ArduPilot 4+1 VTOL Parameter Tuning Guide

I. Flight Principle Introduction

Vertical take-off and landing fixed-wing drones combine multirotor and fixed-wing technology, using multirotors for vertical take-off and switching to fixed-wing mode through a transition mechanism for efficient horizontal flight. During horizontal flight, lift is generated by the wings, and direction and attitude are adjusted by control surfaces.

II. Equipment Preparation

Required Equipment:

1) Flight Controller: CoreWing F405 WING V2 Any flight controller is suitable for 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 北征 BZ-251GPS 模块 as an example .

5) Motors: Using 2004 1600KV motors4 (multirotor), 2807 1050KV motor1 (fixed-wing), suitable for 阿黛尔 4+1 垂起, for reference only.

6) ESCs: Using 45A ESCs, suitable for 阿黛尔 4+1 垂起, for reference only.

7) Servos: Using 9g metal digital servos, suitable for 阿黛尔 4+1 垂起, for reference only.

8) Battery: Using JP40 6S1P 4000mah 21700 battery, suitable for 阿黛尔 4+1 垂起, for reference only.

9) Propellers: 5126 two-blade propellers for multirotor motors, 7040 three-blade propellers for tail pusher motor, suitable for 阿黛尔 4+1 垂起, 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: Digital airspeed sensor is recommended.

Important

Ground station installation reference: https://docs.corewing.com/plane/beforetuning/mp-fw-update.html

Common functions and interface introduction of Mission Planner: https://docs.corewing.com/plane/software/apsoftware/common-functions.html

How to update flight controller firmware - using MissionPlanner ground station:

https://docs.corewing.com/plane/beforetuning/mp-fw-update.html

How to update flight controller firmware - using INAV ground station:

https://docs.corewing.com/plane/beforetuning/inav-fw-update.html

III. Initial Setup

3.1 Accelerometer Calibration

Important

Note: When performing accelerometer calibration, be sure to remove the flight controller from the airframe and place it on a flat surface for calibration to improve accuracy and ensure stable flight!

• Connect the flight controller to the ground control station (GCS) using a USB cable.

• Click Initial Setup.

• Click Accelerometer Calibration.

• Click Calibrate Accelerometer.

Important

After completing the operation, disconnect the GCS and all power to the flight controller, then reconnect the GCS.

Important

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

Important

Detailed accelerometer calibration operation: https://docs.corewing.com/plane/ardupilot/settings/fc/accel-calibration.html

3.2 VTOL Parameter Pre-tuning

Enable VTOL Parameters:

• Go to the Config/Tuning page.

• Go to All Parameters.

• Search for Q_ENABLE.

• Set the value of Q_ENABLE to 1.

Important

After writing the parameters, restart the flight controller!!!

Modify Aircraft Type:

• Go to the Config/Tuning page.

• Go to All Parameters.

• Search for Q_FRAME.

• Set the value of Q_FRAME_CLASS to 1, and the value of Q_FRAME_TYPE to 1.

Parameter	Value	Description
Q_FRAME_CLASS	1	"X" configuration
Q_FRAME_TYPE	1	"X" configuration

Important

After writing the parameters, restart the flight controller!!!

3.3 Transmitter Settings and Flight Mode Configuration

Important

Navigate to the MDL/MIXES page and check if the transmitter's CH1-CH4 channels are set as follows. If not, modify the transmitter's mixing.

3.3.1 Arm Channel Configuration

1. Transmitter Settings

• Select a two-position switch

• Navigate to the MDL/MIXES page and configure its mixing as CH5

2. GCS Settings

• Go to Config/Tuning

• Go to All Parameters

• Search for RC5_OPTION

• Set the value of RC5_OPTION to 153

• Click Write Parameters

Important

How to set arming and disarming: https://docs.corewing.com/plane/ardupilot/settings/fc/arming-disarm-setup.html

3.3.2 Return-to-Home Channel Configuration

1. Transmitter Settings

• Select a two-position switch

• Navigate to the MDL/MIXES page and configure its mixing as CH6 (for reference only)

