Future Wiki Changes (in Master branch now)

Output Mapping Page under QuadPlane Functions

Tilt Motor Rear 45 QuadPlane
Tilt Motor Rear Left 46 QuadPlane
Tilt Motor Rear Right 47 QuadPlane
  • change title of explanations from “Motor Tilt/ Tilt Motor Left/ Tilt Motor Right” to “Tilt Motor/ Tilt Motor Left/ Tilt Motor Right/ Tilt Motor Rear/ Tilt Motor Rear Left/ Tilt Motor Rear Right”


On Quadplane Flying Page:

Change to WARNING box:

This can be managed somewhat with manual throttle control when manually transitioning, but in AUTO mode, a VTOL to fixed wing transition is currently done with TKOFF_THR_MAX p on the forward motor until transition is complete, so very high currents can be experienced..

Changes to Assisted Fixed-Wing Flight:

  • change From: “To enable quad assistance you should set Q_ASSIST_SPEED parameter to the airspeed below which you want assistance.” To : VTOL motor assistance is enabled if Q_ASSIST_SPEED, Q_ASSIST_ALT , or Q_ASSIST_ANGLE are non-zero.
  • remove: “The attitude assistance will only be used if Q_ASSIST_SPEED greater than zero.”
  • add after Q_ASSIST_ALT paragraph: Assistance can also be enabled, disabled, or forced by setting an RC switch to RCx_OPTION = 82. If that channel is below 1200us (LOW), then assistance is unconditionally disabled, if above 1800us, (HIGH) then assistance is always enabled. Fot other RC values, assistance will be enabled as explained above.

Assistance can also be forced active all the time by setting Q_OPTIONS bit 7 to “1”. For Tailsitters, assistance for tailsitters can be limited only to VTOL motors by by setting Q_OPTIONS bit 8 to “1”. This can increase stabiity during assistance by not using the copter style pid gains on the flying surfaces as well as the VTOL motors, or for use with copter tailsitters without servo controlled flying surfaces.

  • add .. note:: Assistance is available for all QuadPlane frame types except the single motor and non-tilt dual motor tailsitter frames.

Assistance will be activated Q_ASSIST_DELAY after any of the above enabling thresholds are reached.

Under the Hybrid RTL section:

change this sentence: “To enable this type of hybrid RTL mode you need to set the Q_RTL_MODE parameter to 1.” to “To enable this type of hybrid RTL mode you need to set the Q_RTL_MODE parameter to 1 or 2.” and add a trailing subheader: Q_RTL_MODE=1. Then at the end of the section, add a subhead: Q_RTL_MODE=2 and this - “Setting Q_RTL_MODE to 2 resuls in behaviour similar to above, but with the vehicle returning like normal fixed wing RTL until it reaches Q_FW_LND_APR_RAD, then loitering in fixed wing mode to Q_RTL_ALT altitude, and then exiting facing the wind and executing a QRTL to the home position. Be sure the loiter portion is set up to clear any obstacles.”

Add section:

Manual Forward Throttle in VTOL Modes

By setting an RC channel option (RCx_OPTION) to “209”, that channel can provide a separate throttle input to the forward motor(s) in QSTABILIZE, QACRO, and QHOVER VTOL modes. This allows forward movement without having to tilt the QuadPlane forward requiring throttle stick repositioning in QSTABILIZE and QACRO to maintain altitude, and present more forward flat plate resistance to forward movement in all modes.

On QuadPlane Parameters page:

-add to Q_OPTIONS description:

  • bit 6, if set, will enforce the ICE idle governor even in MANUAL mode.
  • bit 7, if set, will force QASSIST to be active at all times in VTOL modes. See Assisted Fixed-Wing Flight.
  • bit 8, if set, QASSIST will only affect VTOL motors. If not set, QAssist will also use flying surfaces to stabilize(Assisted Fixed-Wing Flight ).
  • bit 9, if set, will enable AirMode (AirMode) if armed via an RC switch. See Auxiliary Functions option value 41.
  • bit 10, if set, will allow the tilt servos to move with rudder input in vectored tilt setups while disarmed to determine range of motion.
  • bit 11, if set, will delay VTOL motor spin up until 2 seconds after arming.
  • bit 12, if set, disable speed based Qassist when using synthetic airspeed
  • bit 13, if set, will disable Ground Effect Compensation

On QHOVER mode page:

under Controls section: change - “When the stick is completely down the QuadPlane will descend at Q_VELZ_MAX and if at the very top it will climb by Q_VELZ_MAX.” to “When the stick is completely down the QuadPlane will descend at Q_VELZ_MAX_DN and if at the very top it will climb by Q_VELZ_MAX.”

On QuadPlane Auto Mode page:

Until Return to Launch section, add: Setting Q_RTL_MODE to 2 resuls in behaviour similar to the option for MAV_NAV_VTOL_LAND above, with the vehicle returning like normal fixed wing RTL until it reaches Q_FW_LND_APR_RAD, then loitering to Q_RTL_ALT altitude, and then exiting facing the wind and executing a QRTL to the home position. Be sure the loiter portion is set up to clear any obstacles.

