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ArduPilot Y3 VTOL Parameter Tuning Guide

CoreWingAbout 15 minArduPilotArduPilotY3 垂起VTOL三旋翼倾转舵机垂起调参

I. Flight Principle Introduction

Vertical take-off and landing (VTOL) fixed-wing drones combine multirotor and fixed-wing technologies, using multirotor capabilities for vertical take-off 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 by control surfaces.

II. Equipment Preparation

Required Equipment:

1) Flight Controller (FC): CoreWing F405 WING V2/ SpeedyBee F405 WING APP/ SpeedyBee F405 WING MINI Any of these flight controllers are 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 module as an example.

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5) Motors: Using 2306 KV1250 motors, suitable for 中航电 ALTUS VTOL, for reference only.

6) ESCs: Using 45A ESCs, suitable for 中航电 ALTUS VTOL, for reference only.

7) Servos: Using 9g metal digital servos, suitable for 中航电 ALTUS VTOL, for reference only.

8) Battery: Using 4S1P 4000mah 21700 battery, suitable for 中航电 ALTUS VTOL, for reference only.

9) Propellers: Using 7-inch three-blade propellers, suitable for 中航电 ALTUS VTOL, 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.

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Important

For ground control station (GCS) installation, refer to: https://docs.corewing.com/plane/software/apsoftware/mp-version-install.html

Introduction to common functions and pages of Mission Planner: https://docs.corewing.com/plane/software/apsoftware/common-functions.html

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

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

III. Initial Setup

3.1 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 stable flight!

  • Connect the flight controller to the ground control station using a USB cable.
  • Click Initial Setup.
  • Click Accelerometer Calibration.
  • Click Calibrate Accelerometer.

Important

After completing the operation, disconnect the ground control station and all power to the flight controller, then reconnect the ground control station.

Important

During use, if there are significant temperature or climate changes, 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 the All Parameters table.
  • Search for Q_ENABLE.
  • Set the value of Q_ENABLE to 1.

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Important

Restart the flight controller after writing parameters!!!

Modify Aircraft Type:

  • Go to the Config/Tuning page.
  • Go to the All Parameters table.
  • Search for Q_FRAME.
  • Set the value of Q_FRAME_CLASS to 7, and Q_FRAME_TYPE to 1.
ParameterValueDescription
Q_FRAME_CLASS7Tricopter (Tri), suitable for aircraft with three VTOL motors.
Q_FRAME_TYPE1X configuration

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Enable Tilt Parameters

  • Go to the Config/Tuning page.
  • Go to the All Parameters table.
  • Search for Q_TILT_ENABLE.
  • Set the value of Q_TILT_ENABLE to 1.

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Important

Restart the flight controller after writing parameters!!!

Configure Tilt Parameters

  • Go to the Config/Tuning page.
  • Go to the All Parameters table.
  • Search for Q_TILT.
  • Set the value of Q_TILT_TYPE to 2, and Q_TILT_MASK to 3.
ParameterValueDescription
Q_TILT_TYPE20: Off 1: Single tilt 2: Vector control tilt Change to 2
Q_TILT_MASK3Motors for tilting, special code format Change to 3

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3.3 Transmitter Setup and Flight Mode Configuration

Important

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

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3.3.1 Arm Channel Setup

1. Transmitter Setup

  • Select a two-position switch
  • Navigate to the MDL/MIXES page and configure its mixing as CH5

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2. Ground Control Station Setup

  • Go to Config/Tuning
  • Go to All Parameters table
  • Search for RC5_OPTION
  • Set the value of RC5_OPTION to 153
  • Click Write Parameters

image.png

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 Setup

1. Transmitter Setup

  • Select a two-position switch
  • Navigate to the MDL/MIXES page and configure its mixing as CH6 (for reference only)

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2. Enable Return-to-Home Switch Setup

  • Go to Config/Tuning
  • Go to All Parameters table
  • Search for RC6_OPTION
  • Set the value of RC6_OPTION to 4
  • Click Write Parameters

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3.3.3 Flight Mode Setup

1. Transmitter Setup

  • Select a three-position switch, set as three-position flight mode switch
  • Navigate to the MDL/MIXES page and configure its mixing as CH8

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2. Ground Control Station Setup

Flight Mode Channel Setup:

  • Go to Config/Tuning
  • Go to All Parameters table
  • Search for FLTMODE_CH
  • Set the value of FLTMODE_CH to 8
  • Click Write Parameters

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Important

[How to set six-position flight mode switch:](https://docs.corewing.com/plane/ardupilot-tuning-guide/common-firmware-settings/transmitter-and-receiver-settings/
how-to-set-a-six-position-switch-for-flight-modes-in-edgetx-system.html) https://docs.corewing.com/plane/ardupilot/settings/rc/sixpos-switch.html

Flight Mode Setup:

  • Go to Initial Setup
  • Go to Flight Modes
  • Set the flight modes according to the diagram
  • Click Save Modes

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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 PITCH reverse option.