2. Enable Return-to-Home Switch Setting

• Go to Config/Tuning

• Go to All Parameters

• Search for RC6_OPTION

• Set the value of RC6_OPTION to 4

• Click Write Parameters

3.3.3 Flight Mode Configuration

1. Transmitter Settings

• Select a three-position switch to set a three-position flight mode switch

• Navigate to the MDL/MIXES page and configure its mixing as CH8

2. GCS Settings

Flight Mode Channel Setting:

• Go to Config/Tuning

• Go to All Parameters

• Search for FLTMODE_CH

• Set the value of FLTMODE_CH to 8

• Click Write Parameters

Important

How to set a six-position flight mode switch: https://docs.corewing.com/plane/ardupilot/settings/rc/sixpos-switch.html

Flight Mode Configuration:

• Go to Initial Setup

• Go to Flight Modes

• Set the flight modes according to the diagram

• Click Save Modes

Important

Flight mode introduction: https://docs.corewing.com/plane/ardupilot/settings/fc/flight-modes.html

3.3.4 Transmitter Calibration

Important

1. Please bind the transmitter to the receiver.

How to bind an ELRS receiver to the transmitter: https://docs.corewing.com/plane/ardupilot/settings/rc/elrs-bind.html

• Go to Initial Setup.

• Go to Transmitter Calibration.

• Click Calibrate Transmitter.

• Note: Check the option for PITCH reversal.

Important

Detailed transmitter calibration procedure: https://docs.corewing.com/plane/ardupilot/settings/fc/calibration.html

IV. Equipment Installation

4.1 Flight Controller Wiring

• Power Wiring

Important

Note:

1. The power positive must be connected to the designated pad.

2. ESC refers to electronic speed controllers.

3. When soldering, ensure there are no cold joints.

Note

If using a quad ESC for racing drones (only connecting S1-S4 signal lines and GND ground wire), wire according to the diagram:

4.2 Flight Controller Installation

The flight controller should be installed at the aircraft's center of gravity and the center position of the four motors, refer to the diagram below:

Important

If you need to adjust the flight controller's installation orientation: https://docs.corewing.com/plane/ardupilot/settings/fc/orientation-setup.html

4.3 Peripheral Installation and Settings

• Peripheral Wiring

4.3.1 Receiver Installation and Settings

Installation position as shown in the diagram, extend the antenna outside the aircraft and secure it with tape:

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

Important

The flight controller has a built-in BEC. If the ESC also has a BEC, you must remove the middle power wire and insulate it to prevent it from contacting other conductors during flight, which could cause a short circuit.

Output Wiring:

Parameter Settings:

Important

For AP firmware motor definitions, note that left front motor is MOTOR 3, right front motor is MOTOR 1, left rear motor is MOTOR 2, and right rear motor is MOTOR 4.

• Enter Initial Settings

• Enter Servo Output

• Set Output

Channel	Output	Description
S1	Aileron	Left aileron
S2	Aileron	Right aileron
S3	VTailLeft	Left V-tail servo
S4	VTailRight	Right V-tail servo
S5	Throttle	Rear thrust motor
S6	Motor1	Right front motor
S7	Motor2	Left rear motor
S8	Motor3	Left front motor
S9	Motor4	Right rear motor

Important

Note:

1. The minimum and center values for throttle should be consistent. When changing outputs in AP ground station, the throttle center value will not be automatically updated, please check it carefully.

2. Output settings should be set according to timer grouping as much as possible. Refer to the flight controller manual "Part5-Pin Mapping-ArduPilot Pin Mapping" section.

Important

For Adele 4+1, the V-tail servo amount can be reduced. The travel is recommended to be set at Min: 1300, Trim: 1500, Max: 1700. Excessive servo travel can cause excessive aircraft tilt when using yaw-assisted turns (such as in FBWA mode), leading to aircraft spin.

Surface Control Check:

a. In stabilize mode, surface feedback check

Important

Switch flight mode to STABILIZE

• 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 feedback is both control surfaces deflecting down.

