User Manual for FLIGHTORY models including: Emax ECOII 2807 1300KV, T-Motor F90 1300KV, T-Motor F90 1300KV Stallion VTOL, T-Motor F90 1300KV, Stallion VTOL, VTOL
USER MANUAL 3 General Aircraft Data The aircraft is in the classic trimotor configuration with front tilt motors and one rear fixed motor. Yaw in hover mode is controlled by tilting the front motors.
The assigned order assumes the use of the Speedybee. F405 Wing. For other flight controllers, the output groups may differ, so the assignment order may also ...
File Info : application/pdf, 24 Pages, 3.67MB
DocumentDocument. USER MANUAL 1 Socials Join Flightory Tech group on Facebook and create community with us. Share progress of your builds. Any suggestions or questions welcome. www.facebook.com/groups/flightory Join our Discord server as well, where the discussions are organized by topics, and the interaction between users is lively. https://discord.gg/GPMgDZ3Cxv Follow us on Instagram for regular updates and fresh content www.instagram.com/flightory_ USER MANUAL 2 General Aircraft Data The aircraft is in the classic trimotor configuration with front tilt motors and one rear fixed motor. Yaw in hover mode is controlled by tilting the front motors. The rest of the aircraft's geometry remains unchanged from the regular Stallion version. USER MANUAL 3 Parts List - VTOL PART BOOM L /R MOTOR MOUNT FRONT MOTOR MOUNT TAIL WING 1 L/R VTOL WING 2 L/R VTOL WING 3 L/R VTOL MATERIAL PETG PETG PETG LW-PLA LW-PLA LW-PLA If a printer capable of operating at high temperatures, up to 300°C, is available, stronger materials can be used instead of PETG, such as polycarbonate or others with carbon fiber additives, further reinforcing the motor mounting components. USER MANUAL 4 Reccomended RC Equipment Reccomended electronics Motors Emax ECOII 2807 1300KV link / T- Motor F90 1300KV link Propellers 7x4 / 7x5 / 7x6 (two CCW, one CW) link Servos 2pcs PowerHD 1810MG / GDW DS041MG / Kingmax KM1203MD ESC 3pcs Emax Formula Series 45A BLHeli32 link / Lumenier 51A link Battery 4S (max 4S3P 10,5Ah Li-Ion) or similar LiPo Bearings 2pcs 3x8x4mm Flange Bearing link Screws / Nuts / Washers 3 pcs M3 Screws, Nuts and Washers This list, along with links, can also be found on the product page. USER MANUAL 5 STEP Files All files in VTOL PACK are available in STL and STEP format. You can find these files in folders labeled STEP USER MANUAL 6 WTaIiNl MGoLEtoTrVAAssReImAbNlyTS 195mm To mount the tail motor, you'll need to remove the tail boom. The correct positioning of the motor is as shown in the diagram. The motor shaft should be located 195mm from the front end of the tube. USER MANUAL 7 WTaIiNl MGoLEtoTrVAAssReImAbNlyTS Take the MOTOR MOUNT TAIL and screw the motor onto it. To mount it, you slide it onto the tailboom. Press the M3 threaded insert from one side and insert the M3 screw from the other side. Align the motor properly and tighten the mount on the tail boom to make it stiff and immobile. You'll need to cut a small hole through which you'll route the motor cables inside the boom to the fuselage. You can do this with a drill or, for example, a Dremel cutting tool or similar. USER MANUAL 8 FWroInNtGBLoEoTmVAAsRseIAmNbTlyS To start, screw the motor onto the MOTOR MOUNT FRONT. At this stage, also screw in the M3 screw from the inside of the BOOM as shown in the drawing. Secure it tightly with a nut from the outside. Finally, place a washer. The screw should be about 15mm long. USER MANUAL 9 FWroInNtGBLoEoTmVAAsRseIAmNbTlyS Next, insert the servo into the designated slot and secure it with the small screws that should be included in the servo package. Route the cables through the channel running underneath. USER MANUAL 10 FWroInNtGBLoEoTmVAAsRseIAmNbTlyS Now, place the motor in the manner shown in the drawing. Insert the servo horn, which secures the assembly from one side. Route the motor cables directly into the lower channel. USER MANUAL 11 FWroInNtGBLoEoTmVAAsRseIAmNbTlyS Now, on the other side, insert the 3x8x4mm bearing and finally secure it with an M3 nut. This ultimately stabilizes the mounting and ensures smooth movement. USER MANUAL 12 WINWGinLgEATsVseAmRbIAlyNTS Now, assemble the entire wing. The