Chapter 6: VTOL Takeoff, Transition, and Fixed-Wing Testing
.VTOL Takeoff Test
8.1 Multirotor Feedback Logic Check
Wait until the flight controller completes its self-test and displays EKF3 active, then arm normally and perform the test.
8.1.1 Radio Transmitter Output Check in Q_stabilize Mode
(Raise the throttle slightly so all three motors are turning, then apply small stick inputs to command the flight controller.)
Push the pitch stick forward: the rear motor speed increases.
Pull the pitch stick back: the front-left and front-right motor speeds increase.
Command left roll: the right motor speed increases.
Command right roll: the left motor speed increases.
8.1.2 Stabilization Feedback Check in Q_stabilize Mode
(Raise the throttle slightly so all three motors are turning, then manually change the aircraft attitude.)
When the aircraft pitches nose-up, the rear motor speed increases.
When the aircraft pitches nose-down, the front-left and front-right motor speeds increase.
When the aircraft rolls left, the front-left motor speed increases.
When the aircraft rolls right, the front-right motor speed increases.
(If motor feedback is incorrect, verify that the motor signal leads are connected to the correct outputs.)
8.2 Q_ AUTOTUNE
If handling is unsatisfactory in Qstabilize mode, use QAUTOTUNE mode to perform automatic multirotor configuration and tuning.
Refer to the applicable QAUTOTUNE procedure. This guide uses the Assassin T1 as an example; adjust the flight controller parameters for other aircraft as required.
8.4 Fixed-Wing Test (Important)
4. Output Settings
8. Maiden Flight Test and Post-Flight Tuning (Important)
9. Configuration and Tuning Complete
Important: Before takeoff, check aircraft weight, center of gravity, and battery level. After power-up, verify correct mode switching, rotor feedback, and sufficient satellite reception for safe flight.
Before testing VTOL transition flight, test multirotor mode and fixed-wing mode separately. Perform transition testing only after both modes have passed their individual tests.
After VTOL mode is enabled, the power-on self-test may report AHRS: not using configured AHRS type. This occurs while the GPS solution is not yet stable. Wait until the OSD or message display reports EKF3 ACTIVE before takeoff.
10. Transition Test
After both fixed-wing and multirotor operation have been verified, test mode transitions. Always take off and land into the wind during testing.
Procedure:
10.1 Climb to 20m in Q_stabilize mode. Adjust for the site's safe operating altitude and retain additional altitude as a safety margin.
10.2 Switch to FBWA mode and confirm that the aircraft flies forward. If it cannot maintain balanced, straight flight, select FBWA or Q_stabilize as appropriate to recover the aircraft, then land and adjust the relevant parameters.
10.3 After sufficient forward airspeed has been established, as indicated by the OSD, switch to FBWA mode and observe aircraft behavior. If a problem occurs, select FBWA or Q_stabilize as appropriate to recover the aircraft, then land and adjust the relevant parameters.
10.4 During the fixed-wing return, allow sufficient distance, maintain a straight heading, and switch to Q_stabilize mode. If a stable landing cannot be achieved, perform a fixed-wing go-around and attempt the landing again. Adjust the relevant parameters after landing.