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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/zh/frames_vtol/index.md
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# VTOLs
PX4 uses the term VTOL to refer to vehicles that support both forward flight like a fixed-wing aircraft ("airplane") and vertical take off and landing like a helicopter or multicopter.
![Vertical Technologies: Deltaquad QuadPlane VTOL](../../assets/airframes/vtol/vertical_technologies_deltaquad/hero.jpg)
VTOL vehicles offer the benefits of both multicopter and fixed-wing flight:
- **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.
This section describes the VTOL types and configurations supported by PX4, and provides high-level directions for assembly, configuration, and flight.
## VTOL Types
PX4 supports the three most important/main VTOL types.
<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.
Takes off and lands on tail. Whole vehicle tilts forward to enter forward flight.
<img src="../../assets/airframes/vtol/wingtraone/hero.jpg" title="wingtraone" />
<ul>
<li>Simple and robust</li>
<li>Minimal set of actuators</li>
<li>Can be hard to control, particularly in wind</li>
<li>Tradeoff between efficiency in hover and forward flight, as same actuators are used</li>
</ul>
</div>
</div>
<div class="grid_item">
<div class="grid_item_heading"><a href="tiltrotor.html" title="Tiltrotor"><big>Tiltrotor</big></a></div>
Rotors swivel 90 degrees to transition from multicopter to forward flight orientation.
Takes off and lands on belly.
<div class="grid_text">
<img src="../../assets/airframes/vtol/eflite_convergence_pixfalcon/hero.jpg" title="Eflight Confvergence" />
<ul>
<li>Additional actuators for motor tilts</li>
<li>Mechanically complex tilting mechanism</li>
<li>Easier to control in hover than tailsitters due to more control authority</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">
Separate rotors/flight controls for multicopter and forward flight. Takes off and lands on belly.
<img src="../../assets/airframes/vtol/vertical_technologies_deltaquad/hero_small.png" title="Vertical Technologies: Deltaquad" />
<ul>
<li>Additional weight from separate hover/forward flight propulsion systems</li>
<li>Easiest to control due to dedicated hover/forward flight actuators</li>
<li>Can hover</li>
<li>Fuel engines for forward flight propulsion can be used</li>
</ul>
</div>
</div>
</div>
In general, as mechanical complexity increases the vehicles are easier to fly, but the cost and weight increase.
Each type has advantages and disadvantages, and there are successful commercial ventures based on all of them.
Within each of the main "types" above, there are many possible variations—for example, the number of motors, motor geometry, flight surfaces, etc.
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.
:::
## Flying and Flight Modes
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.
## 组装
:::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).
Flight controllers for which we do not have guides are usually set up in much the same way (and almost always include similar setup guides).
- [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:
- Select the configuration for your vehicle if one exists, as this will have been pre-tuned well enough to fly (may only require fine tuning).
- Otherwise select a "Generic Airframe" that matches your vehicle.
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).
## 配置
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.
## 视频
### Educational
VTOL Control & Airspeed Fault Detection (PX4 Developer Summit 2019)
<lite-youtube videoid="37BIBAzD6fE" title="VTOL control and airspeed fault detection"/>
<!-- 20190704 -->
### Tailsitter
[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"/>
### Tiltrotor
[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"/>
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# 标准垂起固定翼
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_
## 视频
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"/>
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# 尾座式垂起
A **Tailsitter VTOL** takes off and lands on its tail, but flips into the fixed-wing orientation for normal flight.
The tailsitter rotors are permanently fixed in position for forward flight.
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.
However they are aerodynamically more complex, and can be harder to tune and fly for hover and transition, particularly in windy conditions.
## Tailsitter Airframes
:::: 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)
- Forward flight more efficient
- Hover harder to fly, particularly in wind
- Hover and transition harder to tune
- More compact form factor
:::
:::tab 立式垂直起落飞机
VTOL with optional elevons. Uses rotors to transition between modes (along with elevons if present).
![Skypull SP-1 VTOL QuadTailsitter](../../assets/airframes/vtol/skypull/skypull_sp1.jpg)
- Hover mode easier to fly and more stable
- Less compact form factor (harder to transport)
- "X" and "+" rotor configurations are supported (see Airframe Reference)
:::
::::
Duo Tailsitters are generally more efficient in cruise flight (4 smaller propellers are less efficient than 2 larger ones) and physically more compact.
However as they are aerodynamically much more complex in hover mode, they are much harder to tune for both hover and transition.
Quad tailsitters are easier to fly in hover mode, and more stable in windy conditions.
