Assassin T1(PNP) VTOL Quick Start Guide - ArduPilot

Assassin T1 Recommended Parameters

CoreWing F405 WING V2 Parameters:

HEEWING T1_Y3 VTOL Parameters
CoreWing_F405_WING_V2.param

SpeedyBee F405 WING APP Parameters:
HEEWING T1_Y3 VTOL ParametersSpeedyBee_F405_WING_APP_MINI.param

SpeedyBee F405 WING MINI Parameters:
HEEWING T1_Y3 VTOL ParametersSpeedyBee_F405_WING_APP_MINI.param

Mission Planner Ground Control Station Introduction: Click to jump to link

Firmware Flashing Tutorial (This article uses AP4.5.7 firmware): Click to jump to link

✳Follow the assembly tutorial below for optimal parameter usage

I. Basic Principles of VTOL Fixed-Wing Aircraft

VTOL fixed-wing aircraft combines multirotor and fixed-wing technology, using multirotor capabilities for vertical takeoff and landing, 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 through control surfaces.

II. Pre-assembly Preparation

1. Recommended PNP Kit and Battery:

Using Gens Ace Tattu 4S 2200mAh 45C batteries is recommended, as they won't cause the canopy to protrude, ensuring optimal aerodynamic performance of the aircraft.

2. Electronic Equipment Installation:

The Assassin T1 flight controller parameters are configured and tested based on the following equipment installation. Essential equipment determines the actual performance of the recommended parameters.

A. Essential Equipment:

Flight Controller (FC): CoreWing F405 WING V2 / SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI

Compass: Beizheng BZ-251GPS M10 Compass 5883

Receiver: SpeedyBee Nano 2.4G ELRS Receiver

Airspeed Sensor: Digital Airspeed Sensor

B. Optional Equipment:

Analog VTX:

VTX Module: SpeedyBee TX ULTRA 1.6W

Camera: RunCam Phoenix 2 Nano

HD VTX: DJI O4 AIR UNIT

2.1 Accelerometer Calibration

Important

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

• 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 gyro sustains severe impacts, or sensors are replaced, the accelerometer needs to be recalibrated!

Important

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

2.2 Import Parameters

A. Enable VTOL Parameters

• Click Configuration and Debugging

• Click All Parameters Table

• Search for Q_ENABLE

• Set the value of Q_ENABLE to 1

• Click Write Parameters (click twice, a popup will confirm 'Saved')

Important

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

B. Import Parameters

• Click Compare Parameters

• Select Parameter File

• Click Open

• Click continue

• If prompted, click OK or yes

• Click Write Parameters and wait for the 'Saved' popup confirmation

• Repeat until there are no parameter differences in Param Compare

Important

After each operation, disconnect the GCS and all power to the flight controller, then reconnect the GCS and return to step 1 to repeat until there are no parameter differences in the parameter comparison interface.

2.3 PNP Kit Inspection and Wooden Board Installation Position

A. Check if the kit is damaged and if all components are securely installed.

B. Switch the servo tester to the neutral position and check if the wing surfaces are level. If not, adjust the pushrods. Connect the tilt servo and switch to Auto mode or manually adjust the knob to test if the tilt servo operates smoothly.

Important

Note: When testing servos, do not turn them to maximum angle as this can damage the servos.

A servo tester can be replaced with a PWM receiver if not available.

C. Categorize and label wiring for easier installation, as shown in the image:

III. Equipment Installation

After completing the assembly of the PNP kit, proceed with the following steps:

3.1 Flight Controller Wiring

Flight controller power wiring is shown in the figure:

Flight controller to peripheral device wiring is shown in the figure:

3.2 Flight Controller Installation

The flight controller should be installed at the aircraft's center of gravity and the center position of the three motors. Install as shown in the figure below.

SERVO OUTPUT parameter settings are shown in the figure:

Flight controller pin header wiring is shown in the figure:

The ailerons in the PNP kit are connected using Y-cables.

Important

The diagram is for demonstration purposes only. Do not install propellers at this step!

3.3 Receiver Installation

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

3.4 GPS Module Installation

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

Important

1. Install away from metal objects such as magnetic compartment covers, metal control rods, etc., as this will interfere with the compass.
2. Install away from devices such as receivers, servo wires, motors, etc., as this will interfere with the compass.
3. Ensure the installation is secure.
4. For detailed installation procedures of different modules, please refer to their respective instruction manuals.

3.5 VTX and Camera Installation

The VTX and camera can be installed after confirming no issues during flight testing.