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

b. In manual mode, surface feedback check

Important

Switch flight mode to Manual

• When the aileron stick is moved left, the feedback is the left wing control surface deflecting up and the right wing control surface deflecting down.

• When the aileron stick is moved right, the feedback is the left wing control surface deflecting down and the right wing control surface deflecting up.

• When the elevator stick is moved up, the feedback is both control surfaces deflecting down.

• When the elevator stick is moved down, the feedback is both control surfaces deflecting up.

• When the rudder stick is moved left, the feedback is both control surfaces deflecting left.

• When the rudder stick is moved right, the feedback is both control surfaces deflecting right.

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

Important

In stabilize mode, if the rudder control from the RC transmitter is correct, then the rudder feedback in stabilize mode must be correct. If stabilize feedback is incorrect, please check the rudder feedback from RC transmitter control.

Important

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

4.3.3 GPS Module Installation

Installation position as shown in the diagram. Fix the module base with 3M adhesive ensure the module is installed securely, otherwise it will significantly affect flight performance:

Important

1. Install away from metal components, such as magnetic battery covers, metal pushrods, etc., otherwise it will interfere with the compass.

2. Install away from receiver, servo wires, motors and other equipment, otherwise it will interfere with the compass.

3. Ensure the installation is secure.

4. For detailed installation procedures for different modules, please refer to their respective manuals.

4.3.4 Video Transmitter Installation and Settings

• Analog Video Transmitter Installation:

• Analog Video Transmitter Parameter Settings:

Important

Analog video transmitter parameter settings: https://docs.corewing.com/plane/ardupilot/settings/vtx/analog-vtx/config.html

• HD Video Transmitter Installation:

• HD Video Transmitter Parameter Settings:

Important

HD video transmitter parameter settings: https://docs.corewing.com/plane/ardupilot/settings/vtx/hd-vtx/config.html

Important

How to set up servo gimbal: https://docs.corewing.com/plane/ardupilot/settings/gimbal/ap-servo-gimbal.html

OSD Settings:

• OSD configuration file: https://oss.corewing.com/knowledge/osd.param

• Enter configuration/debugging.

• Enter all parameters table.

• Click Load.

• Select OSD parameter file.

• Click Open.

• Write parameters.

• OSD display effect as follows: https://docs.corewing.com/plane/ardupilot/settings/fc/osd.html

Important

How to set up OSD elements:

4.3.5 Airspeed Sensor Installation and Settings

Airspeed sensor installation position reference:

Important

Airspeed sensor installation, parameter settings, and how to calibrate: https://docs.corewing.com/plane/ardupilot/settings/airspeed/airspeed-setup.html

V. Flight Pre-Tuning

5.1 VTOL Parameter Settings

Important

The following parameters are based on firmware 4.5.7, and parameters may vary with different firmware versions.

The following parameter values are more suitable for the Adele 4+1 VTOL, for reference only, and are not applicable to all aircraft. Parameters need to be adjusted.

Transition-related parameters:

Important

Modify according to the actual situation of the aircraft:

Parameter	Value	Description
Q_ASSIST_ANGLE	60	Multi-axis assistance will be activated when exceeding this angle (a type of anti-stall protection, the aircraft will switch to multi-axis when the angle is too large)
Q_ASSIST_SPEED	7	Multi-axis assistance will be activated when below this speed (actual value should be set to aircraft minimum stall speed + 1, a type of anti-stall protection, the aircraft will switch to multi-axis when speed is too low)
Q_TRANSITION_MS	2000	Duration of multi-axis assistance after switching to fixed-wing mode (1k=1 second), or maximum deceleration time when switching back from fixed-wing to multi-axis
Q_TRAN_PIT_MAX	3	Allowable horizontal oscillation angle during transition (unit: degrees, the smaller the setting, the more stable the transition, but higher requirements for transition servo and motor)
Q_TRANS_DECEL	1	Deceleration rate in M/s, preventing the aircraft from switching back to multi-axis at too high a speed, excessive aircraft speed switching to multi-axis hover mode will cause the aircraft to disintegrate
Q_FWD_THR_USE	2	Allow the use of throttle for the propulsion motor in Q mode, reference value is the cruise throttle value
Q_BCK_PIT_LIM	5	Pitch angle limit when switching from rotorcraft to fixed-wing, this pitch movement will be enabled when airspeed is higher or lower than minimum stall speed, only effective when Q_FWD_THR_USE=1 or 2
Q_BACKTRANS_MS	3000	Time for pitch angle when switching from fixed-wing mode to multi-rotor