Both are supported using the same aiframe type in PX4.
## Setup/Flying
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.
:::
## Build Logs
Step-by-step guides of how to set up PX4 on tailsitter frames are listed below:
- [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).
:::
## 视频
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)).
### Duo
---
[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"/>
## Gallery
<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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# 倾转旋翼式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)
## 视频
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"/>
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# Discontinued: 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. It can carry a small GoPro camera.
The RTF kit contains everything needed for a full system except an RC receiver and telemetry module.
The components can also be purchased separately.
Key information:
- **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)
## Bill of Materials
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):
- Pre laminated EPP wings
- Wingtips and full hardware
- Dropix flight controller (discontinued) with
- GPS u-blox M8N
- Power Sensor
- [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 propeller 10”x 5” (quad motors)
- 4 x [ESC 25A](http://www.getfpv.com/tiger-motor-flame-25a-esc.html)
- 1 x propeller 10” x 5” (pusher motor)
- 1 x ESC 30A
- Pusher motor power system
- Carbon fiber tubes and mounts
- G10 motor mounts
- 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
The kit does not come with a radio receiver or (optional) telemetry modules.
For this build we used the following components:
- 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)
## Tools needed
The following tools were used to assemble the airframe:
- Philips screwdriver
- 5.5 mm Hex Socket Screwdriver
- Wire cutters
- Soldering iron and solder
- Hobby stainless steel tweezer
- Gorilla glue
- Fiberglass reinforced tape
![Build tools](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_build_tools.jpg)
## Assembly steps
The RTF kit requires the following assembly.
### Step 1: Attach motors mounts
1. Spread gorilla glue inside the wing brackets as shown.
![Add glue on wing brackets](../../assets/airframes/vtol/falcon_vertigo/wing_brackets_glue.jpg)
2. Attach the carbon tube in the brackets. The bracket and tube must be aligned using the white mark (as shown in the picture).
::: 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. The following images show the alignment of rods from other viewpoints:
![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)
### Step 2: Attach the wings
1. Insert both carbon tubes into the fuselage.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_15_fuselage_tubes.jpg" width="500px" title="Fuselage carbon tubes" />
2. 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.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_13_rod_apply_glue.jpg" width="500px" title="Apply glue to rod" />
3. Once the carbon tubes are inside the fuselage, spread gorilla glue on the rest of the tube and attach the wings.
4. 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.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_17_fuselage_holes_cables.jpg" width="500px" title="Fuselage holes for cables" />
5. 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).
<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. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_21_connect_servo_cables.jpg" width="500px" title="Connect servo cables" />
7. Repeat these steps for the other wing.
### Step 3: Connect the electronics
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).
<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).
:::
#### Connect the ESC power connector and pass the signals cables to the flight controller
1. Connect the ESC to the power module using the XT60 connector
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_25_aileron_esc_connections.jpg" width="500px" title="" />
2. Pass the signals cables through to the flight controller
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_27_gps_esc_servo_connections.jpg" width="500px" title="GPS, ESC, Servo connections" />
#### Motor Wiring
Motor and servo wiring is nearly entirely up to you, but should match the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) configuration, as shown in the airframe reference.
The geometry and output assignment can be configured in the [Actuators Configuration](../config/actuators.md#actuator-outputs)
For example, you might wire it up like this example (orientation as if "sitting in the plane"):
| Port | 接口定义 |
| ------ | ---------------------- |
| MAIN 1 | Front right motor, CCW |
| MAIN 2 | Back left motor, CCW |
| MAIN 3 | Front left motor, CW |
| MAIN 4 | Back right motor, CW |
| AUX 1 | Left aileron |
| AUX 2 | Right aileron |
| AUX 3 | Elevator |
| AUX 4 | Rudder |
| AUX 5 | 油门 |
<a id="dropix_back"></a>
#### Flight Controller Connections: Motors, Servos, RC receiver, current sensor
The image below shows back of the dropix flight controller, highlighting the outputs pins to connect quad motors cables, aileron signal cables, throttle motor, and the current sensor and receiver (RC IN) input pins.
<img id="dropix_outputs" src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_33_dropix_outputs.jpg" width="500px" title="Dropix motor/servo outputs" />
1. Connect quad motors signal cables.
2. Connect the aileron cables and throttle motor in the auxiliary outputs.
3. Connect the throttle motor signal cable from the ESC to the appropriate flight controller auxiliary port. Connect the ESC to the throttle motor.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_37_connect_throttle_motor.jpg" width="500px" title="Connect throttle motor" />
4. Connect the receiver (RC IN).
<a id="dropix_front"></a>
#### Flight Controller Connections: Telemetry, Airspeed Sensor, GPS, Buzzer and Safety Switch
The sensor inputs, telemetry, buzzer and safety switch are located in the front of the flight controller, as shown in the connection diagram below.
