="500px" title="Connect servo cables" />
7. 다른 날개에 이 단계를 반복합니다.
### 3 단계 : 전자 장치 연결
이 키트에는 필요한 전자 장치가 대부분 미리 연결된 Dropix 비행 컨트롤러가 포함되어 있습니다 (다른 Pixhawk 호환 비행 컨트롤러를 사용하는 경우 연결이 유사함).
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_23_dropix_and_other_electronics.jpg" width="500px" title="Falcon Vertigo Electronics" />
:::info
General information about connecting Dropix can be found in [Dropix Flight Controller](../flight_controller/dropix.md).
:::
#### ESC 전원 커넥터를 연결하고, 신호 케이블을 비행 컨트롤러에 연결합니다.
1. XT60 커넥터를 사용하여 ESC를 전원 모듈에 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_25_aileron_esc_connections.jpg" width="500px" title="" />
2. 신호 케이블을 비행 컨트롤러로 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_27_gps_esc_servo_connections.jpg" width="500px" title="GPS, ESC, Servo connections" />
#### 모터 배선
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"):
| 포트 | 연결 |
| ------ | ---------------------- |
| MAIN 1 | Front right motor, CCW |
| MAIN 2 | 후방 촤즉 모터, 반시계 방향 |
| MAIN 3 | 전방 좌측 모터, 시계방향 |
| MAIN 4 | 후방 우측 모터, 시계 방향 |
| AUX 1 | 좌측 보조익 |
| AUX 2 | 우측 보조익 |
| AUX 3 | 승강타 |
| AUX 4 | 방향타 |
| AUX 5 | 스로틀 |
<a id="dropix_back"></a>
#### 비행 컨트롤러 연결 : 모터, 서보, RC 수신기, 전류 센서
아래 이미지는 dropix 비행 컨트롤러의 뒷면을 보여, 주며 쿼드 모터 케이블, 에일러론 신호 케이블, 스로틀 모터, 전류 센서 및 수신기 (RC IN) 입력 핀을 연결하기위한 출력 핀을 강조하여 표시합니다.
<img id="dropix_outputs" src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_33_dropix_outputs.jpg" width="500px" title="Dropix motor/servo outputs" />
1. 쿼드 모터 신호 케이블을 연결합니다.
2. 보조 출력에 에일러론 케이블과 스로틀 모터를 연결합니다.
3. ESC의 스로틀 모터 신호 케이블을 적절한 비행 컨트롤러 보조 포트에 연결합니다. ESC를 스로틀 모터에 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_37_connect_throttle_motor.jpg" width="500px" title="Connect throttle motor" />
4. 수신기를 RC IN에 연결합니다.
<a id="dropix_front"></a>
#### 비행 컨트롤러 연결 : 원격 측정, 대기 속도 센서, GPS, 부저 및 안전 스위치
센서 입력, 원격 측정, 부저 및 안전 스위치는 아래 연결 다이어그램과 같이 비행 컨트롤러의 전면에 위치합니다.
<img src="../../assets/flight_controller/dropix/dropix_connectors_front.jpg" width="500px" alt="Dropix connectors front" title="Dropix connectors front" />
1. 그림과 같이 원격 측정, 대기 속도 센서, GPS, 부저 및 안전 스위치를 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_39_connect_sensors.jpg" width="500px" title="Connect sensors" />
#### 비행 컨트롤러 : 전원 모듈 및 외부 USB 연결
USB 포트, 전원 모듈 및 외부 USB에 대한 입력은 비행 컨트롤러의 오른쪽에 있습니다.
1. 그림과 같이 전원과 USB를 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_41_connect_power_module_usb.jpg" width="500px" title="Connect power module and USB" />
:::tip
The external USB is optional.
비행 컨트롤러를 장착 후, USB 포트에 액세스하기 어려운 경우에 사용하여야 합니다.
:::
#### -- 피토 튜브 (대기 속도 센서) 설치
피토 튜브는 비행기 전면에 설치되며 튜브를 통해 대기 속도 센서에 연결됩니다.
:::warning
It is important that nothing obstructs airflow to the Pitot tube. 이것은 고정익 비행과 쿼드에서 비행기로의 전환에 매우 중요합니다.
:::
1. 비행기 전면에 피토 튜브를 설치합니다
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_43_airspeed_sensor_mounting.jpg" width="500px" title="Airspeed sensor mounting" />
2. 연결 튜브를 고정하고 구부러 지거나 꼬이지 않았는 지 확인합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_45_airspeed_sensor_tubing.jpg" width="500px" title="Airspeed sensor mounting" />
3. 튜브를 대기 속도 센서에 연결합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_47_connect_airspeed_sensor_tubing.jpg" width="500px" title="Connect airspeed sensor and tubing" />
#### 수신기 및 원격 측정 모듈 설치 / 연결
1. 수신기와 원격 측정 모듈을 차량 프레임 외부에 붙여 넣습니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_49_receiver_mounting.jpg" width="500px" title="Paste receiver" />
2. 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)).
3. 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).
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_51_telemetry_module_mounting.jpg" width="500px" title="Paste telemetry module" />
<a id="compass_gps"></a>
#### GPS / 나침반 모듈
GPS / 나침반 모듈은 기본 방향으로 날개에 이미 장착되어 있습니다. 이를 위해 추가 작업을 할 필요가 없습니다!
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_gps_compass.jpg" width="500px" title="GPS/Compass" />
<a id="flight_controller_orientation"></a>
#### 비행 컨트롤러 장착 및 방향 설정
1. 비행 컨트롤러 방향을 270도로 설정합니다.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_53_flight_controller_orientation.jpg" width="500px" title="Flight controller orientation" />
2. 진동 감쇠폼을 사용하여 컨트롤러를 제자리에 고정합니다.
### 4 단계 : 최종 조립 확인
마지막 조립 단계는 차량이 안정적이고 모터가 올바르게 설정되었는 지 확인하는 것입니다.
1. 모터가 올바른 방향으로 회전하는지 확인하십시오 (아래 QuadX 다이어그램 참조).
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_35_quad_motor_directions.png" width="200px" title="Quad motor order/directions" />
::: info
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).
:::
2. 차량이 예상 무게 중심 주변에서 균형을 이루는 지 확인하십시오.
- 손가락으로 기체의 무게 중심을 잡고 차량이 안정적인지 확인하십시오.
![Level Centre of Gravity](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_57_level_centre_of_gravity.jpg)
- 차량이 앞이나 뒤로 기울면 모터를 움직여 균형을 잡으십시오.
![Level Motors](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_55_level_motors.jpg)
## 설정
Perform the normal [Basic Configuration](../config/index.md).
참고:
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.
![QCG - Select Generic Standard VTOL](../../assets/qgc/setup/airframe/px4_frame_generic_standard_vtol.png)
2. Set the [Autopilot Orientation](../config/flight_controller_orientation.md) to `ROTATION_YAW_270` as the autopilot is mounted [sideways](#flight_controller_orientation) with respect to the front of the vehicle. The compass is oriented forward, so you can leave that at the default (`ROTATION_NONE`).
3. Configure the outputs and geometry following the instructions in [Actuators Configuration](../config/actuators.md)
4. 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).
보정을 마치면 VTOL이 비행할 준비가 됩니다.
## 비디오
<lite-youtube videoid="h7OHTigtU0s" title="PX4 Vtol test"/>
## 지원
If you have any questions regarding your VTOL conversion or configuration please visit <https://discuss.px4.io/c/px4/vtol>.
docs/ko/frames_vtol/vtol_quadplane_foxtech_loong_2160.md
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# Foxtech Loong 2160 VTOL
The _Foxtech Loong 2160 VTOL_ is a easy to build almost-ready-to-fly (ARF) quadplane VTOL drone with wingspan of 2160mm.
