INAV 7.0 VTOL Transition Test Flight - Success!! Also a quick T1 Ranger VTOL build overview.

[@AerialWaviator]

Great overview. Really like the mods, 3d-printed parts and including the USB ports. Very well thought out build. INAV is flying VTOL very well. I did a double-take on the title, as transitions (other than first) seem pretty dialled in. Great progress by the INAV devs. Great demo of the CrunkleFloop (?) braking to hover maneuver at 6:55. It would be interesting to see how handles pulling up towards vertical and as speed drops, transition to hover. New ways of having fun. LOL.

[@Crunklefloop]

Thank you for your kind words :-) I've added a link to the 3D printed parts now in the description. INAV is doing very well indeed with VTOL and you can really play about with it compared the AP system which is far more automated in its approach. With INAV you can fly in full ACRO in VTOL and do flips etc too however my quad flying skills are a little rusty so I'm still in angle mode here. Agreed, the Devs have done an amazing job and as when it's fully ready for public release it will bring the option of simple to setup VTOL to many more pilots that struggle with the Ardu setup. I'm very excited about it and it's always nice to have more than one firmware option.

[@MysteryD]

Tmotor makes fantastic motors. Good choice. This vtol thing looks awesome.

[@axm2689]

Do you have more details posted anywhere about your goggles mods?

[@Crunklefloop]

Sorry for the late reply. Are you on Facebook? If you search for me there I can send you the details of what I changed. I really should do a video on it.

[@stefanpynappels7959]

Very nice indeed, a lot of work has gone into that, I look forward to trying it at some point.

[@Crunklefloop]

Thanks! Shota has done a fantastic job of the development work to get it flying this well. I hope you get to try it.

[@romulusfpv]

Could you share the hatch holder parts. I really like what you have done there.

[@Crunklefloop]

Yes, I've had a few people ask for the 3D prints. I'll find all the files and upload them to Printables/Thingiverse shortly.

[@Crunklefloop]

Upload done - www.thingiverse.com/thing:5335002

[@romulusfpv]

@@Crunklefloopthank you.

[@Propspalter]

@@Crunklefloop can you also share the files for the USB-C connectors (the round ones on top and in front) Thx

[@Crunklefloop]

@@Propspalter These actually came with the plastic part already in place. If you search "USB-c panel mount" on eBay you should find them.

[@SetoFPV]

any step by step how to setup that?

[@Crunklefloop]

I haven't done a video on that however a friend of mine has here - kzbin.info/www/bejne/Y5iqgHirrKaLp5I

[@lohikarhu734]

Sir; have you ever looked at the CL-84 tilt wing aircraft... the design allowed for quite simple transitions, and the real machine was able to go from hover to 100 knots, in 6 or 8 seconds, was a very stable gun platform, which, I guess, would also mean stable video... I'm kind of surprised that we don't see a successful design rejuvenated with the electric motors, fantastic sensors, actuators, and the computing power we have today..

[@Crunklefloop]

I am familiar with the CL-84 Dynavert. It was quite an impressive machine. There was briefly an RC version made by a company called something like "Unique Models" although it's long been discontinued you can sometimes find one for sale.

[@peterthepumpkineater6363]

Great video. What version camera and vtx?

[@Crunklefloop]

Thanks, this is with the Walksnail V2 VTX and Pro Camera.

[@kool-k-kel]

hi does the inav doc refer to sharing ailerons or is it left aileron and right aileron like ardu. really need a decent youtube setup vid. seems to be guides jus skimmin. A build vid is needed. Im stumped. Almost about to get ardu back on. Waited a year for painless 360 updates . on ardu f405 vtol.

[@Crunklefloop]

Sorry for the slow reply. Ailerons can just be on a Y-cable, there's no advantage in separating them. Are you using the Matek F405-VTOL? If so, send me a message on FB or email and I can send you my Diff-All file.

[@bjrc]

Super nice. How have you done the USB ports? Just extension wires off the breakout boards?

[@Crunklefloop]

Thanks mate. for the VTX I just cut the original USB cable and soldered the V+, Gnd, D+ & D- and soldered them to the USB port. For the FC port I just used a spare remote USB cable and used that. A few caveats though: - With the FC (if using a matek with remote USB/Buzzer) you will lose the buzzer but more importantly also the boot button; so make sure to keep the original USB/Buzzer board and cable so you can still enter DFU to flash the board if needed. - You can only use a USB-C to USB-A cable to connect to your PC as there is no pullup resistor meaning a USB-C to USB-C cable will not work.

[@AndrewNewton]

Working nicely, so smooth compared to my Manta ArduPilot transitions

[@Crunklefloop]

Thanks mate, it's coming along really nicely.

[@dickysoeliantoro5576]

may i ask how many servo and what type needed for this setup?