Multi-axis related parameters:

Important

Modify according to the actual situation of the aircraft:

Parameter	Value	Description
Q_PILOT_ACCEL_Z	2.5	Vertical acceleration, default 2.5 m/s, smaller aircraft should be lower
Q_PILOT_SPD_DN	0	Maximum vertical speed when descending, unit m/s. If set to 0, the Q_PILOT_SPD_UP value is used.
Q_PILOT_SPD_UP	2.5	Maximum vertical climb speed when ascending, unit m/s.
Q_ANGLE_MAX	3500	Maximum tilt angle in multi-axis mode, default 3000=30 degrees, smaller aircraft can be larger otherwise cannot fly against wind
Q_LOIT_BRK_DELAY	1	Brake delay time after fixed-wing transitions, too short time will be more frightening, too long buffer will result in longer buffer distance, unit: seconds
Q_M_SPIN_MAX	0.95	Maximum throttle for multi-axis, 0.95=95%, smaller aircraft not power-consuming can be larger
Q_M_SPIN_MIN	0.15	Idle speed in multi-axis mode, 0.15=15%
Q_VFWD_ALT	2	Disable tail pusher motor assistance below this height, cannot switch to fixed-wing below this height
Q_WP_SPEED_DN	150	Maximum descent rate during mission, unit: CM/S
Q_WP_SPEED_UP	250	Maximum ascent rate during mission, unit: CM/S
Q_M_SLEW_DN_TIME	0	Limit throttle deceleration speed, generally 0, add some if power is too strong
Q_M_SLEW_UP_TIME	0	Limit throttle acceleration speed, generally 0, add some if power is too strong
INITIAL_MODE	17	Flight controller starts in QSTABLIZE mode on power-up, preventing fixed-wing mode on power-up which would cause ground propeller strike

VTOL Return-to-home related parameters:

Important

Modify according to the actual situation of the aircraft:

Parameter	Value	Description
Q_WP_SPEED_DN	150	First stage landing speed, cm/s
Q_LAND_FINAL_SPD	0.5	Second stage landing speed, m/s
Q_LAND_FINAL_ALT	6	Second stage landing height, unit M
Q_RTL_ALT	100	Multi-axis return-to-home height, unit M (consider whether there are obstacles at current height, can be set smaller to prevent insufficient battery for return, Adele recommends setting at 20m)
Q_RTL_MODE	2	Enable hybrid return-to-home (=2)
RTL_ALTITUDE	-1	Fixed-wing return-to-home height, unit M, if set to -1, return to home while maintaining current altitude. If a height is set, the aircraft will slowly descend or climb to the specified height for return

Q_RTL_MODE Explanation:

Q_RTL_MODE=2 ✅ Recommended

Important

Meaning: The aircraft will return to the home point at the height set by RTL_ALTITUDE, and perform a spiral descent around the radius specified by Q_FW_LND_APR_RAD (default is 0, if 0 then WP_LOITER_RAD is used, recommended to set to 50~60m), 直到下降至 Q_RTL_ALT 的高度，再切换为 QRTL 模式降落.

Advantages:

• The aircraft returns home while maintaining cruise state, reducing multi-rotor flight time;

• Before landing, the aircraft gradually spirals down in fixed-wing mode, avoiding energy consumption and drift issues from directly switching to multi-axis at high altitude;

Q_RTL_MODE=1 Not Recommended

Important

Meaning: After the aircraft enters the return-to-home radius range (defined by RTL_RADIUS), regardless of current altitude, immediately switches to QRTL mode, hovering and landing in multi-rotor mode.

