Chapter 3: VTOL Configuration

3. VTOL Configuration

3.1 Preliminary VTOL Configuration

Open the Full Parameter Tree, search for Q_ENABLE, and set Q_ENABLE =1.

Enable VTOL support by setting this parameter to 1. The default value is 0 (disabled). VTOL parameters become available only after this setting is enabled.

The ground station will prompt you to reload the parameters. Fully power-cycle the flight controller, reconnect the ground station, and continue the configuration.

QFRAMECLASS=7

Multicopter frame class: Y3=7

QFRAMETYPE=1

Set the frame type to X, normally =1.

QTILTENABLE=1

Enable tilt support by setting this parameter to 1. The MASK and TYPE parameters below are unavailable unless tilt support is enabled.

The ground station will prompt you to reload the parameters. Fully power-cycle the flight controller, reconnect the ground station, and continue the configuration.

QTILTTYPE=2

Select thrust-vectoring control: 0 = disabled, 1 = single tilt, 2 = vectored-thrust tilt. Set the value to 2.

QTILTMASK=3

This bitmask identifies the tilting motors. Set the value to 3.

3.2 Flight Mode Configuration

Open Flight Mode configuration and select the required modes from the drop-down menus according to your operating preferences. For initial testing, we recommend configuring Q_stabilize, which provides multicopter-style attitude stabilization, and FBWA, which provides fixed-wing stabilization.

By default, flight-mode selection uses channel 8. If you use a three-position switch, set Flight Mode 1 and Flight Mode 2 to the same mode. The following configuration is an example for reference only.

When finished, click Complete to save the flight-mode settings.

For control with a six-position switch, refer to the following link: https://doc.aeroeggtech.com/en/books/aet-h743-basic-ardupilot/page/aet-h743-ardupilot