<img src="../../assets/flight_controller/dropix/dropix_connectors_front.jpg" width="500px" alt="Dropix connectors front" title="Dropix connectors front" />
1. Connect the telemetry, airspeed sensor, GPS, buzzer and safety switch as shown.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_39_connect_sensors.jpg" width="500px" title="Connect sensors" />
#### Flight Controller: Connect power module and external USB
The inputs for the USB port, power module and external USB are located on the right side of the flight controller.
1. Connect power and USB as shown
<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.
It should be used if access to the USB port is difficult once the flight controller is mounted.
:::
#### Install the pitot tube (airspeed sensor)
The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube.
:::warning
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.
:::
1. Install the Pitot tube in the front of the plane
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_43_airspeed_sensor_mounting.jpg" width="500px" title="Airspeed sensor mounting" />
2. Secure the connecting tubing and ensure that it is not bent/kinked.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_45_airspeed_sensor_tubing.jpg" width="500px" title="Airspeed sensor mounting" />
3. Connect the tubes to the airspeed sensor.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_47_connect_airspeed_sensor_tubing.jpg" width="500px" title="Connect airspeed sensor and tubing" />
#### Install/connect receiver and telemetry module
1. Paste the receiver and telemetry module to the outside of the vehicle frame.
<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/Compass module
The GPS/Compass module is already mounted on the wing, in the default orientation. You don't need to have to do anything extra for this!
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_gps_compass.jpg" width="500px" title="GPS/Compass" />
<a id="flight_controller_orientation"></a>
#### Mount and orient the flight controller
1. Set your flight controller orientation to 270 degrees.
<img src="../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_53_flight_controller_orientation.jpg" width="500px" title="Flight controller orientation" />
2. Secure the controller in place using vibration damping foam.
### Step 4: Final Assembly Checks
The final assembly step is to check the vehicle is stable and that the motors have been set up correctly.
1. Check that the motors turn in the correct directions (as in the QuadX diagram below).
<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. Check the vehicle is balanced around the expected centre of gravity
- Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable.
![Level Centre of Gravity](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_57_level_centre_of_gravity.jpg)
- If the vehicle leans forward or backwards, move the motors to balance it.
![Level Motors](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_55_level_motors.jpg)
## 配置
Perform the normal [Basic Configuration](../config/index.md).
备注：
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).
After you finish calibration the VTOL is ready to fly.
## 视频
<lite-youtube videoid="h7OHTigtU0s" title="PX4 Vtol test"/>
## 技术支持
If you have any questions regarding your VTOL conversion or configuration please visit <https://discuss.px4.io/c/px4/vtol>.
docs/zh/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)
## 综述
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.
## 购买渠道
- [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)
## Flight Controller
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)
## 工具
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
- Tape
- 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)
## Hardware Integration
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.
### 传感器
#### 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/Compass
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.
### Flight Controller
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)
### 组装
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. Rudder
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)).
## 软件设置
### 选择机架
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. Reboot the vehicle.
### 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.
:::
## 第一次飞行
- 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)
The Fun Cub QuadPlane VTOL is a standard tailplane aircraft (the Multiplex FunCub) that has been retrofitted with a QuadCopter system.
Key information:
- **Frame:** Multiplex FunCub
- **Flight controller:** Pixhawk
![Fun Cub VTOL](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_vtol_complete.jpg)
Unmodified, the Fun Cub is a relatively affordable plane and relatively easy to fly.
After the conversion the plane is significantly heavier and less aerodynamic.
It still flies quite well but needs around 75% throttle in forward flight.
## Bill of Materials
The actual plane looks roughly like as shown in the image above (other similar models will work
just fine - this is a Multiplex Fun Cub).
The minimal equipment required is:
- Multiplex FunCub (or similar)
- Pixhawk or compatible
- 数字空速传感器
- 900 kV motors (e.g. Iris propulsion set - motors and ESC)
- 10" props for quad motors (10x45 or 10x47)
- 10" prop for fixed-wing motor (10×7)
- GPS module
- 4S battery
- Aluminum frame for mounting the quad motors (10x10mm square tube, 1mm wall thickness)
- TOW is ~2.3kg with a 4200mAh 4S battery
## Structure
The structure is made out of aluminum booms as shown below.
