ArduPilot Mega as a stability system for tilt motor system


I’m working on my third VTOL control arrangement (images below). The first two didn’t go so well:). Using off the shelf ‘damping’ gyros (E-flight G90 for yaw and Futaba GYA352 for pitch/roll) mixed together through Parallax Propeller boards I can just about fly this. I can hold it airborne in ground effect in my living room for about a minute. It should be a lot easier outside with low wind.  My next step is to add 1 or 2 Hitachi H48C 3-Axis Accelerometers and maybe a LISY300 Gyroscope to determine and hold absolute pitch/roll orientation. If I can get that to work I’ll try to pull the G90 and GYA352. Finally add wings and a pivot mechanism then go fly.

Instead of a hodgepodge set of accelerometers I started to looking at off the shelf IMUs and landed here. A couple of questions:

  • Does anyone think the ArduPilot Mega is capable is replacing my Parallax Propeller Board with this type of VTOL configuration? Keep in mind for the most basic case I have 4 channels in and 8 PWM mixed out.
  • Anyone heard of someone interfacing the IMU “Shield” bit of the ArduPilot with a Propeller? Just in case the microcontroller bit makes me angry.

mVTOL_V3 – Current configuration. Using (4) Turnigy C5055-600 each with independent servo and (2) 5Ah 6s1p batteries.

mVTOL_V2 – Variable pitch motor for pitch was problematic due to thrust hysteresis around center. But probably could have been solved with a bit more determination.

Please note I’m just doing this for fun. But I would like my toy finished and flying soon.

Views: 1295

Reply to This

Replies to This Discussion

Wow! No replies? No ‘maybe’ or ‘good luck with that’? Did I ask this question in the wrong forum category?


…maybe my VTOL is too ugly and you guys are still laughing too hard to type:)


I guess someone needs to be first. I’ll get one and see what happens. It’ll probably take me a few weeks before I report back. Hopefully there will not be too much screaming, running and bloodshed …this time.

It's not ugly. 


Take a look at the 'bicopter support' discussion in the arducopter 2.x forum. It may help.



Thanks Charlie.

This may be of some interest...ArduPilot Mega seems to be working fine with his system:


nVader 600 Bicopter with ArduPilot Mega Autopilot



This is cool too:


hi all

actual arduplane 3.6 support quaid plane configurations with tilt motors 

but not found docs how to configure tilt servo 

i setup

Q_FRAME_CLASS,0  - quaid frame
Q_FRAME_TYPE,1    - x motors setup

Q_TILT_MASK,5  --my plane have 1 and 3 front motors tiltable  00000101B = 5 

RC10_FUNCTION,41   --tilt servo at aux 2


-i have no any signal at aux2 output

-tiltable motors do not  start in plane  stabilise or manual mode (only turns in qstabilize)

Reply to Discussion



Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service