⚠ Risk Warning:

• Safety hazard exists: If the aircraft is at high altitude during return (e.g., 100m+), directly switching to QRTL will cause the aircraft to stop forward flight and initiate vertical descent at high altitude, easily affected by wind being blown away, or losing control in mid-air due to insufficient battery.

• Multi-rotor landing consumes more power than fixed-wing landing, high altitude QRTL increases the risk of crash.

Return-to-home related parameter explanation:

When the aircraft returns home, it will return to the home point at the height set by the RTL_ALTITUDE parameter. After reaching the home point, the aircraft will not immediately switch to QRTL mode, but will start circling and descending in fixed-wing mode around the radius set by the Q_FW_LND_APR_RAD parameter.

• If Q_FW_LND_APR_RAD is 0, it will automatically use the WP_LOITER_RAD setting value as the circling radius;

• The aircraft will continuously circle and descend in fixed-wing mode at this radius until descending to the height specified by Q_RTL_ALT;

• After reaching this height, the system will automatically switch to QRTL (multi-rotor) mode to perform multi-rotor vertical landing.

5.2 ESC Calibration

Important

Ensure battery is disconnected, receiver is bound, propellers are removed! Switch flight mode to QACRO mode

① Click Flight Data → Click Actions → Click Unlock/Lock → Click Force Arm.

② Immediately push throttle to maximum.

③ Power the flight controller with battery.

④ ESC will sound a tone → immediately push throttle to minimum → ESC tone ends.

BLHeli32/BLHeli_S ESC calibration sound:

Connect battery and wait 2 seconds → "play a song" is throttle maximum confirmation tone → wait for song to finish → push throttle to minimum and wait 1 second → "play another song, de-de-" is throttle minimum confirmation tone → calibration complete

PWM ESC calibration sound:

Connect battery and wait 2 seconds → "beep-beep-" is throttle maximum confirmation tone → push throttle to minimum and wait 1 second, N short beeps indicate lithium battery cell count → "beep-" is throttle minimum confirmation tone → calibration complete.

⑤ Gently push throttle, motors should rotate immediately, push throttle from 0% to 20%, check if throttle response is linear.

⑥ If there is any difference from the above effect, disconnect battery, return to step ② and recalibrate.

Important

ESC calibration and Dshot protocol activation: https://docs.corewing.com/plane/ardupilot/settings/esc/esc-dshot.html

5.3 Motor Direction Check

Important

Do not install propellers during testing!

Force unlock the aircraft, check the direction of each motor:

Gently push throttle, motors should rotate, correct motor direction isfront left motor clockwise, front right motor counter-clockwise, rear left motor counter-clockwise, rear right motor clockwise, tail pusher motor direction not required, as shown in the figure below, you can gently touch the motor to feel the direction:

Important

If motor direction is incorrect, swap any two of the three motor wires to adjust direction.

5.3.1 Remote Control Output Check

Force unlock → gently push throttle until motors just start rotating → all motors rotate → give slight stick inputs to provide flight controller commands.

Important

Motor speed can be felt by attaching tape or masking tape.

• Push pitch stick, rear left and rear right motor speeds increase;

• Pull pitch stick, front left and front right motor speeds increase;

• Roll left, front right and rear right motor speeds increase;

• Roll right, front left and rear left motor speeds increase;

If feedback is inconsistent, check SERVO OUTPUT and pin header wiring.

5.3.2 Motor Self-Stabilization Feedback Check

Force unlock → gently push throttle until motors just start rotating → all motors rotate → give the aircraft a certain attitude change.

Important

Motor speed can be felt by attaching tape or masking tape.

• When aircraft pitches up, rear left and rear right motor speeds increase;

• When aircraft pitches down, front left and front right motor speeds increase;

• When aircraft rolls left, front left and rear left motor speeds increase;

• When aircraft rolls right, front right and rear right motor speeds increase;

If motor feedback is inconsistent with the above, check SERVO OUTPUT and pin header wiring.