VTX installation position, secured with 3M adhesive, as shown in the figure:

3.6 Pitot Tube Installation

You can refer to the following pitot tube installation position for installation. Secure the bottom with 3M adhesive, then use black tape (to reduce UV light entry affecting pitot tube accuracy) for additional securing. It is best to place the pitot tube inside the cabin for better performance:

3.7 RC Transmitter Calibration and Channel Mixing Configuration

Important

Refer to this article: https://docs.corewing.com/plane/ardupilot/settings/fc/calibration.html

IV. Flight Mode Introduction

The following content will use seven flight modes: ACRO, Manual, STABILIZE, FBWA, QSTABILIZE, QLOITER, QHOVER.

Important

For detailed explanations of flight modes, refer to: https://docs.corewing.com/plane/ardupilot/settings/fc/flight-modes.html

V. Aircraft Tuning

After installing the electrical equipment, proceed with aircraft tuning:

5.1 VTOL Mode Check

Set the three flight modes to QSTABILIZE, STABILIZE, Manual

5.1.1 Tilt Servo Check

Important

Do not install propellers during testing!

Switch the flight mode to QSTABILIZE, connect the battery for power;

In VTOL state, the tilt servo should be at 90 degrees vertical, as shown in the figure:

If not, adjust the min value of channel 3 and the max value of channel 4, as shown in the figure:

Switch the flight mode to Manual ;

In fixed-wing state, the tilt servo should be at 180 degrees horizontal, as shown in the figure below:

If not, adjust the max value of channel 3 and the min value of channel 4, as shown in the figure:

5.1.2 ESC Calibration

Important

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

①Click Flight Data → Click Actions → Click Arm/Disarm → Click Force Arm.

②Immediately push the throttle to the maximum.

③Power the flight controller with the battery.

④The ESC will sound a tone → immediately push the throttle to the minimum → the ESC tone will end.

BLHeli32/BLHeli_S ESC Calibration Sounds:

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

PWM ESC Calibration Sounds:

Connect the battery and wait 2 seconds → "beep-beep" is the throttle maximum confirmation tone → push the throttle to minimum and wait 1 second, N beeps indicate the number of LiPo cells → "beep" is the throttle minimum confirmation tone → calibration complete.

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

⑥If the result differs from the above, disconnect the battery and return to step ② to 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

5.1.3 Motor Direction Check

Important

Note: Do not install propellers during testing!

Force arm the aircraft and check the direction of each motor.

Gently push the throttle, the correct motor directions are: left motor clockwise, right motor counterclockwise, tail motor counterclockwise == (PNP default factory configuration has this direction) ==, as shown in the figure below, you can gently touch the motors to feel the direction:

5.1.4 RC Transmitter Output Check

Force arm → gently push the throttle until the motors just start → all motors are running → lightly move the sticks to give commands to the flight controller.

Important

Motor speed can be felt by applying tape or masking tape to the propellers.

• Push the pitch stick, tail motor speed increases;

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

• Roll left, front right motor speed increases;

• Roll right, front left motor speed increases;

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

5.1.5 Self-Stabilization Motor Feedback Check

Force arm → gently push the throttle until the motors just start → all motors are running → give the aircraft some attitude changes.

Important

Motor speed can be felt by applying tape or masking tape to the propellers.

• When the aircraft pitches up, tail motor speed increases;

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

• When the aircraft rolls left, front left motor speed increases;

• When the aircraft rolls right, front right motor speed increases;

If motor feedback does not match the above, check SERVO OUTPUT and pin header connections.

5.1.6 Propeller Installation

• Choose normal or reverse propellers based on motor direction.

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

== (PNP default factory configuration has this direction) ==

5.2 Fixed-Wing Check

Important

For control surface checks, refer to

Check in STABILIZE mode whether the control surface feedback is correct when giving the aircraft attitude changes, if not correct, check SERVO OUTPUT.

Check in Manual mode whether the control surface feedback is correct when using the RC transmitter, if not correct, check RC transmitter calibration.

5.3 Compass Calibration

• Enter Initial Setup.

• Click Compass.

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

• Check Use Compass 1.

• Click Start, begin compass calibration.

• Shake the aircraft to fill the progress bar.

• After the popup window appears, click OK.

• Click Reboot, the flight controller will restart automatically.

Important

Stay 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 when possible to avoid USB cable interference;

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

Important

For detailed information on compass calibration, refer to this article

5.4 Level Calibration

Important

After the flight controller is installed, a level attitude calibration is required to compensate for the gyroscope's mounting angle and determine the correct level flight attitude!

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

5.5 Pitot Tube Calibration

Important

For detailed information on how to calibrate an airspeed indicator, refer to this article

6. Field Testing

6.1 Pre-flight Self-test Parameter Settings

Important

For detailed information on how to set pre-flight self-test parameters, refer to this article

• After the aircraft has acquired satellites outdoors and the flight controller self-test passes, "EKF3 ACTIVE" will be displayed.

