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Posted by cass3825 | Sep 24, 2011 @ 05:29 PM | 23,439 Views
The VTOL code modifications have been ported to MultiWii V1.8 patch 2. There are two VTOL airframe definitions: VTOL_TAIL for your typical tricopter style airframe with tail yaw control, and VTOL_DUAL for individually tilting front motors for yaw control. I have only tested the VTOL_DUAL definition. Some control directions may be need to be changed based on your servo orientations.


EDIT: Code has been simplified, and a VTOL_QUADX model has been built.

EDIT2: Fixed some typos, slowed down raising of flaps.
Posted by cass3825 | May 14, 2011 @ 06:39 PM | 27,267 Views
Servo speed and stretching options added for all servo channels. Settings just below I2C speed selection. Servo pin assignments will need to be commented/uncommented depending on your pin usage.

EDIT: Revisions made based on first successful transition flights.
Posted by cass3825 | May 12, 2011 @ 11:29 AM | 22,959 Views
Servo pin assignments:

A0, A1: elevons/tailerons
A2: fan door
A3: retract
D8: yaw
D12: front motor tilt

The fan door, retract and front motor tilt servo signals are currently driven from the rx signal connected to pin 7. the front motor tilt servo has been stretched from 800us to 2133us to see if my crackpot timer manipulation will work.

Fingers crossed,

EDIT: Found a flaw in the timer manipulation, should be fixed now.
EDIT2 (actually around the 4th edit, but who's counting? LOL):Finally found the timer rollover issue.
Revising the revised revision: Reduced resolution to stretch servo from 500-2500uS.
Posted by cass3825 | Apr 20, 2011 @ 04:28 PM | 24,055 Views
fixed EEPROM read

revised sketch to not arm the motors if the copter is plugged while the tx switch is in the armed position. you must switch to disarm position then back to arm position in order to arm the motors.