How to correctly set up tilting servos in INAV for your VTOL Plane скачать в хорошем качестве

How to correctly set up tilting servos in INAV for your VTOL Plane

DIFF Files and Parts Links: ================================================ The video shows how to do the setup specifically for the T2 Cruza, but this same principles can be applied to any VTOL plane with tilting motors. Here is the link to my DIFF file for INAV: https://drive.google.com/drive/folder... You can also find my O3 Gimbal Nose Part on Thingiverse here: https://www.thingiverse.com/thing:686... The INAV VTOL Wiki page should be updated with my latest suggestions soon, where you will be able to find a more general setup procedure. Setup Steps: 1. Set the tilt servos at 45 degrees: Connect and power the tilting servos with your flight controller. Enter transition mode (your switch should be in the mid-position). Check from the Outputs tab output that the tilt servo channels are exactly at 1500μs. In this mode, your tilt servos should be at the 45-degree position and you can now mount the motor and prop to your tilt servo such that the angle of the motor mounting plate is at 45 degrees upwards. If the servos don't end up exactly at 45 degrees due to the teeth on the servo and the control arm/plate, don't worry, this will be automatically adjusted after completing the other steps below. 2. Switch to Multicopter/Tricopter: Assuming that you have set up your mixer accroding to the INAV VTOL.md, you can now switch to the tricopter/multicopter mode and your servos should be tilting the motors upwards. If this is not the case, reverse the servo(s) in the Outputs tab such that the servo(s) is/are pointed upwards. It is OK for the servos not to point exactly 90 degrees upwards, but they should be as close as possible to that position. Also, ensure that your MAX values in the Mixer tab are at 100 and -100, so that your servo will move to the maximum position, as shown in the screenshots in STEP1 and STEP2. 3. Adjust the maximum throws for the Multicopter/Tricopter mode: While in tricopter mode, go to the Outputs tab and adjust the endpoints MIN and MAX values such that when your motors are pointed slightly backwards. Rotate the prop such that it is pointed backwards towards the wing/motor mount and ensure that the gap is the same on both sides by adjusting the MIN and MAX values for the tilt servo channels. You can adjust the MIN and MAX for your tilting servos such that the props are just touching the top of the wing or motor mount, and then you can increase/degrease the MIN and MAX values for each channel by the same ammount for both servos to obtain the same gap. 4. Adjust the minimum position for the Fixed-wing mode:* Repeat the same step as point 3 with the model in fixed-wing mode, where the servos are tilted forwards. For this step, you just have to make sure that the motors are pointed exactly forwards. You can do this by adjusting the respective MIN and MAX values in the Output tab for the tilt servo channels while in fixed-wing mode. As the T2 VTOL kit is using dedicated tilting servos, you can measure the distance between the front edge of the tilting servo and the of the motor mounting plate and make sure that it is uniform. 5. Adjsut the vertival position of the tilt servos: Switch back to multicopter/tricopter mode and open the Mixer tab. Start adjusting the `MAX` mixer lines from STEP2 such that the servos are pointed exactly upwards. In other words, start reducing the values of 100 and -100 to something like 80 and -80 until the motors are are pointed exaxctly upwards. Move the YAW stick to either extreme position and ensure that the servos are tilting the motors such that when yawing fully left, the left motor is tilting backwards and the right motor is tilting forwards. 6. Adjsut the throws of the tilt servos: The final step is to adjust the throws of the servos such that they are the same in both directions. To do this, move back to the Mixer tab while in multicopter/tricopter mode and start adjusting the previously set up 50 and -50 values from the Stabilised Yaw lines. You can try with lower values of about 30 and -30 and then increase the values until you reach the maximum travel point. The maximum is reached when both servos are moving the same ammount in oposite directions and one servo does not continue to move after the other has stopped. 7. Check correct operation and direction: Cycle back and forth between the plane, transition and tricopter modes to make sure that your servos are maintaining the same setting. For the fixed wing setting, your tilt servos should point the motors exactly forwards. For the multicoper/tricopter mode, the tilt servos should point the motors exactly upwards and when moving the yaw stick, both servos should tilt the motors the same ammount in opposite directions. Final words: ================================================ If you have any questions or problems, leave them in the comments below. Hope you enjoyed the video!. 00:00 Part 1 17:30 Part 2