This build guide shows how to add a flight controller system using [Auterion Skynode evaluation kit](../companion_computer/auterion_skynode.md) or [Pixhawk 6C](../flight_controller/pixhawk6c.md) and setup PX4.
![Photo of Loong VTOL in flight](../../assets/airframes/vtol/foxtech_loong_2160/01-foxtech-loong.jpg)
## 개요
Specifications:
- Wingspan: 2160mm
- Fuselage Length: 1200mm
- Takeoff Weight: Approximately 7kg (excluding payload)
- Max Flight Time: Up to 1 hour and 30 minutes
- Cruising Speed: Approximately 17m/s
- Max Payload Weight: Around 1.5kg
- Carry Case Dimensions: 125cm x 34cm x 34cm
Key Features:
- Effortless Assembly: Quick and easy setup
- Portability: Compact design for convenient transportation with the included carry case
- Ready to Fly: All actuators are pre-installed and wired, minimizing setup time
- Extended Flight Time: Up to 1 hour and 30 minutes, depending on weather conditions and takeoff weight
- Versatile Payload Capacity: Spacious fuselage accommodates diverse payloads, including options like the Sony A7R for mapping applications.
## 구매처
- [Foxtech FPV (ARF Combo)](https://www.foxtechfpv.com/foxtech-loong-2160-vtol.html) - recommended
- [Alibaba](https://www.alibaba.com/product-detail/Loong-2160-Long-Endurance-VTOL-Mapping_1600280686653.html)
## 비행 콘트롤러
The following options have been tested:
- [Auterion Skynode evaluation kit](../companion_computer/auterion_skynode.md)
- [Pixhawk 6C](../flight_controller/pixhawk6c.md)
## Additional Accessories
- Auterion 12S Power Module
- [Holybro PM08D Power Module (alternative to Auterion PM)](https://holybro.com/collections/power-modules-pdbs/products/pm08d-digital-power-module-14s-200a)
- [GPS F9P (included in Skynode eval. kit)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (cheaper alternative to F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor?pr_prod_strat=use_description\&pr_rec_id=236dfda00\&pr_rec_pid=7150470561981\&pr_ref_pid=7150472462525\&pr_seq=uniform)
- [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) (Optional)
- [Lidar Seeed Studio PSK-CM8JL65-CC5 (cheaper alternative)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Optional)
- [Radio (RC) System](../getting_started/rc_transmitter_receiver.md) of your preference
- [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709)
- [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)
- [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)
- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip)
- 1x Baseplate
- 1x Stack-fixture
- 1x Fan-Mount
- 1x Radio-Mount
- 1x Top-Plate
- 1x Radio-Antenna-Adapter
- 1x USB-C Holder 1
- 1x USB-C Holder 2
- [Messing threaded inserts](https://cnckitchen.store/products/gewindeeinsatz-threaded-insert-set-standard-200-stk-pcs)
- [XT30 connectors](https://www.amazon.com/Connectors-Female-Pieces-Shrink-Battery/dp/B0875MBLNH/ref=sr_1_1?keywords=xt30+connector\&qid=1700643604\&sr=8-1)
- [Div. Screws](https://de.aliexpress.com/item/1005005999729125.html?spm=a2g0o.productlist.main.1.7fe0c7fcvInMsM\&algo_pvid=2e5373e9-747f-4a28-9739-cd59d05d64f1\&aem_p4p_detail=202311220106396068090130108300006423842\&algo_exp_id=2e5373e9-747f-4a28-9739-cd59d05d64f1-0\&pdp_npi=4%40dis%21CHF%2114.42%213.72%21%21%2116.01%21%21%402101f04d17006439995917563eeeb0%2112000035246480339%21sea%21CH%210%21AB\&curPageLogUid=24AixvgVOlG3\&search_p4p_id=202311220106396068090130108300006423842_1)
- [Zip ties](https://www.amazon.com/Superun-Cable-Tie-Kit-Assorted/dp/B07TMKJP5S/ref=sr_1_2?crid=968Z3XJK9N3J\&keywords=zip%2Bties%2Bset\&qid=1700644053\&sprefix=zip%2Bties%2Bset%2Caps%2C155\&sr=8-2\&th=1)
- [Antenna extension cable - matching your radio system](https://www.digikey.ch/de/products/detail/amphenol-rf/095-902-536-012/13246174)
- [Recommended Battery (12S 22Ah)](https://genstattu.com/tattu-22-2v-30c-6s-22000mah-lipo-battery-with-xt90-s-plug-for-uav.html)
## 도구
The following tools were used for this build.
- Hex driver set
- Wrench set
- [Soldering station](https://www.amazon.com/UY-CHAN-Programmable-Pocket-size-Soldering/dp/B07G71CKC4/ref=sr_1_7?crid=2S2XK6363XRDF\&keywords=ts+80+soldering+iron\&qid=1700644208\&sprefix=ts+80%2Caps%2C151\&sr=8-7)
- Glue: Hot glue, 5 min Epoxy
- 테이프
- 3M Double sided tape ([3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y))
- 3D-Printer
- [Blue Loctite](https://www.amazon.com/Loctite-Heavy-Duty-Threadlocker-Single/dp/B000I1RSNS?th=1)
## 하드웨어 통합
In this documentation the integration of a Auterion Skynode is described.
The installation of a Pixhawk can be done similarly.
### Preparations
### Avionics Unit
![Complete stack assembly](../../assets/airframes/vtol/foxtech_loong_2160/02-stack.png)
#### Prepare 3D-Printed Parts
:::info
Use a soldering iron to press the threaded inserts into the 3D-Printed parts.
:::
1. Insert 10x M3 threaded inserts into the baseplate as shown in the picture:
![Baseplate with threaded inserts](../../assets/airframes/vtol/foxtech_loong_2160/03-baseplate.jpg)
2. Insert 2x M3 threaded inserts into the stack fixture as shown in the picture below:
![Stack fixture with threaded inserts](../../assets/airframes/vtol/foxtech_loong_2160/04-stack-fixture.jpg)
3. Insert 2x M4 threaded inserts into the fan mount and radio mount as shown in the picture below.
![Radio-mount](../../assets/airframes/vtol/foxtech_loong_2160/05-radio-mount.jpg)
If you would like to add a 40mm 5V fan to the fan mount, insert 4x M3 inserts.
![Fan-mount](../../assets/airframes/vtol/foxtech_loong_2160/06-fan-mount.jpg)
4. Change the cable connector to a servo connector so it can be plugged into the servo rail to be powered.
::: info
A fan might be needed if a powerful radio is used.
:::
![Fan-mount with fan](../../assets/airframes/vtol/foxtech_loong_2160/07-fan-mount.jpg)
5. Remove the original mounting plate from the vehicle.
Tape the cables to the outside of the fuselage.
![Empty fuselage](../../assets/airframes/vtol/foxtech_loong_2160/08-preparations.jpg)
6. Slide the baseplate into the vehicle.
7. Screw the stack fixture to the baseplate and mark the location of the stack fixture with tape or a pen.
8. Remove the parts from the fuselage and glue the stack fixture into place using hot glue.
![Mounting stack fixture](../../assets/airframes/vtol/foxtech_loong_2160/09-stack-fixure.jpg)
### 40A Power Module
The 40A power module provides power for the avionics when using Skynode (and comes with the Skynode evaluation kit):
1. Remove the case from the 40A PM.
2. Screw the PM with 2x M2x6mm to the bottom of the baseplate.
3. Create a cable to extend the XT60 connector to an XT30 that is mounted on the baseplate.
With that, the 6S battery power can be directly plugged into the XT30 connector with the pre-configured cable that comes with the vehicle.