![quad\_frame](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol.jpg)
![Fun Cub -frame for vtol mounted](../../assets/airframes/vtol/funcub_pixhawk/fun_cub_aluminium_frame_for_vtol_mounted.jpg)
## 布线
Motor and servo wiring is nearly entirely up to you, but should match the [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) configuration, as shown in the airframe reference.
The geometry and output assignment can be configured in the [Actuators Configuration](../config/actuators.md#actuator-outputs)
For example, you might wire it up like this example (orientation as if "sitting in the plane"):
| Port | 接口定义 |
| ------ | ------------------------------------------ |
| MAIN 1 | Front right motor (CCW) |
| MAIN 2 | Back left motor (CCW) |
| MAIN 3 | Front left motor (CW) |
| MAIN 4 | Back right motor (CW) |
| AUX 1 | Left aileron TODO |
| AUX 2 | Right aileron |
| AUX 3 | Elevator |
| AUX 4 | Rudder |
| AUX 5 | 油门 |
For further instructions on wiring and configurations please see:
[Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md). <!-- replace with Pixhawk Wiring Quickstart -->
## Airframe Configuration
1. For [Airframe](../config/airframe.md) select the vehicle group/type as _Standard VTOL_ and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below (do not forget to click **Apply and Restart** in the top).
![QCG - Select Generic Standard VTOL](../../assets/qgc/setup/airframe/px4_frame_generic_standard_vtol.png)
2. Configure the outputs and geometry following the instructions in [Actuators Configuration](../config/actuators.md)
3. The default parameters are often sufficient for stable flight. For more detailed tuning information see [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md).
After you finish calibration the VTOL is ready to fly.
## 视频
<lite-youtube videoid="4K8yaa6A0ks" title="Fun Cub PX4 VTOL Maiden"/>
## 技术支持
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)
The QuadRanger VTOL is a standard tailplane aircraft based on the Volantex Ranger-Ex that has been retrofitted with a QuadCopter system.
The Ranger-Ex is an easy to fly FPV platform that is widely available.
It is also available from HobbyKing where it is rebranded as the Quanum Observer.
The plasic fuselage and 2 meter EPO wing makes it a rugged airframe with a lot of payload capacity.
Key information:
- **Frame:** Volantex Ranger-Ex or _Quanum Observer_
- **Flight controller:** Pixhawk
![QuadRanger](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_complete_build.jpg)
The VTOL conversion makes the plane a bit heavier (around 3.5kg including LiPo).
With this conversion the plane will cruise at approximately 65% throttle.
The suggested quad setup provides a thrust of 7.5kg and the airframe can fly with a total weight of around 4.5kg.
This leaves enough payload capacity for payloads like FPV gear and cameras.
The conversion is designed to minimize impact on the aerodynamics and provide additional strength minimize wing flexing.
## Bill of Materials
- Volantex Ranger-Ex or Quanum Observer
- 1200KV 530W motors
- 30A Speed Controllers
- 4s battery
- APC Electric 11x5 propellers
## Conversion kit
- The basic parts required are;
- Pixhawk or compatible
- 数字空速传感器
- 3DR Power module or compatible
- 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)
The image below depicts the parts required for one wing.
![QuadRanger Parts](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_parts_for_one_wing.jpg)
The tools required for the conversion are;
- A Dremel or similar rotary tool
- A hobby knife
- UHU POR glue
- CA glue
- Tape-line
- Tape
![QuadRanger conversion tools](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_conversion_tools.jpg)
## Wing conversion
:::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.
The slot should be the length, depth and width of one 230mm square carbon tube.
It should be located as indicated below.
![QuadRanger carbon tube slot](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_carbon_tube_slot.jpg)
Glue the 300x150x1.5mm carbon sheet to the 230mm carbon tube using CA glue and create an opening to run wires through.
Insert the wires for power and signal to the ESC's.
Using UHU POR glue the sheet and carbon tube to the Styrofoam wing as indicated below.
![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.
The tube should be centred relative to the vertical area of the wing.
It should extend exactly 165mm on both sides.
Attach the motor mount to the motor.
With another motor mount plate and 4 M3x25mm screws clamp the motor on the end of the square carbon tube as indicated below.
Attach the ESC's with tie wraps to the carbon tube.
When using the Afro ESC be sure to connect at least signal and ground wire.
