2024.7

By 김민준

1. PX4 Firmware update - v1.14.3

   1. Note we will use v1.15.0-rc1 from 2024.08.05. Need to flash firmware manually. Refer to PX4 build instructions in: Offboard Code, with Setup Guide (JKP, WIP)

2. Airframe - Generic Quadplane VTOL Tiltrotor

   

3. Parameter SENS_EN_MS4525DO - Enabled (For MS4525DO Aspd Sensor)

   1. Note. Not setting this will lead to the Aspd sensor not being deteted

1. Sensor Calibration

   1. Compass, Gyro, Accel, Level Horizon, Aspd

2. Radio Calibration

   1. Switches, Channels, etc

3. Flight Modes Setup

   1. Arm, Disarm

   2. Killswitch

   3. Mode Switch

      1. Stabilized, Position, Offboard

   4. VTOL Transition Switch

      

4. Power

   1. Cell No. - 6

   2. Empty volts/cell - 3.3v

   3. Vull volts/cell - 4.2

   4. ESC Calibration

      

5. Actuators - Enable Advanced Options on top right

   1. Motor 1-4

      1. Check X Y Z positions, CC & CCW

         1. Note. Misconfigured X Y position will lead to reversed controls
         2. Note. Not setting Z position will not allow the plane to have pitch control
         3. Note. Misconfiguring CCW Direction will not allow the plane to have Yaw Control

         

      2. Check Control Surfaces

         

      3. Check tilt Servos.

         

      4. PWM AUX - AUX1-4 is motors 1-4

         

      5. PWM Main - Main 1-4 is control surfaces. Main 5-8 is Tilt Servos. Ensure Main 5 is Motor 1, Main 6 is Motor 2, Main 7 is Motor 3, Main 8 is Motor 4

         1. Note. If Motor 1 & Tilt Servo 1 is not ‘linked’ correctly, the plane will not have yaw control

         

      6. Entire Actuator Setting + PWM Aux

         

      7. Entire Actuator Setting + PWM Main

         

      8. If servo direction is reversed, find parameters shown below and reverse

         

         

6. Safety

   1. Battery failsafe at return at critical, land at emergency

      

   2. RC Loss failsafe at return, 0.5s. Data loss at 10s, return mode

      

7. VTOL Transition settings

   1. Transition Settings

      1. VT_ARSP_BLEND - Airspeed setting to start ‘blending’ or tilting motor at 45 deg angle to get enough lift from airfoils. For ours it’s ~50kph

      2. VT_ARSP_TRANS - Full transition to Fixed wing mode - When vehicle Aspd reaches the set speed the vehicle transitions to fixed wing. For ours it’s ~60kph

         

   2. Back Transition Settings

      1. VT_B_DEC_FF, VT_B_DEC_I, VT_B_DEC_MSS sets expected deceleration to calculate position & speed to safetly transition to MPC mode. Default settings work fine.

      2. VT_B_TRANS_DUR - Sets Backtransition duration of ‘gliding’ where motors are off. Set this longer for longer glide duration, shorter for shorter glide duration. Current setting is at 5

         

8. Offboard Params

   1. Param MAV_0_CONFIG as Disabled - May interfere with Serial Comms for Offboard Mode

      

   2. Param UXRCE_DDS_CFG as TELEM2 - Allows for serial comms with Offboard Computer