![40A Power Module installation](../../assets/airframes/vtol/foxtech_loong_2160/10-40a-power-module.jpg)
If necessary, the 10V output of the radio port on the PM can also be exposed via an XT30 that can be mounted next to the 6S battery input XT60.
### 센서
#### Pitot Tube
1. The sensor can be installed with 2x M3x16mm screws in the front right corner of the baseplate.
Take care that the connector is facing the center of the fuselage.
![Mounted airspeed sensor](../../assets/airframes/vtol/foxtech_loong_2160/11-airspeed-sensor.jpg)
Only the front tube (not as shown in the picture) is used; the other tube can be removed since our experience showed that the pressure inside the fuselage is sufficient as static pressure.
2. When the stack is mounted inside the fuselage, the tube coming from the wing and the one from the airspeed sensor need to be spliced together.
Use some spit (that's the easiest way) to push them together and afterward use a heat shrink tube to reinforce the connection.
:::warning
Use a heat source carefully since the foam starts to melt at high temperatures.
:::
#### Lidar
:::info
A lidar is recommended!
If no lidar is mounted you should disable using fixed-wing actuation in hover to accelerate forward (set [VT_FWD_THRUST_EN](../advanced_config/parameter_reference.md#VT_FWD_THRUST_EN) to `0` instead of `1`).
:::
1. Mark the location to install the lidar with some tape or a pen.
Cut a hole inside the PVC shell and the foam, so that the lidar fits in place.
![Prepared lidar hole](../../assets/airframes/vtol/foxtech_loong_2160/12-lidar-01.jpg)
2. Secure the lidar with hot glue.
![Installed lidar](../../assets/airframes/vtol/foxtech_loong_2160/13-lidar-02.jpg)
#### GPS/나침반
1. Use double sided tape to mount the GPS in the rear of the vehicle underneath the rear latch.
![Installed GPS](../../assets/airframes//vtol/foxtech_loong_2160/14-gps.jpg)
The arrow on the GPS for the orientation can be ignored.
The orientation will be detected by the flight controller during the calibration.
### 비행 콘트롤러
Install either the Pixhawk or Skynode onto the baseplate.
#### Pixhawk 6c/6c mini
1. Use double sided tape to mount the flight controller to the baseplate.
#### Skynode
1. Use 4x M3x8 screws to mount the Skynode to the baseplate.
Make sure that the top of the "A" is facing to the front of the vehicle.
2. Plug the 40A Power Module into the upper one of the two power connectors.
3. Plug one (or if needed two) USB adapters into the 4-pin JST-GH connectors into the back of the Skynode and feed them to the front of the plate.
Fix the cables with zip ties in place.
4. Tape a I2C splitter to the front right side of the baseplate (The splitter can be used to plug in ETH devices such as a radio link.)
5. Connect the I2C splitter with the ETH port in the back of the Skynode.
6. Plug in the two 40-pin cables into the front of the Skynode.
7. Plug in the USB-C extension cable and bend it over to the front.
The bend needs to be very tight, so that the plate will fit into the vehicle.
![Installed Skynode](../../assets/airframes/vtol/foxtech_loong_2160/15-skynode.jpg)
#### Adapter Boards
1. Screw the Pixhawk adapter Boards to the top plate.
### Antennas and RC Receiver
1. Tape the Skynode LTE antennas to the side of the fuselage as shown in the picture:
![LTE-Antennas](../../assets/airframes/vtol/foxtech_loong_2160/16-lte-antennas.jpg)
2. If you are using a radio telemetry module you can mount the antennas to the top of the fuselage.
In the front you can mount the antenna extension cable directly.
![WIFI-Antennas-Front](../../assets/airframes/vtol/foxtech_loong_2160/17-antenna-front.jpg)
In the back you can use the 3D-Printed antenna adapter.
The adapter can be glued in place with hot glue.
![WIFI-Antenna-Back](../../assets/airframes/vtol/foxtech_loong_2160/19-rear-antenna.jpg)
### 12S Power Module
This 12S power module is the main power module for the motors.
It can handle higher currents than the 40A power module used to power the avionics, and is needed since the Loong uses up to 120A in the hover phase.
The 12S Power Module will be mounted on top of the battery.
Plug the XT90 that is installed inside the vehicle into the PM.
The power cable to connect the Skynode needs to be extended.
This is necessary to get battery readings from the power module.
The power module can be used as a 5V backup for Skynode.
![12S-Power-Module](../../assets/airframes/vtol/foxtech_loong_2160/18-12s-power-module.jpg)
### 조립
The assembly steps are:
1. Slide the baseplate into the vehicle.
2. Plug in the LTE-Antennas into the Skynode.
3. Screw the Fan-Mount and Radio-Mount to the baseplate.
4. Slide the baseplate all the way back and screw it to the stack fixture.
5. Place the top plate on top of the stack and feed the 40-pin cables from the Skynode through the two holes in front of the Pixhawk adapter boards.
6. Make sure to connect the top connector to the adapter board that has the 'GPS1' input.
Plug the actuators in to the Pixhawk adapter board in the following order:
MAIN:
1. Puller Motor
2. Empty, or fan if installed
3. Aileron right
4. Aileron left
5. Elevator right
6. Elevator left
7. 방향타
AUX:
1. Motor front right
2. Motor rear left
3. Motor front left
4. Motor rear right
If you wish connect the actuators to different outputs you will need to modify the Actuator Output mappings (see [Actuator Configuration](../config/actuators.md)).
## 소프트웨어 설정
### 기체를 선택합니다.
1. Open QGC, select the **Q** icon, and then select **Vehicle Setup**.
2. Select the [Airframe](../config/airframe.md) tab
3. Select [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) from the _Standard VTOL_ group, and then and click **Apply and Restart**.
### Load Parameters File
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!
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/foxtech_loong_2160/loong.params).
2. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
3. Select **Load from file** and then choose the `loong.params` file you just downloaded.
4. 기체를 재부팅합니다.
### Sensor Selection
- If the [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, [SENS_EN_SF1XX](../advanced_config/parameter_reference.md#SENS_EN_SF1XX) needs to be set to 6 (SF/LW/20c).
- Make that the correct airspeed sensor is selected.
If you use the recommended [SDP33 airspeed sensor](https://www.dualrc.com/parts/airspeed-sensor-sdp33) no changes will be needed as [SENS_EN_SDP3X](../advanced_config/parameter_reference.md#SENS_EN_SDP3X) is enabled (set to `1`) in the parameter file.
### Sensor Calibration
First make sure to set the [correct orientation of the flight controller](../config/flight_controller_orientation.md).
This should be the default (`ROTATION_NONE`).
Then calibrate the main sensors:
- [Compass](../config/compass.md)
- [Gyroscope](../config/gyroscope.md)
- [Accelerometer](../config/accelerometer.md)
- [Airspeed](../config/airspeed.md)
### RC-Setup
[Calibrate your RC Controller](../config/radio.md) and setup the [flight mode switches](../config/flight_mode.md).
We recommend you assign RC switches for the set of modes defined in [Flight Mode Configuration > What Flight Modes and Switches Should I Set?](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set).