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Important

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

IV. Equipment Installation

4.1 Flight Controller Wiring

  • Power Wiring

Important

Note:

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

  2. ESC refers to the Electronic Speed Controller.

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

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4.2 Flight Controller Installation

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

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Important

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

4.3 Peripheral Installation and Setup

  • Peripheral Wiring

    image.png

4.3.1 Receiver Installation and Setup

Install as shown in the figure, route the antenna outside the airframe and secure it with tape:

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

Important

The flight controller has its own BEC. If the ESC also has a BEC, you must remove the middle power wire and insulate it to prevent it from contacting a conductor during flight, which could cause a short circuit.

Output Wiring:

Parameter Settings:

Important

The AP firmware references the multirotor Y-3 motor definition. Note that the front left motor is MOTOR 2, the front right motor is MOTOR 1, and the rear motor is MOTOR 4.

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  • Enter initial setup
  • Enter Servo Output
  • Set output
ChannelOutputDescription
S1AileronLeft aileron
S2AileronRight aileron
S3VTailLeftLeft V-tail servo
S4VTailRightRight V-tail servo
S5Motor2Front left motor
S6Motor1Front right motor
S7Motor4Rear motor
S8TiltMotorFrontLeftLeft tilt servo
S9TiltMotorFrontRightRight tilt servo

image.png

Important

Note:

  1. The minimum and mid-point values for the throttle should be consistent. When the output is changed in the ground control station, the throttle mid-point value may not be updated automatically, so please check it carefully.

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

Tilt Servo Check:

Important

Switch the flight mode to QSTABILIZE and connect the battery power supply;

In VTOL mode, the tilt servos should be at 90 degrees vertical, as shown:

Important

When one servo is vertical and the other is horizontal, simply check Reverse for the channel corresponding to the incorrect tilt servo.

Important

1. Adjust according to the actual situation. Not every aircraft will have the left tilt servo PWM value at a low position in multirotor mode.
2. Precisely control the servo position or angle by adjusting the maximum and minimum duty cycle values of the PWM signal in different modes.
3. When adjusting min/max values, the ground control station may display a warning about exceeding limits. Click OK to proceed.

If not, adjust the min value for channel 8 and the max value for channel 9, as shown:
image.png

Important

Switch the flight mode to Manual;

In fixed-wing mode, the tilt servos should be 180 degrees horizontal, as shown below:

If not, adjust the max value for channel 8 and the min value for channel 9, as shown:
image.png
Surface Control Check:
a. In stabilize mode, surface control feedback check

Important

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

    b. In manual mode, surface control feedback check

    Important

    Switch the flight mode to ACRO

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

Check stabilize mode feedback first, then check manual mode feedback. If stabilize mode feedback is incorrect, check Reverse for the incorrect surface control channel.
image.png

Important

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

Important

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

4.3.3 GPS Module Installation

Install as shown in the figure. Secure the module to the bottom with 3M adhesive ensure the module is installed securely, otherwise it will significantly affect flight performance:
image.png

Important

  1. Install away from metal components, such as magnetic compartment covers, metal pull rods, etc., as this will interfere with the compass.
  2. Install away from the receiver, servo wires, motors, and other equipment, as this will interfere with the compass.
  3. Confirm that 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 Setup

  • Analog Video Transmitter Installation:
    image.png
  • Analog Video Transmitter Parameter Settings:
    image.png

image.png

Important

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

  • HD Video Transmitter Installation:
    image.png
  • HD Video Transmitter Parameter Settings:
    image.png

image.png

Important

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

OSD Settings:

:::

4.3.5 Airspeed Sensor Installation and Setup

Airspeed sensor installation location reference:
image.png

Important

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

Five, Pre-flight Debugging

5.1 VTOL Parameter Settings

Important

The following parameters are based on firmware version 4.5.7. Parameters may vary with different firmware versions.