• Ensure that "EKF3 ACTIVE" is displayed in the message report before taking off. Do not take off if only "DCM ACTIVE" is shown! (You can check this via OSD or in the message section of the MP ground control station)

6.2 Pre-flight Checks

6.2.1 Center of Gravity Check

1. Reference aircraft markings:

• Many flying wing or fixed-wing aircraft bodies have the recommended center of gravity marked, typically at 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 nose is too heavy or the tail is too heavy, adjust the battery or add ballast.

Nose heavy (center of gravity too forward):

• The aircraft will have difficulty pulling up during flight, which may cause takeoff failure and a crash.

• Try moving the battery rearward or reducing nose ballast.

Tail heavy (center of gravity too aft):

• The aircraft is prone to stalling on the nose.

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

6.2.3 Satellite Count 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 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, flags.

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

• Determine the takeoff direction into the wind:

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

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

6.3 Flight Testing

6.3.1 VTOL Flight Test

• Set the three-position flight mode switch to QSTABILIZE, QHOVER, QLOITER

Important

Note: In VTOL mode, the control method is that of a multirotor. Visual flight is recommended during testing.

• Test procedure: Take off in QSTABILIZE mode → Test if control response is correct → Switch to QHOVER → Hover at mid-throttle for one to two minutes → Throttle auto-learning → Land in QHOVER → Power off and restart the flight controller → Take off in QSTABILIZE mode → Can hover with mid-throttle control → Switch to QLOITER → Test altitude-hold and position-hold hovering → Land in QLOITER mode.

  • Take off with low throttle in QSTABILIZE mode, test control response. If the control response is incorrect, return to 3.7 RC Transmitter Calibration and Channel Mixing Configuration and 5.1.2 ESC and Motor Check for re-inspection;

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

  • 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 hovering;

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

6.3.2 Fixed-wing Flight Test

Set the three-position flight mode switch to ACRO, STABILIZE, AUTOTUNE

Important

Note: In fixed-wing mode, the control method is that of a fixed-wing aircraft. FPV perspective flight is recommended.

Test procedure: Take off in ACRO mode → Switch to STABILIZE to test if the aircraft can fly relatively stably → Switch to AUTOTUNE → Auto-tuning completes → Switch to STABILIZE → Feel the aircraft's handling → Land and disarm → Power off and restart the flight controller.

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

• Then switch to STABILIZE mode, do not operate the transmitter, and check if the aircraft can fly level for a period. If there are no issues, switch to AUTOTUNE for auto-tuning.

• If the aircraft attitude changes significantly in STABILIZE mode, check the tilt servo, control surfaces (in STABILIZE mode), and perform a level calibration check.

• After auto-tuning is complete, switch back to STABILIZE mode, feel the flight handling, then land.

Important

For detailed information on auto-tuning, refer to

For detailed information on fixed-wing, refer to

6.3.3 Transition Flight Test

Set the three-position flight mode switch 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. Pay attention to the control method during flight and keep the throttle at mid-position during the transition.

• Test procedure: Take off vertically in QSTABILIZE/QLOITER mode → Aircraft reaches altitude → Switch to FBWA → Aircraft transitions to fixed-wing mode (feel the flight after transition) → Switch to QSTABILIZE/QLOITER mode → Aircraft transitions to VTOL mode (feel the flight after transition) → Land.

  • Take off in QLOITER, after reaching sufficient altitude, switch to FBWA. At this point, the tilt servo will tilt until the motors are completely horizontal, the aircraft completes the transition from VTOL mode to fixed-wing mode and begins forward flight. Pay attention to altitude control and feel if the flight after the transition is smooth without any abnormalities.

  • Airspeed sensor installed: The tilt servo will tilt to a certain angle and wait for the airspeed to reach the required value, then the motors will become completely horizontal and transition to fixed-wing mode.

  • No airspeed sensor installed: The tilt servo will transition to the horizontal state within 2-3 seconds. After transitioning to fixed-wing mode, the aircraft will perform a slight dive to increase airspeed, enhance wing lift, and prevent stalling.

  • Switch the flight mode from FBWA back to QLOITER. At this point, the tilt motors will quickly transition from horizontal to vertical. The aircraft may glide for a short period during the transition. After returning to VTOL mode, feel if the flight after the transition is smooth without any abnormalities, then land.

Important

If the aircraft attitude changes significantly during the transition to fixed-wing, switch back to QSTABILIZE mode. The tilt servo will quickly return to the vertical state, land immediately. Perform tilt servo inspection, control surface inspection (in STABILIZE mode), and level calibration check based on the above test content.

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