In particular you should assign a _VTOL Transition Switch_, _Kill Switch_, and a switch to select [Stabilized mode](../flight_modes_fw/stabilized.md) and [Position mode](../flight_modes_fw/position.md).
### Actuator Setup and ESC Calibration
:::warning
Make sure the props are removed!
The motors are easy to start in the actuators tab by accident.
:::
Motors, control surfaces, and other actuators are configured in the QGroundControl [Actuator Configuration & Testing](../config/actuators.md).
The [parameter file](#load-parameters-file) loaded previously means that this screen should already be correctly setup: you just need to adjust the trims for your particular vehicle.
If motors/servos were connected to different outputs than suggested, you will need to change the output to function mappings in the actuator output section.
To calibrate the ESC's power up the vehicle with the wings not connected and go into the **Actuators** tab in QGC.
Enable motor test and side the slider for Motor you would like to calibrate up to the maximum.
Plug the wings into the fuselage and wait until the beeb-sequence if finished (ca. 5s).
Then side the slider to the minimum.
#### Control Surfaces
Check if the actuators need to be reversed using the RC-Controller:
- Switch into [Manual mode](../flight_modes_fw/stabilized.md)
- Roll stick to the right.
The right aileron should go up, left aileron should go down.
- Pitch stick to the back (fly upwards).
Both V-tail surfaces should move up.
- Yaw stick to the right.
Both surfaces should move to the right
Now adjust the trim value so that all the surfaces are in neutral position.
![Servo trim](../../assets/airframes/vtol/omp_hobby_zmo_fpv/servo_trim.png)
#### Motor Direction and Orientation
Arm the vehicle with the propellers still detached in [Stabilized mode](../flight_modes_fw/stabilized.md).
Check that all the quad-motors spin with a similar low idle speed and verify that the direction is correct.
Check the following reactions:
- Roll stick to the right.
The left two motors should spool up
- Roll stick to the back.
The front two motors should spool up
- Yaw stick to the right.
Front right and rear left motor should spool up
:::info
increase the throttle a bit if you can't see a reaction since [Airmode](../config_mc/pid_tuning_guide_multicopter.md#airmode-mixer-saturation) is not enabled for the yaw axis.
:::
## 첫 번째 비행
- Mount the propellers (use blue Loctite for the screws).
- Check center of gravity (GG).
To check the CG lift the vehicle with two fingers up at the latches that connect the wing.
The vehicle should balance horizontally.
If the vehicle tips to either the tail or to the nose then you need to move the battery into the opposite direction.
If you are not able to balance the vehicle with this method you will need to reposition some components or add weight to balance the vehicle.
- Check actuator orientations and neutral trim
- Check control surface reactions in [Stabilized mode](../flight_modes_fw/stabilized.md).
Switch the vehicle into forward flight mode.
- Roll the vehicle to the right.
The right aileron should go down.
The left aileron should go up.
- Pitch the vehicle up (nose up).
Both elevons should go down.
- Yaw the vehicle to the right (nose to the right).
Both elevons should go to the left.
- If a [kill-switch](../config/safety.md#kill-switch) is used, make sure it's working properly and will not be activated accidentally in flight!
- Arm in [Stabilized mode](../flight_modes_fw/stabilized.md) and check if motors respond to the commands, e.g. roll left increases throttle on the right motor
- Takeoff in [Stabilized mode](../flight_modes_fw/stabilized.md) and make some basic maneuvers
- If everything went without any issue, takeoff in [Position mode](../flight_modes_fw/position.md) and do a transition at around 50m.
If something goes wrong switch back to multicopter mode as fast as possible (using the transition switch).
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# FunCub QuadPlane (Pixhawk)
Fun Cub QuadPlane VTOL은 쿼드콥터로 개조된 표준 테일 플레인 항공기(Multiplex FunCub)입니다.
주요 정보:
- **Frame:** Multiplex FunCub
- **Flight controller:** Pixhawk
![Fun Cub VTOL](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_vtol_complete.jpg)
수정되지 않은 Fun Cub는 가격이 비교적 저렴하며, 비행방법도 비교적 쉬운 편입니다.
조립 후의 비행기는 비교적 무겁우며, 비행이 간단하지 않습니다.
비행 기능은 우수하지만, 전진 비행시에는 약 75 %의 추진력이 필요합니다.
## 부품 명세서
실제 평면도는 위의 이미지와 비슷합니다 (다른 유사한 모델도 잘 작동합니다. 이것은 Multiplex Fun Cub입니다).
필요한 최소 장비는 다음과 같습니다.
- Multiplex FunCub (또는 유사 제품)
- Pixhawk 또는 호환 제품
- 디지털 풍속 센서
- 900kV 모터(예 : Iris 추진 세트 - 모터 및 ESC)
- 쿼드 모터용 10 " 프로펠러(10x45 또는 10x47)
- 고정익 모터용 10" 프로펠러(10 × 7)
- GPS 모듈
- 4S 배터리
- 쿼드 모터 장착용 알루미늄 프레임 (10x10mm 사각 튜브, 벽 두께 1mm)
- TOW는 4200mAh 4S 배터리로 중량은 약 2.3kg입니다.
## 구조
구조는 아래와 같은 알루미늄 재질로 만들어집니다.
![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)
## 배선
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"):
| 포트 | 연결 |
| ------ | ----------------------------------- |
| MAIN 1 | 전방 우측(반시계 방향) |
| MAIN 2 | 후방 좌측 모터(반시계 방향) |
| MAIN 3 | 전방 좌측 모터(시계 방향) |
| MAIN 4 | 후방 우측 모터(시계 방향) |
| AUX 1 | 좌측 보조익 TODO |
| AUX 2 | 우측 보조익 |
| AUX 3 | 승강타 |
| AUX 4 | 방향타 |
| AUX 5 | 스로틀 |
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 -->
## 기체 설정
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).
보정을 마치면 VTOL이 비행할 준비가 됩니다.
## 비디오
<lite-youtube videoid="4K8yaa6A0ks" title="Fun Cub PX4 VTOL Maiden"/>
## 지원
If you have any questions regarding your VTOL conversion or configuration please visit <https://discuss.px4.io/c/px4/vtol>.
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# Volantex Ranger-Ex QuadPlane VTOL(Pixhawk)
QuadRanger VTOL은 QuadCopter 시스템으로 설계된 Volantex Ranger-Ex를 기반의 표준 꼬리 비행기입니다.
Ranger-Ex는 비행법이 간단한 범용적인 FPV 플랫폼입니다.
HobbyKing에서 구매할 수 있으며, Quanum Observer로 제품명이 변경되었습니다.
플라스틱 동체와 2m EPO 날개는 탑재 하중이 높은 견고한 기체입니다.
주요 정보:
- **Frame:** Volantex Ranger-Ex or _Quanum Observer_
- **Flight controller:** Pixhawk
![QuadRanger](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_complete_build.jpg)
VTOL 변환된 비행기의 중량은 LiPo를 포함하여 약 3.5kg 정도 증가합니다.
변환된 비행기는 약 65%의 추진력으로 순항할 수 있습니다.
The suggested quad setup provides a thrust of 7.5kg and the airframe can fly with a total weight of around 4.5kg.
FPV 장비와 카메라를 탑재에 충분한 하중 용량을 가지고 있습니다.
The conversion is designed to minimize impact on the aerodynamics and provide additional strength minimize wing flexing.
## 부품 명세서
- Volantex Ranger-Ex 혹은 Quanum Observer
- 1200KV 530W 모터
- 30A 속도 컨트롤러
- 4S 배터리
- APC Electric 11x5 프로펠러
## 변환 키트
- 필요한 기본 부품은 다음과 같습니다.