![QuadRanger motor and esc](../../assets/airframes/vtol/quadranger_rangerex_pixhawk/quadranger_vtol_motor_and_esc.jpg)
## 布线
The outputs of Pixhawk should be wired like this (orientation as seen
like "sitting in the plane").
| Port | 接口定义 |
| ------ | ---------------------- |
| MAIN 1 | Front right motor, CCW |
| MAIN 2 | Back left motor, CCW |
| MAIN 3 | Front left motor, CW |
| MAIN 4 | Back right motor, CW |
| AUX 1 | Left aileron |
| AUX 2 | Right aileron |
| AUX 3 | Elevator |
| AUX 4 | Rudder |
| AUX 5 | 油门 |
:::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)
## 配置
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)
## 技术支持
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).
A number of other components have been updated in the parts list too.
:::
<lite-youtube videoid="acG0aTuf3f8" title="PX4 VTOL - Call for Testpilots"/>
## 配件列表
- 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))
- 2 x 1800kv 120-180W电机
- [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). -->
- 2 x 20-30S 电调
- [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html)
- BEC（3A，5-5.3V）（如果你的电调不能提供5V的输出，可以用这个）
- 3S 2200 mA锂电池
- 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)
## 组装
The picture below shows what a fully assembled Caipiroshka could look like.
![Caipiroshka](../../assets/airframes/vtol/caipiroshka/caipiroshka.jpg)
In the following some general tips on how to build the vehicle will be given.
### 飞控
Mount the autopilot in the middle close to the CG of the airframe.
### 安装电机
Print the motor mount (2 times) of which the link to the STL file was specified in the part list.
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.
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.
### 电调:
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.
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.
Also the large distance to the 12V power cables is beneficial for reducing magnetic interference of the external magnetometer.
### 空速传感器
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.
### 连接传感器到 I2C 接口
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.
### 升降副翼
The elevons can be attached to the back side of the wing using transparent tape. You can follow the instructions provided by Team Blacksheep in the build manual for the TBS Caiprinha airframe.
### 普通安装规则
Before mounting all the components to the wing, use tape to hold them in the approximate position and check if the CG of the wing is in the recommended range specified in the build manual for the TBS Caipirinha.
Depending on the additional components you want to have onboard (e.g. GoPro in front or bigger battery) you will need to shift the location of components.
## 机架设置
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)
## 连接舵机
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.
| 输出 | 频率 | 执行器 |
| ----- | ------ | ---- |
| MAIN1 | 400 Hz | 右侧电机 |
| MAIN2 | 400 Hz | 左侧电机 |
| MAIN3 | 400 Hz | 空 |
| MAIN4 | 400 Hz | 空 |
| MAIN5 | 50 Hz | 右副翼 |
| MAIN6 | 50 Hz | 左副翼 |
docs/zh/frames_vtol/vtol_tiltrotor_eflite_convergence_pixfalcon.md
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# E-Flite Convergence 倾转旋翼 （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"/>
## 购买渠道
Vehicle frame options:
- **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)
Flight controller options ():
- [Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md)
- [Holybro Pixhawk Mini](../flight_controller/pixhawk_mini.md).
- Any other compatible flight controller with small enough form-factor.
## 硬件安装
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" />
### Flight Controller
The flight controller can be mounted at the same place the original autopilot was.
![Mount Pixfalcon](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_pixfalcon_mounting.jpg)
### 数传电台
The telemetry module fits into the bay meant to hold FPV transmission gear.
![Mount telemetry module](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_telemetry_module.jpg)
### GPS
For the GPS we cut out a section of foam inside the "cockpit".
That way the GPS can be put inside the body and is nicely stowed away without compromising the vehicle appearance.
![Mount GPS](../../assets/airframes/vtol/eflite_convergence_pixfalcon/eflight_convergence_gps_mounting.jpg)
## PX4 配置
Follow the [Standard Configuration](../config/index.md) in _QGroundControl_ (radio, sensors, flight modes, etc.).
The particular settings that are relevant to this vehicle are:
- [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)
## 综述
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).
## 购买渠道
- [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)
## Flight Controller
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.
## 工具
The following tools were used for this build.
- Hex driver set
- Wrench set
- Soldering station
- Glue: Hot glue, 5 min Epoxy
- Tape
- 3M Double sided tape ([3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y))
- Sandpaper
- 3D-Printer
## Hardware Integration
### 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)
### ESCs
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
### 传感器
#### 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/Compass
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.
### Flight Controller
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)
## 软件设置
### 选择机架
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. Reboot the vehicle.
### 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).
## 第一次飞行
- 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).