Tilt-related Parameters:

ParameterValueDescription
Q_TILT_YAW_ANGLE10Vector angle for multirotor mode, 10=10 degrees. Maximum tilt angle of the motor when applying rudder input. Generally set to avoid propellers hitting the fuselage.
Q_TILT_FIX_ANGLE10Vector angle for fixed-wing mode, 10=10 degrees. When enabled, tilt servos participate in vector control when applying aileron and elevator inputs.
Q_TILT_FIX_GAIN0.6Fixed-wing vector sensitivity, 0=Off, 0.6=60%, 1=100%
Q_TILT_MAX70Tilt servo waits for airspeed at this angle=70 degrees
Q_TILT_RATE_DN25Angular velocity for tilting down when transitioning from multirotor to fixed-wing, 25 degrees per second
Q_TILT_RATE_UP80Angular velocity for tilting up when transitioning from fixed-wing to multirotor, 80 degrees per second

Transition-related Parameters:

ParameterValueDescription
Q_ASSIST_ANGLE65Multirotor assistance will activate when exceeding this angle (part of stall protection. Aircraft will automatically switch to multirotor if angle is too high).
Q_ASSIST_SPEED9-10Multirotor assistance will activate when speed is below this value (set to minimum airspeed+1 T-1. Usually set to 10. Part of stall protection. Aircraft will switch to multirotor if speed is too low).
Q_TRANSITION_MS2000Time for multirotor assistance after switching to airplane mode, 1k=1 second, or maximum deceleration time when switching back to multirotor.
Q_TRAN_PIT_MAX5Allowed horizontal oscillation angle during transition (unit: degrees). Smaller values result in smoother transitions but require higher performance from tilt servos and motors).
Q_TRANS_DECEL3Deceleration rate in M/s to prevent excessive speed when switching back to multirotor. Too high a speed when switching to multirotor hover mode can cause the aircraft to break apart.

Multirotor-related Parameters:

Important

Modify according to your aircraft's actual configuration:

ParameterValueDescription
Q_PILOT_ACCEL_Z2.5Vertical acceleration, default 2.5 m/s. For smaller aircraft, use a lower value.
Q_PILOT_SPD_DN0Maximum vertical speed during descent, in m/s. If set to 0, Q_PILOT_SPD_UP value will be used.
Q_PILOT_SPD_UP2.5Maximum climb speed during ascent, in m/s.
Q_ANGLE_MAX3500Maximum tilt angle in multirotor mode, default 3000=30 degrees. For smaller aircraft, a higher value can be used to counter headwind.
Q_LOIT_BRK_DELAY1Braking delay time after transitioning from fixed-wing to tilt, in seconds. Too short can be startling, too long increases braking distance.
Q_M_SPIN_MAX1Maximum throttle in multirotor mode, 1=100%. For smaller aircraft that don't consume much power, a higher value can be used.
Q_M_SPIN_MIN0.15Idle throttle in multirotor mode, 0.15=15%
Q_VFWD_GAIN0.05Use tilt servos to accelerate or counter strong wind in multirotor QLoiter mode, default 0=Off, 0.05=On.
Q_VFWD_ALT2Disable tilt boost assistance below this altitude. Cannot switch to fixed-wing below this height.
Q_WP_SPEED_DN150Maximum descent rate during missions, in cm/s.
Q_WP_SPEED_UP200Maximum climb rate during missions, in cm/s.
Q_M_SLEW_DN_TIME0Limits throttle deceleration rate. Usually 0. Add some if power response is too aggressive.
Q_M_SLEW_UP_TIME0Limits throttle acceleration rate. Usually 0. Add some if power response is too aggressive.
INITIAL_MODE17Flight controller starts in QSTABLIZE mode on power-up to prevent fixed-wing mode activation on ground with propellers attached.
Q_OPTION1024Enable motor tilt for yaw control during arming, applicable for aircraft that tend to spin.

VTOL Return-to-Home Parameters:

ParameterValueDescription
Q_WP_SPEED_DN150First stage landing speed, in cm/s
Q_LAND_FINAL_SPD0.5Second stage landing speed, in m/s
Q_LAND_FINAL_ALT3Second stage landing height, in meters
Q_RTL_ALT100Multirotor return-to-home altitude, in meters (consider obstacles at current altitude)
Q_RTL_MODE2Enable hybrid return-to-home mode (=2)
RTL_ALTITUDE-1Fixed-wing return-to-home altitude, in meters. If set to -1, maintain current altitude for return. If set to a value, aircraft will slowly climb or descend to that altitude for return.

Q_RTL_MODE Explanation:

Q_RTL_MODE = 2 ✅ Recommended

Important

Meaning: The aircraft will fly to the return point at the altitude set by RTL_ALTITUDE, then perform a spiral descent around the radius specified by Q_FW_LND_APR_RAD (default is 0, if 0 then use WP_LOITER_RAD, recommended setting is 50~60m), until descending to the altitude specified by Q_RTL_ALT, then switch to QRTL mode for landing.