- Pixhawk 또는 호환 제품
- 디지털 풍속 센서
- 3DR 호환 전원 모듈
- GPS
For a full parts list with links to Hobbyking EU and International warehouse see:
[QuadRanger-VTOL-partslist](https://px4.io/wp-content/uploads/2016/01/QuadRanger-VTOL-partslist-1.xlsx)
아래 이미지는 한 날개에 필요한 부품을 보여줍니다.
![QuadRanger Parts](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_parts_for_one_wing.jpg)
The tools required for the conversion are;
- Dremel 또는 유사한 회전 도구
- 취미용 칼
- UHU POR 접착제
- CA 접착제
- 줄자
- 테이프
![QuadRanger conversion tools](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_conversion_tools.jpg)
## 날개 변환
:::info
Please note that the conversion in this build log is performed on a wing that shows damage from a previous conversion.
:::
Cut both 800mm square carbon tubes to a length of 570mm and 230mm.
Making a slot in the Styrofoam wing 1.5cm deep using a rotary tool with some form of guidance to keep a fixed depth.
슬롯은 230mm 정사각형 탄소 튜브 1 개의 길이, 깊이 및 너비를 유지하여야 합니다.
아래 표시된 위치에 있어야합니다.
![QuadRanger carbon tube slot](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_carbon_tube_slot.jpg)
CA 접착제를 사용하여 300x150x1.5mm 탄소 시트를 230mm 탄소 튜브에 붙이고 전선을 통과할 구멍을 만듭니다.
전원 및 신호용 전선을 ESC에 삽입합니다.
UHU POR를 사용하여 시트와 탄소 튜브를 아래 표시된대로 스티로폼 날개에 붙입니다.
![QuadRanger sheet attachment](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_sheet_attachment.jpg)
Using CA glue, glue the 570mm square carbon tube to the carbon sheet.
It should be located 285mm from where the wings join.
튜브는 날개의 수직 영역을 기준으로 중앙에 있어야 합니다.
양쪽에서 정확히 165mm 연장되어야합니다.
모터 마운트를 모터에 부착합니다.
With another motor mount plate and 4 M3x25mm screws clamp the motor on the end of the square carbon tube as indicated below.
타이 랩이있는 ESC를 카본 튜브에 부착합니다.
Afro ESC를 사용할 때는 최소한 신호와 접지선을 연결하십시오.
![QuadRanger motor and esc](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_motor_and_esc.jpg)
## 배선
Pixhawk의 출력은 다음과 같이 연결되어야합니다 ( "평면에 앉아 있음"과 같은 방향)
| 포트 | 연결 |
| ------ | ---------------------- |
| MAIN 1 | Front right motor, CCW |
| MAIN 2 | 후방 촤즉 모터, 반시계 방향 |
| MAIN 3 | 전방 좌측 모터, 시계방향 |
| MAIN 4 | 후방 우측 모터, 시계 방향 |
| AUX 1 | 좌측 보조익 |
| AUX 2 | 우측 보조익 |
| AUX 3 | 승강타 |
| AUX 4 | 방향타 |
| AUX 5 | 스로틀 |
:::info
The servo direction can be reversed using the PWM\_REV parameters in the PWM\_OUTPUT group of QGroundControl (cogwheel tab, last item in the left menu)
:::
For further instructions on wiring and configurations please see: [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md)
## 설정
Configure the frame as shown in QGroundControl below (do not forget to click **Apply and Restart** in the top).
![QGC - select firmware for standard VTOL](../../assets/airframes/vtol/funcub_pixhawk/qgc_firmware_standard_vtol_fun_cub_quad.png)
## 지원
If you have any questions regarding your VTOL conversion or configuration please visit <https://discuss.px4.io/c/px4/vtol>.
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# TBS Caipiroshka
The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_.
:::info
The _TBS Caipirinha_ has been superseded and is no longer available.
These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp).
부품 목록에서 다른 여러 구성 요소도 업데이트 되었습니다.
:::
<lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
## 부품 목록
- 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>)
- 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 모터
- [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) (출력 레일 용 5V 전원 공급 장치로 작동 할 수없는 ESC를 사용하는 경우에만 필요)
- 3S 2200 mA 리포 배터리
- 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)
## 조립
아래 그림은 조립이 완료된 Caipiroshka 모습입니다.
![Caipiroshka](../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg)
다음에서는 기체 조립에 관련된 몇 가지 팁을 제공합니다.
### 오토파일럿
기체의 무게 중심에 가까운 곳에 자동조종장치를 장착합니다.
### 모터 장착
STL 파일에 대한 링크가 부품 목록에 지정된 모터 마운트 (2 회)를 인쇄합니다.
모터 축이 대략 엘레 본의 중심을 통과하도록 각 날개 측면에 하나의 모터 마운트를 부착합니다 (그림 참조).
위 그림에서 두 모터 마운트 사이의 수평 거리는 56cm입니다.
날개에 올바른 위치를 표시 한 후에는 상단 및 하단 날개 측면 모두에 투명 테이프로 마운트와 접촉 영역을 덮을 수 있습니다.
그런 다음 이 부분에 뜨거운 접착제를 바르고 모터 마운트를 날개에 붙입니다.
날개 표면과 뜨거운 접착제 사이에 테이프가 있는 이유는 손상없이 날개에서 테이프를 떼어 냄으로써 모터 마운트를 매우 쉽게 제거할 수 있기 때문입니다.
손상된 모터 마운트 교체시에 유용합니다.
### 모터 컨트롤러
모터 컨트롤러는 접착제 또는 케이블 바인더를 사용하여 모터 마운트의 평평한 표면에 직접 장착할 수 있습니다.
전원 케이블을 배터리 베이에 연결하여야 합니다. 오래된 납땜 인두를 사용하여 채널을 폼에 녹일 수 있습니다.
배터리 베이에있는 두 모터 컨트롤러의 전원 케이블을 연결하고 끝에 플러그를 납땜합니다.
이렇게 하면 두 모터 컨트롤러를 전원 모듈에 연결할 수 있습니다.
자동 조종 장치의 출력 레일에 5V를 제공 할 수있는 모터 컨트롤러가 없는 경우 외부 전원 공급 장치 (BEC)를 사용하여야 합니다.
### GPS
GPS는 기체의 맨 뒤쪽 중앙에 장착 가능합니다. 이것은 두 개의 모터, 카메라 및 용량이 큰 배터리로 인하여 비행기가 상당히 무거워 질 수 있기 때문에 비행기의 무게를 뒤로 옮기는 데 도움이됩니다.
또한 12V 전원 케이블과의 거리가 멀기 때문에 외부 자력계의 자기 간섭을 줄이는 데 도움이됩니다.
### 풍속 센서
날개 측면 중 하나의 바깥 쪽 가장자리에 가까운 피토 튜브를 부착합니다.
프로펠러의 기류에 영향을 받지 않는지 확인하십시오.
튜브에서 모터 축까지의 수평 거리가 프로펠러의 반경보다 크면 괜찮습니다.
오래된 납땜 인두를 사용하여 피토 튜브, 튜브 및 실제 센서를위한 홈을 만듭니다 (그림 참조).
날개를 가로 질러 다른 구성 요소로 케이블을 라우팅하기 위한 채널을 만듭니다.
### I2C 버스 센서 연결
속도 센서와 외부 자력계(GPS 하우징에 있음)는 자동 조종 장치의 I2C 버스에 연결되어야합니다.