assembly process is almost identical to the basic version of the Stallion. Only segments 1 and 2 of the wing have designated place for mounting the motor boom. Segment 3 is the same, and you can also choose whether to mount the LED or not. USER MANUAL 13 WINWGinLgEATsVseAmRbIAlyNTS After assembling the wing, firmly glue the Boom in place using CA glue, making sure to do it evenly. Note that when mounting the wing to the fuselage, the main spar will also pass through the Boom, further reinforcing the structure. USER MANUAL 14 WINWGinLgEATsVseAmRbIAlyNTS Now insert the wings and route all the cables from the motor and servo to the channel in the wing that leads to the fuselage. Repeat the same process with the second wing. USER MANUAL 15 WINFiGniLsEhTinVg ABuRiIlAd NTS At this stage, the entire structure is now ready, and it's time to move on to connecting cables and configuration USER MANUAL 16 WINFiGniLsEhTinVg ABuRiIlAd NTS The diagram shows an example wiring and equipment layout. The configuration uses three separate ESCs. Due to the available solder pads supporting only two ESCs, two of them are connected in parallel to a single output. Power is provided by a single battery. The diagram also includes suggested channel assignments for the servos and all motors. The assigned order assumes the use of the Speedybee F405 Wing. For other flight controllers, the output groups may differ, so the assignment order may also change. Only the essential equipment is shown in the schematic. The FPV camera, VTX, receiver, and other optional sensors and equipment are not included, as they can be implemented in various ways depending on the chosen hardware. The presented schematic is not the only solution but is intended to help beginners understand the setup. This diagram is also available in a larger size in PDF format in the file package. USER MANUAL 17 WINCGoLnEfiTguVraAtRioInANTS The software I recommend is Ardupilot. It's necessary to familiarize yourself with the information on the website where the full configuration of Tiltrotor Planes in Ardupilot is described. https://ardupilot.org/plane/docs/guide-tilt-rotor.html I will present here the most important information and parameters that need to be set and paid attention to. Tricopter Configuration Stallion is a tricopter aircraft with two front tilt motors and one fixed rear motor. Yaw control is achieved by tilting the front motors. We select the option with front propellers CW and CCW. In the diagram, you can see the numbering of the motors, and this is how they should be numbered in Mission Planner. USER MANUAL 18 WINCGoLnEfiTguVraAtRioInANTS Servo Output This is the assignment of all channels that you can set at the beginning. USER MANUAL 19 WINCGoLnEfiTguVraAtRioInANTS MAIN TILT ROTOR PARAMETERS Q_ENABLE = 1 Next, you need to set the parameter Q_ENABLE to 1. This enables all options related to quadplane support. You need to click ,write' and then ,refresh' to obtain the full list of parameters. Q_TILT_ENABLE = 1 Also set Q_TILT_ENABLE to 1, indicating the use of tilt motors. Q_FRAME_CLASS = 7 Next, set Q_FRAME_CLASS to 7, indicating the selection of the tricopter layout Q_TILT_MASK = 3 The next step is to set the parameter Q_TILT_MASK to 3. It specifies which motors are to tilt. The number is determined by adding the numbers of the motors together. In our case, the front motors are labeled 1 and 2, so 1+2=3. Q_TILT_TYPE = 2 By setting Q_TILT_TYPE to 2, this parameter specifies the tilt type as vectored. This means that yaw in Hover mode will be controlled by tilting the front motors. Q_TILT_YAW_ANGLE = 15 You need to specify the maximum tilt angle of the motors during yaw operations. Setting it to 15 degrees is suitable for the Stallion, meaning that the motor can tilt up to 15 degrees beyond its neutral vertical position when controlling the yaw channel. You can adjust this value to be higher or lower depending on how responsive you want the aircraft to be on the yaw. Q_TILT_MAX = 45 This parameter specifies the tilt angle of the motors during transition. In this position, the motors will be during waiting for the required horizontal flight speed. 