Advantages:

  • Aircraft maintains cruise state during return, reducing multirotor flight time;
  • Gradual spiral descent in fixed-wing mode before landing

6. Flight Test

6.1 Pre-flight Check Parameter Settings

  1. Enter Configuration/Tuning.
  2. Enter All Parameters Table.
  3. Search for ARMING_CHECK.
  4. Set the required Unlock Pre-flight Check Items.
    image.png

Important

How to set unlock pre-flight check parameters: 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 at 25-30% of the chord length from the leading edge of the main wing.
    image.png
    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 tail is too heavy, adjust the battery or add ballast.
    Nose Heavy (Center of Gravity Too Far Forward):
  • The aircraft will have difficulty pulling up during flight, which may lead to a crash.
  • Try moving the battery rearward or reducing nose ballast.
    Tail Heavy (Center of Gravity Too Far Back):
  • The aircraft is prone to stalling on the upstroke.
  • Solution: Move the battery forward or add nose ballast.

6.2.2 Pre-flight Control Surface Check

Important

Switch flight mode to ACRO

  • When the aileron stick is moved left, the response should be the left wing control surface moving up and the right wing control surface moving down.
  • When the aileron stick is moved right, the response should be the left wing control surface moving down and the right wing control surface moving up.
  • When the elevator stick is moved up, the response should be both V-tail control surfaces moving down simultaneously.
  • When the elevator stick is moved down, the response should be both V-tail control surfaces moving up simultaneously.
  • When the rudder stick is moved left, the response should be both V-tail control surfaces moving left simultaneously.
  • When the rudder stick is moved right, the response should be both V-tail control surfaces moving right simultaneously.

    Important

    Switch flight mode to FBWA

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

    Important

    In self-stabilization mode, if the rudder control on the transmitter is correct, the self-stabilization rudder response must also be correct. If the self-stabilization response is incorrect, please check the rudder response on the transmitter.

6.2.3 Satellite Number Check

Important

Outdoors, check if the satellite count is greater than 8. Greater than 8 satellites are required for takeoff!
If the satellite count consistently remains below 8, move to an open area. If there is no improvement, replace the GPS module.

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6.2.4 Wind Direction Confirmation

  • Observe wind direction:
    • Observe wind indicators such as smoke, windsocks.
    • Throw light objects (like grass leaves) into the air and observe their drift direction.
  • Determine upwind takeoff direction:
    • Upwind takeoff provides greater lift and reduces takeoff speed requirements.
    • Downwind takeoff may cause stalling or the nose being pushed down by the wind, easily leading to a crash.

6.3 Flight Test

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 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 stick responses. If control responses are incorrect, recheck transmitter calibration and channel mixing configuration, ESC and motor checks.
    • If flight is stable in QSTABILIZE mode, switch the flight mode to QHOVER, control the throttle stick at 50%, the aircraft will maintain altitude and position hover.
    • 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 control the throttle at 50% to 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.

      Important

      When the flight feel is not good in Q_stabilize mode, you can perform multi-axis automatic 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 to test if the aircraft can fly relatively stably → switch to AUTOTUNE → automatic tuning complete → switch to STABILIZE → feel the aircraft's handling → land and disarm → power cycle 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 deflection.
  • 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, recalibrate the level to match the aircraft's angle of attack.

    Important

    It is recommended to perform Servo Autotrim to improve level flight experience: https://docs.corewing.com/plane/ardupilot/settings/fc/servo-autotrim.html

  • If there are no issues, switch to AUTOTUNE for 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, feel the flight handling, then land.

    Important

    Automatic tuning: 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. 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 operation method, and during the transition, keep the throttle at mid position.
  • Test procedure: Vertical takeoff 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, fly to sufficient altitude, then switch to FBWA. At this point, the tilting servos 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 tilting servos will tilt to a certain angle and wait for airspeed to reach the required value, then the motors will become completely horizontal, transitioning to fixed-wing mode.
    • No airspeed sensor: The tilting servos will transition to horizontal state within 2-3 seconds, after which the aircraft will transition to fixed-wing mode and perform a slight dive to increase airspeed, enhance wing lift, and prevent stalling.
    • Switch the flight mode from FBWA back to QLOITER, at which point the tilting motors will quickly transition from horizontal to vertical state. During the transition, the aircraft may glide for a short distance. 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 mode, switch back to QSTABILIZE mode. The tilting servos will quickly return to vertical state, land immediately. Perform tilting servo checks, control surface checks (in STABILIZE mode), and level calibration checks based on the above test content.

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