따라서 부품 목록에 표시된 것과 같은 I2C 스플리터를 사용하여야 합니다.
자동조종장치의 I2C 버스와 분배기 보드를 연결합니다.
그런 다음 표준 I2C 케이블을 사용하여 외부 자력계와 대기 속도 센서를 분배기 보드에 연결합니다.
위 그림에서 분할기 보드는 GPS 장치의 왼쪽에 있습니다.
### Elevons
Elevon은 투명 테이프를 사용하여 날개의 뒷면에 부착할 수 있습니다. TBS Caiprinha 기체의 조립 매뉴얼에서 Team Blacksheep이 제공하는 지침을 참고하십시오.
### 일반 조립 규칙
모든 구성 요소를 날개에 장착하기 전에 테이프를 사용하여 대략적인 위치에 고정하고, 날개의 CG가 TBS Caipirinha의 제작 설명서에 지정된 권장 범위에 있는지 확인하십시오.
내장하려는 추가 구성 요소(예 : GoPro 전면 또는 더 큰 배터리)에 따라 구성 요소의 위치를 이동하여야 합니다.
## 기체 설정
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.
![caipiroshka](../../assets/airframes/vtol/caipiroshka/airframe_px4_vtol_caipiroshka_duo_tailsitter.jpg)
## 서보 연결
아래 표에서는 기체가 테이블 위에 평평하게 놓여있을 때 사용자가 기체의 전면을 마주 보고 있는 경우에 설정입니다.
| 출력 | 주파수 | 액추에이터 |
| ----- | ------ | ----------------------------------- |
| MAIN1 | 400 Hz | 오른쪽 (우현) 모터 컨트롤러 |
| MAIN2 | 400 Hz | 왼쪽 (좌현) 모터 컨트롤러 |
| MAIN3 | 400 Hz | 비어 있음 |
| MAIN4 | 400 Hz | 비어 있음 |
| MAIN5 | 50 Hz | 오른쪽 (우현) 에일러론 서보 |
| MAIN6 | 50 Hz | 왼쪽 (포트) 에일러론 서보 |
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# E-flite Convergence 틸트로터 VTOL (Pixfalcon)
The [E-Flite Convergence](https://youtu.be/HNedXQ_jhYo) can easily be converted to a fully autonomous VTOL with PX4.
There is not much space but it's enough for a [Pixfalcon](../flight_controller/pixfalcon.md) flight controller with GPS and telemetry.
:::info
The original Horizon Hobby _E-Flite Convergence_ frame and [Pixfalcon](../flight_controller/pixfalcon.md) have been discontinued.
Alternatives are provided in the [Purchase](#where-to-buy) section.
:::
<lite-youtube videoid="E61P2f2WPNU" title="E-flite Convergence Autonomous Mission Flight"/>
## 구매처
차량 프레임 옵션:
- **WL Tech XK X450** - [AliExpress](https://www.aliexpress.com/item/1005001946025611.html)
- **JJRC M02** - [Banggood (AU)](https://au.banggood.com/JJRC-M02-2_4G-6CH-450mm-Wingspan-EPO-Brushless-6-axis-Gyro-Aerobatic-RC-Airplane-RTF-3D-or-6G-Mode-Aircraft-p-1588201.html), [AliExpress](https://www.aliexpress.com/item/4001031497018.html)
비행 컨트롤러 옵션():
- [Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md).
- 충분히 작은 폼 팩터를 가진 다른 호환 가능한 비행 콘트롤러.
## 하드웨어 설정
The vehicle needs 7 PWM signals for the motors and control surfaces:
- Motor (left/right/back)
- Tilt servos (right/left)
- Elevons (left/right)
These can be wired to flight controller outputs more-or-less in any way you want (though outputs for motors should be grouped together, and so on).
The outputs are configured in the [Actuators Configuration](../config/actuators.md) by following the instructions for VTOL tiltrotor geometry and output configuration.
Note that you will need to start from the [Generic Tiltrotor VTOL](../airframes/airframe_reference.md#vtol_vtol_tiltrotor_generic_tiltrotor_vtol) frame.
Note that left and right in the configuration screen and frame reference are defined from the perspective of a human pilot inside a real plane (or looking from above, as shown below):
<img src="../../assets/airframes/types/VTOLTiltRotor_eflite_convergence.svg" width="300px" />
### 비행 콘트롤러
비행 콘트롤러는 원래 자동조종장치가 있던 동일한 위치에 장착할 수 있습니다.
![Mount Pixfalcon](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_pixfalcon_mounting.jpg)
### 텔레메트리
텔레메트리 모듈은 FPV 전송 기어를 고정하기 위한 베이에 장착합니다.
![Mount telemetry module](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_telemetry_module.jpg)
### GPS
GPS 장착을 위하여 "조종실" 내부의 발포 재질 부분을 잘라냈습니다.
그렇게 하면 GPS를 차체 내부에 넣을 수 있고, 차량 외관을 손상시키지 않으면서 멋지게 수납할 수 있습니다.
![Mount GPS](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_gps_mounting.jpg)
## PX4 설정
Follow the [Standard Configuration](../config/index.md) in _QGroundControl_ (radio, sensors, flight modes, etc.).
이 기체와 관련된 특정 설정은 다음과 같습니다.
- [Airframe](../config/airframe.md)
- Select the airframe configuration **E-flite Convergence** under **VTOL Tiltrotor** and restart _QGroundControl_.
![QGroundControl Vehicle Setting - Airframe selection E-Flight](../../assets/airframes/vtol/eflite_convergence_pixfalcon/qgc_setup_airframe.jpg)
- [Flight Modes/Switches](../config/flight_mode.md)
- As this is a VTOL vehicle, you must [assign an RC controller switch](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set) for transitioning between multicopter and fixed-wing modes.
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# OMP Hobby ZMO FPV
The OMP Hobby ZMO is a small [tiltrotor VTOL](../frames_vtol/tiltrotor.md) that is available in an RTF kit.
This build guide shows add a flight controller system (using [Auterion Skynode evaluation kit](../companion_computer/auterion_skynode.md), [Pixhawk 6C](../flight_controller/pixhawk6c.md) or [Pixhawk 6C mini](../flight_controller/pixhawk6c_mini.md)) and setup PX4.
![Finished ZMO hover 1](../../assets/airframes/vtol/omp_hobby_zmo_fpv/airframe-hover.jpg)
![Finished ZMO hover 2](../../assets/airframes/vtol/omp_hobby_zmo_fpv/airframe-hover2.jpg)
## 개요
Key airframe features:
- Compact and easy to transport
- Pre installed actuators
- Quick release wing connecting system
- Transport case in kit included
- ~35 minute long flight times (depending on takeoff weight)
- VTOL enables flying in locations where a fixed wing couldn't fly
- Battery and charger included in the kit
- Easy overall build
- Space to mount FPV and/or action camera in the front
Depending on the final takeoff weight the hover time might be limited (there is not a lot of air circulation inside the fuselage when the vehicle is hovering so the ESCs might overheat).
