ArduPilot Flying Wing Tuning Guide (APP Version)

CoreWing1/4/25About 12 minArduPilotArduPilot飞翼布局固定翼调参指南Elevon

Important

This APP tuning tutorial is only applicable to CoreWing flight controllers, other manufacturers' flight controllers are not currently supported!!!

Important

CoreWing APP download link: https://www.corewing.com/website/download

I. Flight Principle Introduction

A flying wing is a fixed-wing aircraft without a traditional fuselage and tail, with all control surfaces located on the wing. Compared to traditional fixed-wing aircraft, the main characteristics of flying wings include:

Higher aerodynamic efficiency: Reduces structural weight and increases endurance.
Better maneuverability: More suitable for FPV racing and low-altitude flying.
Different control method: Relies on Elevons (combined ailerons and elevators) for pitch and roll control.

Since flying wings lack traditional rudders, yaw control primarily relies on differential wing surface and the flight controller's automatic correction. In ArduPilot firmware, flying wings typically use Elevon mixing mode to achieve this type of control.

II. Equipment Preparation

Required Equipment:

1) Flight Controller: CoreWing F405 WING V2 / SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI Any of these flight controllers are applicable to this tutorial.

2) RC Transmitter: Using RadioMaster Boxer / RadioMaster TX16S as an example.

3) Receiver: Using SpeedyBee ELRS Nano 2.4G RX as an example.

4) GPS Module: Using Beizheng BZ-251 GPS Module as an example.

5) Motors: Using 2306 KV1950 motors, suitable for AIRWING, for reference only.

6) ESCs: Using 35A~45A ESCs, suitable for AIRWING, for reference only.

7) Servos: Using 9g metal digital servos, suitable for AIRWING, for reference only.

8) Battery: Using 4S1P 4000mAh battery, suitable for AIRWING, for reference only.

9) Propellers: Using 7-inch three-blade or two-blade propellers, suitable for AIRWING, for reference only.

Optional Equipment:

1) Analog VTX: Using SpeedyBee TX 1600 VTX and RunCam Phoenix2 SE V2 camera as an example.

2) HD VTX: Using DJI O4 AIR UNIT VTX as an example.

3) Airspeed Sensor: It is recommended to use a digital airspeed sensor.

Important

For information on AP expert tuning in CoreWing APP, refer to this article:
https://docs.corewing.com/plane/software/corewing-app/corewingapp-aptuning.html

How to update flight controller firmware - using MissionPlanner GCS: https://docs.corewing.com/plane/beforetuning/mp-fw-update.html

How to update flight controller firmware - using INAV GCS: https://docs.corewing.com/plane/beforetuning/inav-fw-update.html

III. Initial Setup

3.1 Accelerometer Calibration

Use a data cable or battery to power the flight controller and radio board.
Click 必要硬件.
Click 加速度计校准.
Click 开始校准.

Follow the APP instructions for the specific procedure:

Important

After completing the last calibration step, the APP will automatically restart the flight controller.

Important

The accelerometer needs to be recalibrated when there are significant temperature and climate changes during use, the gyro has suffered a severe impact, or when sensors have been replaced!

Important

For detailed accelerometer calibration procedures, refer to: https://docs.corewing.com/plane/ardupilot/settings/fc/accel-calibration.html

3.2 Transmitter Settings and Flight Mode Configuration

Important

Navigate to MDL/MIXES page, check if the transmitter CH1-CH4 is set to the following configuration. If not, modify the mixer.

3.2.1 Arm Channel Configuration

1. Transmitter Settings

Select a two-position switch
Navigate to MDL/MIXES page, configure its mixer as CH5

2. Ground Control Station Settings

Click 通道功能, select RC5

Click 常用功能, find ArmDisarm(4.2 and higher), value is 153
Click confirm

Click save in the bottom right corner, confirm the parameter modification is 153, click 确认保存

Important

For detailed instructions on how to set up arming and disarming, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/arming-disarm-setup.html

3.2.2 Return-to-Home Channel Configuration

1. Transmitter Settings

Select a two-position switch
Navigate to MDL/MIXES page, configure its mixer as CH6 (can be set according to actual situation, for reference only)

2. Enable Return-to-Home Switch Configuration

Click 通道功能, select RC6

Click 常用功能, find RTL返航模式, value is 4
Click confirm

Click save in the bottom right corner, confirm the parameter modification is 4, click 确认保存

3.2.3 Flight Mode Configuration

1. Transmitter Settings

Select a three-position switch, set up a three-position flight mode switch
Navigate to MDL/MIXES page, configure its mixer as CH8