45 degrees is the default value and is good, no change required. USER MANUAL 20 WINCGoLnEfiTguVraAtRioInANTS MAIN TILT ROTOR PARAMETERS Q_TILT_RATE_UP = 15 This parameter determines how quickly the motors will tilt during transition and is expressed in degrees per second. 15 degrees means that a full transition will take 6 seconds and is a good value for the Stallion, ensuring smooth transition. You can separately set Q_TILT_RATE_DN, which is the speed of tilting the motors downwards. It is by default set to 0, and I recommend leaving it as such, as then the value of 15 degrees is applied for both directions. Q_ASSIST_SPEED = -1 Determines the speed below which the tilt motors will assist in generating lift. This can be seen as an additional safeguard against stalling, where the motors will automatically tilt upwards. However, we do not want this function in this aircraft, so we set it to -1 to disable it. Q_M_PWM_TYPE = 7 Specifies the PWM type for the motors. If you are using the recommended ESCs, they support DSHOT1200, and the value of the parameter should be set to 7. You can use other values of this parameter corresponding to different ESC protocols, depending on the one being used. This is a useful feature that allows you to bypass manual ESC calibration. Q_OPTIONS = 163841 This parameter allows you to set additional options. You can manually select the functions you are interested in, and the parameter value will adjust automatically. By selecting the recommended options, the value comes out to be 163841. Select the functions: Level Transition (Maintains wings level within the LEVEL_ROLL_LIMIT range during transition), ThrLandControl (Allows manual throttle control during landing), EnableLandReposition (Allows manual position adjustment during automatic landing). USER MANUAL 21 WINCGoLnEfiTguVraAtRioInANTS MAIN TILT ROTOR PARAMETERS AIRSPEED_MIN = 12 AIRSPEED= 25 These parameters specify the minimum and maximum speed in m/s in automatic throttle modes. The values align well with the characteristics of the Stallion. The minimum speed is crucial during transitions. Full transition will be executed upon reaching the minimum flight speed. Q_TRANSITION_MS = 7000 Q_TRANSITION is related to the previous one and determines the time in milliseconds for a full transition after reaching the minimum speed. During this time, the front motors gradually transition fully to horizontal flight, while the rear motor shuts off. Seven seconds ensure a smooth transition without the risk of losing lift and altitude. Q_LAND_FINAL_SPEED = 0,3 The descent rate in Q_LAND mode. The value is expressed in m/s. 0,3 ensures a gentle descent. After touching the ground, for a few seconds, the lack of altitude change is detected, and shortly after, the motors switch to disarmed mode. Q_M_BAT_VOLT_MAX = 16.8 Q_M_BAT_VOLT_MIN = 13.2 These parameters determines the maximum and minimum battery voltage values. When using 4S packs, you should enter the above values. This allows compensation of throttle in hover mode depending on the current battery state. This way, the throttle position should always provide the same thrust regardless of the voltage. USER MANUAL 22 WINCGoLnEfiTguVraAtRioInANTS After setting all the mentioned parameters, the aircraft is ready for its first flight tests. However, I strongly encourage you to familiarize yourself with the entire chapter on quadplanes on the Ardupilot website. You will find a lot of information there regarding configuration and tuning, flight mode operations, and much more. QUADPLANE GENERAL CHAPTER https://ardupilot.org/plane/docs/qua dplane-setup.html IMPORTANT SUBSECTIONS FLIGHT MODES https://ardupilot.org/plane/docs/qua dplane-flight-modes.html FLYING A QUADPLANE https://ardupilot.org/plane/docs/qua dplane-flying.html VTOL TUNING https://ardupilot.org/plane/docs/qua dplane-first-flight.html QUADPLANE SETUP TIPS https://ardupilot.org/plane/docs/qua dplane-tips.html USER MANUAL 23 . USER MANUAL 24
Tilt Rotor Planes — Plane documentationQuadPlane Flight modes — Plane documentationFlying a QuadPlane — Plane documentationQuadPlane Setup — Plane documentationQuadPlane Setup Tips — Plane documentation
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