## 구매처
- [OMP-Hobby](https://www.omphobby.com/OMPHOBBY-ZMO-VTOL-FPV-Aircraft-With-DJI-Goggles-And-Remote-Controller-p3069854.html)
- [GetFPV](https://www.getfpv.com/omphobby-zmo-z3-vtol-fpv-1200mm-arf-plane-kit-no-fpv-system.html)
- [FoxtechFPV](https://www.foxtechfpv.com/zmo-pro-fpv-vtol.html)
## 비행 콘트롤러
The following options have been tested:
- [Auterion Skynode evaluation kit](../companion_computer/auterion_skynode.md)
- [Pixhawk 6C](../flight_controller/pixhawk6c.md) with [PM02 V3](../power_module/holybro_pm02.md)
- [Pixhawk 6C mini](../flight_controller/pixhawk6c_mini.md) with [PM02 V3](../power_module/holybro_pm02.md)
The approximate maximum size of the FC is: 50x110x22mm
## Additional Accessories
- [GPS F9P (included in Skynode eval. kit)](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md)
- [GPS M9N (cheaper alternative to F9P)](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md)
- [Airspeed sensor (included in Skynode eval. kit)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) — recommended for improved safety and performance
- [Airspeed sensor (cheaper alternative)](https://holybro.com/products/digital-air-speed-sensor?pr_prod_strat=use_description\&pr_rec_id=236dfda00\&pr_rec_pid=7150470561981\&pr_ref_pid=7150472462525\&pr_seq=uniform)
- [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) (Optional)
- [Lidar Seeed Studio PSK-CM8JL65-CC5 (cheaper alternative)](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) (Optional)
- [5V BEC](http://www.mateksys.com/?portfolio=bec12s-pro)
- [Radio (RC) System](../getting_started/rc_transmitter_receiver.md) of your preference
- [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)
- 2x wing connector mount
- 1x Airspeed sensor mount
- 1x GPS-Mount
- 1x Lidar-Mount
- 1x Skynode mount
- [USB camera (included in Skynode dev kit)](https://www.amazon.com/ELP-megapixel-surveillance-machine-monitor/dp/B015FIKTZC)
- Screws, inserts, heat shrink, etc.
## 도구
The following tools were used for this build.
- Hex driver set
- Wrench set
- Soldering station
- Glue: Hot glue, 5 min Epoxy
- 테이프
- 3M Double sided tape ([3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y))
- Sandpaper
- 3D-Printer
## 하드웨어 통합
### Preparations
Remove the original flight controller, ESC and wing connector cables.
Also remove the the propellers.
This will help you with the handling of the vehicle and will reduce the risk of an injury due to an unintentional motor startup.
ZMO FPV in it's original state.
![ZMO FPV in it's original state](../../assets/airframes/vtol/omp_hobby_zmo_fpv/zmo-01.jpg)
Flight controller and wing connectors removed from the vehicle.
![ZMO FPV with FC and wing connectors removed](../../assets/airframes/vtol/omp_hobby_zmo_fpv/zmo-02.jpg)
### ESC
1. Unsolder the ESC PWM-signal and ground pins and solder some servo extension wire to the pins.
The cable should be long enough to connect the wire to the FMU pins of the flight controller.
2. Unsolder the 3 female banana plug connectors of the rear motor (might not be necessary for the Pixhawk 6 integration).
3. Screw the ESC back in place with 4 M2.5 x 12 screws.
4. Shorten the rear motor wires and solder them as shown in the picture into place.
5. Solder signal and GND wires to the PWM input ot the ESC.
![ESC 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/esc-01.jpg)
6. Remove the female banana plug on the ESC.
This will give you more space to install the flight controller.
![ESC 02](../../assets/airframes/vtol/omp_hobby_zmo_fpv/esc-02.jpg)
7. Solder the rear motor wires to the ESC.
Make sure to connect such that the motor spins in the correct direction.
![ESC 03](../../assets/airframes/vtol/omp_hobby_zmo_fpv/esc-03.jpg)
### Wing Connector
To directly connect the wing connector when the wing gets attached, some 3D-printed mounts are needed to center the connector.
This step is not essential, but makes the handling much easier and there is one step less you need to worry about when you mount the plane in the field.
1. Glue the wing connectors into the 3D-Printed part with hot-glue or 5 min epoxy.
2. Glue the 3D-printed part with the connector in to the fuselage.
Make sure to properly align the connector while the glue cures.
The easiest way to align the connector is to mount the wing while the glue is curing, but make sure that no glue is between the fuselage and the wing, otherwise the wing might get stuck.
The connector glued into the 3D-Printed part
![Wing connector 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/wing-connector-01.jpg)
The connector glued into the fuselage. Make sure to properly align the connector.
![Wing connector 02](../../assets/airframes/vtol/omp_hobby_zmo_fpv/wing-connector-02.jpg)
### Pixhawk Adapter Boards and BEC
1. Cut the foam as shown in the pictures to create space to mount the Pixhawk adapter boards and BEC with double sided tape.
The FMU board is placed on the left side (in flight direction) of the fuselage.
Solder a servo connector and a cable for the battery voltage to the BEC.
![Foam cutout 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/foam-cut-01.png)
![Pixhawk adapter board mount 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/pixhawk-adapter-01.jpg)
2. Prepare the BEC to connect to the IO board and to the battery.
The BEC can also be soldered directly to the battery pads of the ESC.
![BEC preparation](../../assets/airframes/vtol/omp_hobby_zmo_fpv/bec-01.jpg)
3. Mount the BEC with double sided tape.
![BEC mounting](../../assets/airframes/vtol/omp_hobby_zmo_fpv/bec-02.jpg)
### Cables
1. Cut the connectors off the servos and solder the servo extension cables to the cables.
Make sure that the cables are long enough to reach the Pixhawk adapter board.
If you own a crimp tool, then you can also directly add the connectors without soldering.
2. Plug the servo cables into the adapter IO board in the following order:
- 1 - Aileron left
- 2 - Aileron right
- 3 - V-Tail left
- 4 - V-Tail right
- 5 - Tilt left
- 6 - Tilt right
3. Plug in the motor signal cables into the FMU adapter board in the following order:
- 1 - Front left
- 2 - Front right
- 3 - Rear
### 센서
#### Pitot Tube
1. First check if the pitot tube fits into the 3D-Printed mount.
If this is the case, glue the pitot tube mount into place.
To align the tube feed it through the second hole from the right of the FPV front plate.
The mount will enable you to push the tube back into the fuselage to protect it during transportation and handling.
The sensor unit can be mounted on top of the 3D-Printed mount with double sided tape.
2. Glue the 3D-Printed mount into place.
![Pitot tube 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/pitot-tube-01.png)
3. The sensor can be mounted on top of the 3D-Printed mount.
![Pitot tube 02](../../assets/airframes/vtol/omp_hobby_zmo_fpv/pitot-tube-02.png)
#### Lidar
If needed a lidar can be installed in the front of the fuselage.
To install the Lidar:
1. Remove the heat sink
2. Glue the lidar + 3D-Printed lidar mount into place.
![Lidar 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/lidar-01.jpg)
#### GPS/나침반
To mount the GPS:
1. Screw the two 3D-Printed parts with 3x M3x10 screws together.
2. Take the GPS out of the plastic case and unplug the connector.
3. Feed the cable through the carbon spar.
4. Glue the 3D-Printed part with 5 min epoxy in place.
![Glue the GPS mount into place](../../assets/airframes/vtol/omp_hobby_zmo_fpv/gps-01.jpg)
5. After the glue has cured, screw the GPS with 4x M2.5x10 screws to the plate.
![Screw the GPS to the mount2](../../assets/airframes/vtol/omp_hobby_zmo_fpv/gps-02.jpg)
#### USB Camera
1. Cut the USB cable of the camera so that the length is 15 cm.
2. Cut the USB-Adapter cable to be 25 cm and solder the two cables together.
3. To install the camera you need to cut a hole into the foam of the wall.
![USB Camera 01: Hole to feed the USB cable through the wall.](../../assets/airframes/vtol/omp_hobby_zmo_fpv/camera-01.jpg)
Then you can mount the camera with double sided tape to the wall.
