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 12, 2011 @ 12:29 PM | 8,056 Views
Servo pin assignments:
A0, A1: elevons/tailerons
A2: fan door
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.
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.