On Terrain Following Page:

In Flight Modes Section change:

“Set TERRAIN_FOLLOW to 1 to enable terrain following in those modes.” to read “Setting the bitmask in TERRAIN_FOLLOW determines which altitude controlled modes terrain following is active. For example, setting it to “10” enables following in FBWB and AUTO.”

At the end of Flight Modes section:

Terrain Following in CRUISE and FBWB modes can be disabled with an RC switch assigned RCx_OPTION = 86. When enabling (<1200us) or disabling (>1800us) terrain following with the switch, the present altitude will be the target set point either above terrain, or home, respectively. The target altitude can be changed as normal with elevator whether the altitude reference being used is above home or above terrain.

On Dspoiler Page:

Add at bottom of page:

Crow Mode Switch

If Differential Spoilers are used, setting an RCx_OPTIONS channel to “87” will allow the control of CROW aileron (outer spoilers) operation.

  • HIGH position: No change to CROW deflection amount or use of progressive crow.
  • MIDDLE position: force progressive crow, assuming DSPOILER_CROW_W1 is non-zero, even if DSPOILER_OPTS bit 2 is zero.
  • LOW position: effectively sets DSPOILER_CROW_W1 to zero. Only inner spoilers move with FLAP channel, ie normal flaps.

This allows live changes to CROW operation on approaches so that speed braking and descent rates can be changed during the approach.

On Automatic Landing page:

  • add note in Reverse-Thrust Landing section:


Airbrakes can also be automatically deployed during reverse thrust operation. See Airbrakes.

On Tilt Rotors and Tailsitters pages:

add note:

For landing in fixed wing, manual throttle controlled modes, there is an RCx_OPTION (89) that will force the tilt servos upright, force idle throttle, and optionally force the pitch to target LAND_PITCH_CD for flaring to the normal fixed wing landing. This allows intentional or emergency fixed wing landings in MANUAL, ACRO, STABILIZE, and FBWA modes without the risk of a prop strike in configurations where this could occur otherwise.

On Tilt Rotors page:

  • add note and change table to:
Tilt Motors Rear45
Tilt Motor Rear Left46
Tilt Motor Rear Right47
Tilt Motor41
Tilt Motor Left75
Tilt Motor Right76


For vectored yaw applications, the right and left tilt servos would be used for front and/or back.

On Tailsitters page, under Vectored Thrust:

add note:

To allow vectored thrust QuadPlanes to land in the Fixed Wing (FW) stance in non-throttled controlled modes (in case of low battery level or emergency), an RC channel option, RCx_OPTION = 89. This forces up the motor’s tilts while still in FW non-throttled control modes (FBWA, MANUAL, STABILIZE, and ACRO) to avoid prop strikes upon ground contact when landing.

change note about Copter Tailsitters to read:


in firmware versions previous to 4.1, CopterMotor Tailsitters did not use any yaw torque control. Roll (with respect to plane body) is only controlled by the flying surface (ailerons or elevons). Now QUAD PLUS and X frames have yaw control via motors, and frame types 16 and 17 are added that have no torque yaw control, as previous versions of PLUS and X did.

On Tailsitters page, under Tailsitter Configuration:

add frame types 16 and 17 to table of supported frame types for CopterMotor No Yaw Torque Tailsitters and add new diagrams with motor rotation matching Copter for yaw torque controlled plus (0) and X (1) frames.

../_images/x-copter-yawtorque-quadplane.jpg ../_images/plus-copter-yawtorque-quadplane.jpg

add note:


it is possible to have a CopterMotor Tailsitter using no fixed wing control surfaces, ie basically a quadcopter with a wing. For that configuration, all Copter motors would be set to be active in fixed wing modes via Q_TAILSIT_MOTMX and Q_OPTIONS bitmask would have bit 7 (Force QASSIST) set to have QASSIST active in all modes.

On Airspeed Calibration Page

Add section at end:

Miss-calibration Safeguards

In order to help prevent Airspeed sensor use when its been miss-calibrated either during ground static calibration during the power up sequence, or by accidental parameter changes to offset or ratio, three parameters are available. If the ground speed is consistently lower than the reported airspeed for a few seconds by ARSPD_WIND_MAX, i.e. the apparent wind speed is greater than that amount, the sensor can be disabled to avoid erroneous reporting. It can be allowed to re-enable if the apparent wind falls back below that value. These actions are controlled by ARSPD_OPTIONs.

You can also send a warning to the Ground Control Station if the apparent wind exceeds ARSPD_WIND_WARN. This can be used instead of, or together with the above.

On Quadplane Tips Page:

Under Tilt Rotor Servo Setup, add:

Note that setting Q_OPTIONS bit 10 (Disarmed Yaw Tilt) allows the motors to tilt in response to rudder input while disarmed to facilitate adjustment of parameters.

On Flight Options Page:
add to table
4 Climb to ALT_HOLD_RTL altitude before turning toward home in RTL