### 비행 콘트롤러
The Flight Controller can be installed above the ESC.
#### Pixhawk 6c/6c mini
If a Pixhawk 6c or 6c mini is used, simply stick the flight controller with double sided tape into place.
#### Skynode
If a Skynode is used:
1. Place it at the on top of the ESCs and mark the 2 rear mounting locations on the injection molded plastic part of the ZMO.
2. Remove the Skynode from the vehicle and drill 2 holes with a 2.8 mm drill bit into the plastic part.
![Mounting holes for the Skynode in the back](../../assets/airframes/vtol/omp_hobby_zmo_fpv/flight-controller-01.jpg)
3. Put the Skynode back into place and screw it down with 2x M3x10 screws.
Another option is to add some threaded inserts into the holes.
Since the injection molded part of the ZMO is very thin, they need to be glued in place.
1. Screw the front Skynode mount with 2x M3x10 screws at the Skynode.
2. Then add some 5 min epoxy at the bottom of the mount and put a weight on top of the Skynode until the glue is cured.
To access the 2 mounting screws at the front, poke 2 holes from the top through the foam.
![Skynode mount in the front](../../assets/airframes/vtol/omp_hobby_zmo_fpv/flight-controller-02.jpg)
### Antennas and RC Receiver
:::info
If a Skynode is installed the LTE can be used as telemetry and video link.
If a Pixhawk is used a different [telemetry link](../telemetry/index.md) will be needed.
An inexpensive example would be a [SiK Telemetry Radio](../telemetry/sik_radio.md).
:::
1. One LTE antenna can be installed on the bottom of the vehicle.
For that you can feed the antenna wire through the opening for the ESC heat-sink.
![LTE antenna 01](../../assets/airframes/vtol/omp_hobby_zmo_fpv/lte-antenna-01.jpg)
2. The second antenna can be installed on the inside of the vehicle on the left side of the battery compartment.
The RC receiver can also be placed at the left side of the battery compartment.
![LTE antenna 2 and RC receiver](../../assets/airframes/vtol/omp_hobby_zmo_fpv/lte-antenna-02.jpg)
## 소프트웨어 설정
### 기체를 선택합니다.
1. Open QGC, select the **Q** icon, and then select **Vehicle Setup**.
2. Select the [Airframe](../config/airframe.md) tab
3. Select [Generic Tiltrotor VTOL](../airframes/airframe_reference.md#vtol_vtol_tiltrotor_generic_tiltrotor_vtol) from the _VTOL Tiltrotor_ group, and then and click **Apply and Restart**.
### 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!
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).
2. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner.
3. Select **Load from file** and then choose the `omp_hobby_zmo.params` file you just downloaded.
4. 기체를 재부팅합니다.
### Sensor Selection
The airspeed sensor can be enabled in the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab.
- If the [recommended airspeed sensor (SDP33)](https://www.dualrc.com/parts/airspeed-sensor-sdp33) is used, `SENS_EN_SDP3X` needs to be enabled.
- If the [Lidar Lightware lw20-c (included in Skynode eval. kit)](../sensor/sfxx_lidar.md) is used, `SENS_EN_SF1XX` needs to be set to 6 (SF/LW/20c).
### Sensor Calibration
First make sure to set the [correct orientation of the flight controller](../config/flight_controller_orientation.md).
This should be the default (`ROTATION_NONE`).
Then calibrate the main sensors:
- [Compass](../config/compass.md)
- [Gyroscope](../config/gyroscope.md)
- [Accelerometer](../config/accelerometer.md)
- [Airspeed](../config/airspeed.md)
### RC-Setup
[Calibrate your RC Controller](../config/radio.md) and setup the [flight mode switches](../config/flight_mode.md).
We recommend you assign RC switches for the set of modes defined in [Flight Mode Configuration > What Flight Modes and Switches Should I Set?](../config/flight_mode.md#what-flight-modes-and-switches-should-i-set).
In particular you should assign a _VTOL Transition Switch_, _Kill Switch_, and a switch to select [Stabilized mode](../flight_modes_fw/stabilized.md) and [Position mode](../flight_modes_fw/position.md).
### Actuator Setup
:::warning
Make sure the props are removed!
The motors are easy to start in the actuators tab by accident.
:::
Motors, control surfaces, and other actuators are configured in the QGroundControl [Actuator Configuration & Testing](../config/actuators.md).
The [parameter file](#load-parameters-file) loaded previously means that this screen should already be correctly setup: you just need to adjust the trims for your particular vehicle.
If motors/servos were connected to different outputs than suggested, you will need to change the output to function mappings in the actuator output section.
#### Tilt Servos
1. Switch the vehicle into manual mode (either via the flight mode switch or type `commander mode manual` into the MAVLink shell).
2. Check if the motors point upwards.
If the motors point forwards then their associated Tilt servos need to be reversed (selecting the checkbox next to each servo).
![Tilt Servo adjustment](../../assets/airframes/vtol/omp_hobby_zmo_fpv/tilt-limits-01.jpg)
3. Adjust the minimum or maximum value that the servo is pointing vertical up.
4. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
#### Control Surfaces
Check if the actuators need to be reversed using the RC-Controller:
- Roll stick to the right. The right aileron should go up, left aileron should go down.
- Pitch stick to the back (fly upwards). Both V-tail surfaces should move up.
- Yaw stick to the right. Both surfaces should move to the right
Now adjust the trim value so that all the surfaces are in neutral position.
![Servo trim](../../assets/airframes/vtol/omp_hobby_zmo_fpv/servo_trim.png)
#### Motor Direction and Orientation
Make sure the props are removed!!
- `Motor 1`: Front left motor should spin CW
- `Motor 2`: Front right motor should spin CCW
- `Motor 3`: Rear motor should spin CCW
If the motor spins in the wrong directions two of the three motor wires need to be swapped.
The direction can't be changed in software because the vehicle does not use [DShot ESC](../peripherals/dshot.md).
## 첫 번째 비행
- Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle.
- Yaw the vehicle to the right (nose to the right) -> left motor should tilt down
- Yaw the vehicle to the left (nose to the left) -> right motor should tilt down
- Mount the propellers.
- Check center of gravity (GG).
Switch the vehicle into forward flight mode.
To check the CG lift the vehicle with two fingers up at the markings underneath the wing.
The vehicle should balance horizontally.
If the vehicle tips to either the tail or to the nose then you need to move the battery into the opposite direction.
If you are not able to balance the vehicle with this method you will need to reposition some components or add weight to balance the vehicle.
- Check actuator orientations and neutral trim
- Check control surface reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Switch the vehicle into forward flight mode.
- Roll the vehicle to the right.
The right aileron should go down. The left aileron should go up.
- Pitch the vehicle up (nose up).
Both elevons should go down.
- Yaw the vehicle to the right (nose to the right).
Both elevons should go to the left.
- If a [kill-switch](../config/safety.md#kill-switch) is used, make sure it's working properly and will not be activated accidentally in flight!
- Arm in [Stabilized mode](../flight_modes_fw/stabilized.md) and check if motors respond to the commands, e.g. roll left increases throttle on the right motor
- Takeoff in [Stabilized mode](../flight_modes_fw/stabilized.md) and make some basic maneuvers
- If everything went without any issue, takeoff in [Position mode](../flight_modes_fw/position.md) and do a transition at around 50m.
If something goes wrong switch back to multicopter mode as fast as possible (using the transition switch).