2. Ground Control Station Settings

Flight Mode Channel Configuration:

Click 飞行模式, click 飞行模式通道
Set the flight mode channel to RC8, click 确认

Set Flight Modes:

Flight modes 1, 2 set to ACRO;
Flight modes 3, 4 set to FBWA;
Flight modes 5, 6 set to AUTOTUNE.
After setting, click save

Important

For detailed instructions on setting up a six-position flight mode switch, refer to: https://docs.corewing.com/plane/ardupilot/settings/rc/sixpos-switch.html

Important

For detailed information on flight modes, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/flight-modes.html

3.2.4 Transmitter Calibration

Important

Please bind the transmitter to the receiver before proceeding with the following steps.
For information on how to bind an ELRS receiver to the transmitter, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/rc/elrs-bind.html

Click 遥控器校准, click RC2 的反向, reverse pitch

Click 确认

Click 保存

Confirm RC2_REVERSED is modified to 1, click 确认保存

Click 校准遥控器

Follow the prompts, after completion, click 开始校准遥控器

Follow the prompts, move all sticks and switches to their extreme positions, after completion, click 完成

Center the sticks, ensure the throttle stick is at the lowest position, click 确定

Click 确认保存 to complete

IV. Equipment Installation

4.1 Flight Controller Wiring

Power Wiring

Important

Note:

The positive power terminal must be connected to the designated pad.
ESC refers to the electronic speed controller.
When soldering, ensure there are no cold joints.

4.2 Flight Controller Installation

Important

The standard orientation for the flight controller should align with the aircraft's nose direction, but on this aircraft, it is not convenient to install in this orientation, so the installation orientation needs to be changed.

If you need to adjust other installation orientations for the flight controller, you can refer to this article for settings: https://docs.corewing.com/plane/ardupilot/settings/fc/orientation-setup.html

The flight controller should be installed at the aircraft's center of gravity. Refer to the following image for installation:

Parameters need to be adjusted according to the installation orientation shown above:

4.3 Peripheral Installation and Configuration

Peripheral Wiring

4.3.1 Receiver Installation and Configuration

The installation position is shown in the figure. Route the antenna outside the aircraft and secure it with tape:

Configure RSSI_TYPE:

Click Config/Tuning, click All Parameters, click the search box
Enter RSSI_TYPE, change the value of RSSI_TYPE to 3
Click Save, confirm the modified value is 3, click Confirm Save

4.3.2 Servo Output Configuration (Servo and Motor Settings) and Surface Control Check

Important

The flight controller has a built-in BEC. If the ESC also has a built-in BEC, you need to remove the middle power wire and insulate it properly to prevent it from contacting a conductor during flight due to vibration, which could cause a short circuit!!

Output Wiring:

Channel	Output	Description
S1	ElevonLeft	Left elevon
S2	ElevonRight	Right elevon
S3	Throttle	Throttle

Click Servo Output, click Change Airframe

Select Flying Wing (Single Motor), click OK, click Confirm Change

Confirm that the output mixing and values are correct, click Save

Click Confirm Save

Wait for the flight controller to restart

Important

Note:

The minimum value and midpoint value of the throttle should be consistent. The AP ground station may not automatically update the throttle midpoint value when changing outputs, so please check carefully.
Configure output settings according to timer grouping as much as possible. Place similar devices in the same group. For timer grouping, refer to the flight controller manual "Part5-Pin Mapping-ArduPilot Pin Mapping" section.

Surface Control Check:

a. In stabilize mode, surface feedback check

Important

Switch flight mode to FBWA

When the aircraft rolls left, the left wing control surface deflects down, and the right wing control surface deflects up.
When the aircraft rolls right, the left wing control surface deflects up, and the right wing control surface deflects down.

When the aircraft pitches up, the response is both control surfaces deflecting down.
When the aircraft pitches down, the response is both control surfaces deflecting up.

b. In manual mode, surface feedback check

Important

Switch flight mode to ACRO

When moving the aileron stick left, the response is the left wing control surface deflecting up and the right wing control surface deflecting down.
When moving the aileron stick right, the response is the left wing control surface deflecting down and the right wing control surface deflecting up.

When moving the elevator stick up, the response is both control surfaces deflecting down.
When moving the elevator stick down, the response is both control surfaces deflecting up.

Check the stabilize feedback first, then check the manual feedback. If the stabilize feedback is incorrect, simply check the reverse option for the incorrect control surface channel.