5.3.3 Propeller Installation

• Choose propellers (standard or reverse) based on motor direction.

• When installing propellers, ensure the side with text is facing upward.

Multi-rotor propeller installation:

Tail pusher motor propeller installation:

To counteract motor torque, you can refer to the following method to adjust control surfaces:

5.4 Compass Calibration

• Enter Initial Setup.

• Click Compass.

• Check if module information is displayed, if not, please check connection cables and module.

• Check Use Compass 1.

• Click Start, begin compass calibration.

• Shake the aircraft to fill the progress bar.

• After popup appears, click OK.

• Click Reboot, flight controller will restart automatically.

Important

Calibrate away from metal objects such as cars, electric vehicles, high-voltage towers;

Calibrate outdoors with good GPS signal (at least 8 satellites);

Use wireless tuning during calibration to avoid USB cable interference;

If GPS/compass module is replaced or flight controller mounting position is adjusted, recalibration is mandatory.

Important

Compass calibration: https://docs.corewing.com/plane/ardupilot/settings/gps/ap-compass-setup.html

5.5 Level Calibration

Important

After flight controller installation, a level attitude calibration is required to compensate for the installation angle of the gyroscope, to determine the correct level flight attitude!

• Place the aircraft flat on a level surface for level calibration.

5.6 Loss of Control Protection Parameter Settings

Important

How to set loss of control protection parameters: https://docs.corewing.com/plane/ardupilot/settings/fc/failsafe.html

6. Flight Test

6.1 Pre-flight Check Parameter Settings

1. Enter Configuration/Tuning.

2. Enter All Parameters.

3. Search for ARMING_CHECK.

4. Set the required arming check items.

Important

How to set arming check parameters: https://docs.corewing.com/plane/ardupilot/settings/fc/prearm-check-setup.html

6.2 Pre-flight Checks

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 at 25-30% of the wing's chord from the leading edge.

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 nose is too heavy or the tail is too 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 lead to a crash.

• Try moving the battery backward or reducing nose ballast.

Tail heavy (center of gravity too far back):

• The aircraft is prone to stalling on the up elevator.

• Solution: Move the battery forward or add nose ballast.

6.2.2 Pre-flight Control Surface Check

Important

Switch flight mode to Manual

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

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

• When the elevator stick is moved up, the response is both V-tail control surfaces moving down simultaneously.

• When the elevator stick is moved down, the response is both V-tail control surfaces moving up simultaneously.

• When the rudder stick is moved left, the response is both V-tail control surfaces moving left simultaneously.

• When the rudder stick is moved right, the response is both V-tail control surfaces moving right simultaneously.

Important

Switch flight mode to STABILIZE

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

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

• When the aircraft pitches up, the response is both V-tail control surfaces moving down simultaneously.

• When the aircraft pitches down, the response is both V-tail control surfaces moving up simultaneously.

Important

In stabilized mode, if the rudder control from the transmitter is correct, the stabilized rudder response will also be correct. If the stabilized response is incorrect, please check the rudder control response from the transmitter.

6.2.3 Satellite Number Check

Important

Outdoors, check if the satellite count is greater than 8. Only take off if it's greater than 8!

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

6.2.4 Wind Direction Confirmation

• Observe wind direction:

  • Observe wind indicators such as smoke, windsocks, etc.

  • Throw light objects (like grass leaves) into the air and observe their direction of movement.

• Determine takeoff direction into the wind:

  • Taking off into the wind provides more lift and reduces the required takeoff speed.

  • Taking off downwind may cause stalling or the nose being pushed down by the wind, which can easily lead to a crash.

6.3 Flight Testing

6.3.1 VTOL Flight Test

• Set the three flight modes to QSTABILIZE, QHOVER, QLOITER

Important

Note: For multirotor control, visual line-of-sight flight is recommended during testing

• Test procedure: Take off in QSTABILIZE mode → test if control responses are correct → switch to QHOVER → hover at mid throttle for one to two minutes → throttle auto-learning → land in QHOVER → power cycle the flight controller → take off in QSTABILIZE mode → hover with throttle at mid position → switch to QLOITER → test altitude and position hold → land in QLOITER mode .

