QuadPlane Parameter setup

All QuadPlane specific parameters start with a “Q_” prefix. The parameters are very similar to the equivalent Copter parameters so if you are familiar with those you should find setting up a QuadPlane is easy.

Key parameters are:

  • To enable QuadPlane functionality you need to set the Q_ENABLE parameter to 1 and then refresh the parameter list
  • The Q_THR_MIN_PWM and Q_THR_MAX_PWM parameters used to set the PWM range of the quad motors (this allows them to be different from the range for the forward motor). These need to be set to the range your ESCs expect.
  • The most critical tuning parameters are Q_A_RAT_RLL_P and Q_A_RAT_PIT_P. These default to 0.25 but you may find significantly higher values are needed for a QuadPlane.
  • The Q_M_SPIN_ARM parameter is important for getting the right level of motor output when armed in a quad mode
  • It is recommended that you set ARMING_RUDDER to 2 to allow for rudder disarm. Alternatively you could have MANUAL as one of your available flight modes (as that will shut down the quad motors). Please be careful not to use hard left rudder and zero throttle while flying or you risk disarming your motors.

In addition, the behavior of Quadplane can be modified by the setting of the Q_OPTIONS bitmask parameter (no bits are set, by default):

  • bit 0, if set, will force the transition from VTOL to Plane mode to keep the wings level and not begin climbing with the VTOL motors (as in a mission to a higher waypoint after VTOL takeoff) during the transition.
  • bit 1, if set, will use a fixed wing takeoff instead of a VTOL takeoff for ground stations that can only send TAKEOFF instead of a separate VTOL_TAKEOFF mission command. Otherwise, QuadPlane will use VTOL takeoffs for a TAKEOFF mission command.
  • bit 2, if set, will use a fixed wing landing instead of a VTOL landing for ground stations that can only send LAND instead of a separate VTOL_LAND mission command. Otherwise, QuadPlane will use VTOL_LAND for a LAND mission command.
  • bit 3, if set, will interpret the takeoff altitude of a mission VTOL_TAKEOFF as specified when setup in Mission Planner (ie Relative to Home/Absolute {ASL}/Terrain {AGL}). Otherwise, it is relative to the takeoff point’s altitude (AGL).
  • bit 4, if set, for “Use a fixed wing approach” then during a VTOL_LAND mission command,instead of transitioning to VTOL flight and doing a VTOL landing, it will remain in plane mode, and proceed to the landing position, climbing or descending to the altitude set in the VTOL_LAND waypoint. When it reaches within Q_FW_LND_APR_RAD of the landing location, it will perform a LOITER_TO_ALT to finish the climb or descent to that altitude set in the waypoint, then, turning into the wind, transition to VTOL mode and proceed to the landing location and land. Otherwise, a standard VTOL_LAND will be executed. See QuadPlane AUTO Missions for more information.
  • bit 5, if set, it will replace QLAND with QRTL for failsafe actions when in VTOL modes. See the Radio and Throttle Failsafe section of Flying a QuadPlane for more information.

Behavior can be modified as well as by the Q_RTL_MODE and Q_GUIDED_MODE parameters.


The QuadPlane code requires GPS lock for proper operation. This is inherited from the plane code, which disables inertial estimation of attitude and position if GPS lock is not available. Do not try to fly a QuadPlane indoors. It will not fly well