Important

For detailed information on how to confirm if the surface feedback is correct, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/dir-check.html

4.3.3 GPS Module Installation

The installation position is shown in the figure. Secure the module base with 3M adhesive. Ensure the module is installed securely, otherwise it will significantly affect flight performance:

Important

Install the module horizontally and vertically, without tilting, otherwise the installation angle cannot be set correctly.

Important

Install away from metal components such as magnetic compartment covers, metal pushrods, etc., otherwise it will interfere with the compass.
Install away from receiver, servo wires, motors, and other equipment, otherwise it will interfere with the compass.
Confirm that the installation is secure.
For detailed installation procedures for different modules, please refer to their respective manuals.

4.3.4 VTX Installation and OSD Configuration

Analog VTX Installation:

Analog VTX Parameter Configuration:

Click VTX Configuration, click Analog VTX

Select Protocol and Resolution

Wire according to the diagram, click Save

Check if the parameter modifications are correct, click Confirm Save

Wait for the flight controller to restart

Important

For detailed information on analog VTX parameter configuration, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/vtx/analog-vtx/config.html

HD VTX Installation:

HD VTX Parameter Configuration:

Click VTX Configuration, click HD VTX

Select Goggles and Resolution
Wire according to the diagram, click Save
Check if the parameter modifications are correct, click Confirm Save
Wait for the flight controller to restart

Important

For detailed information on HD VTX parameter configuration, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/vtx/hd-vtx/config.html

Important

For detailed information on how to configure OSD elements, refer to this article: https://docs.corewing.com/plane/software/corewing-app/corewingapp-aptuning.html

4.3.5 Airspeed Sensor Installation and Configuration

Airspeed sensor installation reference:

Important

For detailed information on airspeed sensor installation, parameter configuration, and calibration, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/airspeed/airspeed-setup.html

5. Pre-flight Tuning

5.1 ESC Calibration

Important

Ensure the battery is disconnected, the receiver is bound, and propellers are removed!

Click on the 电调校准 page, read the instructions, and click 我已了解，开始校准 after reading

Follow the steps, and click "Next" after completing each step

Connect the battery and wait 2 seconds → "Plays a song" as the throttle maximum point confirmation tone → Wait for the song to finish → Push the throttle to minimum and wait 1 second → "Plays another song, deh-deh-" as the throttle minimum point confirmation tone → Calibration complete

PWM ESC calibration sound.

Connect the battery and wait 2 seconds → "Beep-beep-" as the throttle maximum point confirmation tone → Push the throttle to minimum and wait 1 second, N beeps indicate the number of LiPo cells → "Beep-" as the throttle minimum point confirmation tone → Calibration complete.

Gently push the throttle, the motor should rotate immediately. Push the throttle from 0% to 20% and check if the response is linear.

If the results differ from the above, disconnect the battery and recalibrate.

Important

For detailed information on ESC calibration and enabling Dshot protocol, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/esc/esc-dshot.html

5.2 Motor Direction Check and Propeller Installation

Motors rotating outward: Facing the nose, the left motor rotates counterclockwise, the right motor rotates clockwise.

Motors rotating inward: Facing the nose, the left motor rotates clockwise, the right motor rotates counterclockwise.

For how to counteract motor torque, refer to the following methods for adjusting control surfaces:

5.3 Compass Calibration

Important

Keep away from metal objects during calibration, such as cars, electric vehicles, high-voltage towers;
Calibrate outdoors with good GPS signal (at least 8 satellites);
Use wireless tuning for calibration to avoid USB cable interference;
If the GPS/compass module is replaced or the flight controller mounting position is adjusted, recalibration is mandatory.

Confirm that the compass has been recognized, then click 开始校准

Important

If the compass is not recognized successfully and the wiring is correct, please exit the APP, power off the flight controller, restart it, and then reconnect the APP

Rotate the aircraft 360° to fill the calibration progress bar

After calibration is complete, click 立即重启.

Important

Compass calibration must be accurate, otherwise it will cause ground control station errors: EK3 active/DCM active

Important

For detailed information on compass calibration, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/gps/ap-compass-setup.html

5.4 Level Calibration

Important

After the flight controller is installed, a level attitude calibration must be performed to compensate for the installation angle of the gyroscope and determine the correct level flight attitude!