  • Take off with low throttle in QSTABILIZE mode, test control surface responses. If responses are incorrect, recheck transmitter calibration, channel mixing configuration, ESC and motor checks.

  • If flight is stable in QSTABILIZE mode, switch to QHOVER, control the throttle stick at 50%, the aircraft will maintain altitude and position hold;

  • In QHOVER mode, the flight controller will perform throttle auto-learning. Land in QHOVER mode, disconnect all power and restart the flight controller. After changing the battery, take off again, switch back to QSTABILIZE mode, and controlling the throttle at 50% will also achieve a hover effect;

  • Switch to QLOITER, control the throttle at 50%, test the altitude and position hold effect. After the aircraft begins hovering, position and altitude variations should be within a 1-meter radius or smaller.

Important

When flight feel is not good in QSTABILIZE mode, you can perform automatic multi-axis tuning through Q_AUTOTUNE mode.

Operation reference: https://ardupilot.org/plane/docs/qautotune-mode.html

Tuning process explanation: https://ardupilot.org/plane/docs/quadplane-vtol-tuning-process.html#quadplane-vtol-tuning-process

6.3.2 Fixed-wing Flight Test

Set the three flight modes to ACRO, STABILIZE, AUTOTUNE

Important

Note: For fixed-wing control, FPV perspective flight is recommended

Test procedure: Take off in ACRO mode → switch to STABILIZE → test if the aircraft can fly relatively stably → adjust PTCH_TRIM_DEG → perform Servo Autotrim → switch to AUTOTUNE → automatic tuning is complete → switch to STABILIZE → evaluate flight feel → land and disarm → power cycle the flight controller.

• Take off in ACRO mode, the flight controller will automatically compensate for wind to prevent the aircraft from rolling over and ensure sufficient control surface authority.

• Then switch to STABILIZE mode, do not operate the transmitter, and observe if the aircraft can fly level for a period. If the aircraft dives or climbs, you need to recalibrate the level to match the aircraft's angle of attack.

Important

It is recommended to adjust PTCH_TRIM_DEG and perform Servo Autotrim to improve level flight experience. For complete fixed-wing tuning, please refer to the fixed-wing tutorial:

• If there are no issues, switch to AUTOTUNE to perform automatic tuning.

• If the aircraft attitude changes significantly in STABILIZE mode, check the tilting servos, control surfaces (in STABILIZE mode), and level calibration.

• After automatic tuning is complete, switch back to STABILIZE mode to evaluate flight feel, then land.

Important

Automatic tuning tutorial: https://docs.corewing.com/plane/ardupilot/settings/fc/autotune.html

6.3.3 Transition Flight Test

Set the three flight modes to QSTABILIZE, QLOITER, FBWA

Important

Note:

1. Please confirm that individual VTOL and fixed-wing tests have no issues;

2. Before transitioning to fixed-wing, fly the aircraft to a height of more than 20 meters in VTOL mode, then perform the transition. During flight, pay attention to the transition control method, and during the transition process, keep the throttle at mid position.

• Test procedure: Vertical takeoff in QSTABILIZE/QLOITER mode → aircraft reaches altitude → aircraft faces into the wind, switch to FBWA → aircraft transitions to fixed-wing mode (feel the flight after transition) → switch to QSTABILIZE/QLOITER mode → aircraft transitions back to VTOL mode (feel the flight after transition) → land.

  • Take off in QLOITER, fly to sufficient altitude, then switch to FBWA while pushing the throttle to 70% to increase the thrust of the rear propulsion motor. At this point, the multirotor motors will begin to stop, and the aircraft will start flying forward. The rotor assistance and increased propulsion motor throttle will cause the aircraft to pitch up slightly; you need to gently push the elevator forward until the transition is complete. When the transition is complete, the aircraft will slightly pitch down, at which point you need to pull the elevator back to climb and evaluate if the flight after transition is smooth and without any abnormalities.

  • With an

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