Place the aircraft on a flat surface and perform 水平校准

Go to the 状态速览 page and click 校准水平

After calibration is complete, the attitude indicator should be level

5.5 Failsafe Parameter Settings

Important

For detailed information on how to set failsafe parameters, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/failsafe.html

6. Flight Test

6.1 Pre-flight Check Parameter Settings

Enter 解锁前检查项
Click to disable or enable this pre-flight check item

Important

The terrain following feature must be disabled, otherwise it will affect RC transmitter unlocking

Important

For detailed information on how to set pre-flight check parameters, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/prearm-check-setup.html

6.2 Pre-flight Inspection

6.2.1 Center of Gravity Check

1. Reference aircraft markings:

Many flying wing or fixed-wing aircraft have recommended center of gravity positions marked on the fuselage, typically 25-30% back from the leading edge of the main wing.

2. Finger support method:

Place the aircraft on two fingers at the recommended center of gravity point under the main wing, and gently balance the fuselage.
If the aircraft is nose heavy or tail heavy, adjust the battery or add ballast.

Nose heavy (center of gravity too far forward):

The aircraft will have difficulty climbing during flight, which may cause takeoff failure and crash.
Try moving the battery backward or reducing nose ballast.

Tail heavy (center of gravity too far back):

The aircraft is prone to stall on climb.
Solution: move the battery forward or add nose ballast.

6.2.2 Pre-flight Control Surface Check

After the RC transmitter establishes connection with the flight controller, enter the status overview page to view the current flight mode

Important

Switch flight mode to FBWA

When the aircraft rolls left, the left wing control surface deflects down, and the right wing control surface deflects up.
When the aircraft rolls right, the left wing control surface deflects up, and the right wing control surface deflects down.
When the aircraft pitches up, the response is both control surfaces deflecting down simultaneously.
When the aircraft pitches down, the response is both control surfaces deflecting up simultaneously.

Important

Switch flight mode to ACRO

When the aileron stick is moved left, the response is the left wing control surface deflecting up, and the right wing control surface deflecting down.
When the aileron stick is moved right, the response is the left wing control surface deflecting down, and the right wing control surface deflecting up.
When the elevator stick is moved up, the response is both control surfaces deflecting down simultaneously.
When the elevator stick is moved down, the response is both control surfaces deflecting up simultaneously.

6.2.3 Satellite Count Check

Important

Outdoors, check if the satellite count is greater than 8. Only take off when there are more than 8 satellites!

If the satellite count consistently remains below 8, move to an open area. If there's no improvement, replace the GPS module.

Enter the status overview page to view the satellite count

6.2.4 Wind Direction Confirmation

Observe wind direction:
- Observe wind indicators such as smoke, windsocks, flags.
- Use light objects (like grass leaves) and throw them into the air to observe their drift direction.
Determine takeoff direction into the wind:
- Taking off into the wind provides greater lift and reduces takeoff speed requirements.
- Taking off downwind may cause stalling or the nose being pushed down by the wind, easily leading to a crash.

6.3 Takeoff Instructions

Depending on the aircraft's actual configuration, choose hand-launch or runway takeoff to ensure a smooth takeoff.

6.3.1 Hand Launch

1. Mode preparation:

Select ACRO 模式 to ensure sufficient control surface deflection.
Throttle to 60-80% to ensure sufficient takeoff thrust.

2. Takeoff posture:

Hold the aircraft under the wings. For flying wings, hold the wings directly to prevent hand injury.
Launch at a 30° upward angle to ensure sufficient lift.

3. Launch technique:

Use appropriate force, avoiding too much or too little (insufficient for climb).
Follow through with the motion, rather than throwing downward.

Important

Precautions:

Avoid launching with low throttle, ensure sufficient takeoff power. Immediately take control of the roll axis after launch to prevent uncontrolled roll.

6.3.2 Runway Takeoff

Select ACRO 模式.
Throttle to 60%-70% to maintain moderate acceleration.
Maintain directional stability to avoid uncontrolled yaw during the takeoff roll.
When the aircraft reaches sufficient speed, gently pull up the pitch to ensure a smooth liftoff.

Important

Precautions:

Ensure sufficient takeoff distance to avoid stalling from rapid climb in a short distance.

Takeoff into the wind to increase lift and avoid crosswind effects.

Monitor flight status to prevent excessive climb or rapid banking.

6.4 In-flight Testing

Important

Case demonstration

During flight, it was not confirmed whether the aircraft's flight attitude matched the aircraft's angle of attack. During autonomous flight, the aircraft had a nose-down tendency. At the same time, auto-tuning was not performed, and the PID values were insufficient, resulting in insufficient control surface deflection and effectiveness during autonomous flight. When switching to RTL mode, the aircraft entered autonomous flight and then directly accelerated into a dive, crashing to the ground!

First-person flight view:

Third-person flight view:

Therefore, conducting a complete in-flight test is necessary.