[@Crunklefloop]

Hi, sorry for the late reply, I didn't see this comment until now. Aside from the usual servos for the ailerons and elevator it's just two extra servos for the tilt motors. I just bought the VTOL kit, which came with the tilt servos already. I believe they're GDW.

[@MrZeek101]

Great flight I am really looking forward to this as Ardupilot is so complex in Vtol and I perfer using I-Nav on all my other platforms

[@Crunklefloop]

Thanks mate, it's getting there!

[@antoinep.7420]

Nice vidéo, thanks for sharing. What kind of battery are you using and how long can you fly ? I bought two 4S 2150mah on Heewing website, but they seem to have a lower capacity as advertised.

[@Crunklefloop]

Thanks! Glad you like it. I was using Gensace Tattu 4S 1800mah 95C packs. I could fly for 20minutes on them if easy on the throttle. Most Lipos tend to have slightly less usable capacity than shown. To make sure you're getting the most out of the pack though, ensure your FC's current sensor is properly calibrated (www.mrd-rc.com/tutorials-tools-and-testing/flight-controller-therapy/setting-the-current-sensor-in-inav/) and in the OSD manual monitor cell voltage to gauge when to land. I try to land around at around 3.5-3.6v/cell with a Lipo.

[@maxun1]

Do you have a tutorial for the Inav VTOL?

[@EnglishTurbines]

Looking good....I must try that UFL to SMA connection for my VTX....Where did you buy it?...🤔😳😏😏🇬🇧

[@Crunklefloop]

It was just from eBay.

[@RubyS.1]

Good spot for the compass think ill copy that. That transition from acro to stabilized was pretty impressive looks like your getting it figured out

[@Crunklefloop]

Thanks, I initially moved the GPS there as it was picking up a lot of interference when it was in the main fuselage, but it works well for the compass too. It does mean I have 12 wires running through the boom though!

[@RubyS.1]

@@Crunklefloop next time you build something that doesn't need a compass try that hglrc mini 100. It's rediculous small but gets sat lock really fast last weekend I got 22 sats from inside my house. Blow away by the tiny thing

[@highmetal3630]

Are you using dshot for the motors?

[@Crunklefloop]

No, I'm using the standard protocol

[@mauritz1774]

5:05 just following random car thinking nothing wrong, and than with one Moment Powerlines evrywhere around my view. The Wideo went bad and the wether was realy clowndy. And 1/2 second later: grey screen. RiP Finwing XBird. But all other Parts was OK. There was no cenection to the next string or the ground. This is the reason all electronics survived. My friend stand next to me in LOS Vision and ment it looks so cool

[@Crunklefloop]

Damn, you hit some powerlines!?

[@mauritz1774]

@@Crunklefloop yes. It makes no short cuts on the electronik if you not touching other Voltage Potential. Like touch 2Lines or one line+ erth or Line+ tower

[@sparkycorkers1196]

Brilliant. Cant wait to get my ine in the air!

[@techspy2008]

Why did you print new motor booms? Something wrong with the OEM VTOL booms?

[@Crunklefloop]

The originals on mine were still okay, however, they are weak around the screw points and will eventually crack. The reason I'm using the ones you see here is simply because a friend of mine made them, and I preferred the design.

[@guatemalamini]

So walksnail vtx antena y is also RHCP SAME AS THE ONES IN THE GOGGLES?

[@Crunklefloop]

Yes, I've changed all my antennae to RHCP TrueRC

[@guatemalamini]

@@Crunklefloop nice thanks bro

[@MacGyverek]

Could you make a dump or diff from your inav config? Thx

[@Crunklefloop]

Yes no problem - I have a Diff-All uploaded to the INAV VTOL testing group - link in description. That is only for the T1 running the Matek F405-VTOL FC though.

[@TMacDo243]

@@Crunklefloop Would it still work with the PNP FX405 FC, or no?

[@Crunklefloop]

@TMacDo243 I'm afraid not, the Heewing FX405 only works with Ardupilot. Your best option would be to get something like a Matek F405VTOl or the new SpeedyBee F405 Mini

[@TMacDo243]

@@Crunklefloop Ok, thanks. The mini only has 2 ESC outputs though, how would that work??

[@Crunklefloop]

​@TMacDo243 For the rear motor you can simply solder the wires doubled up to one of the Esc power pads. For signal by default the S1 and S2 pins are for motor output however this doesn't need to be the case and you can setup alternative outputs to control motors. The S1-S11 pwm outputs are set in groups called "timings" and these timings can be set as either servo or motor outputs via the mixer tab in INAV.

[@adilsongoliveira]

I have a Jumper Xiake here that I installed a F405VTOL and tried to make with work with ardupilot but wasnt't successful. I am an old INAV user and I'm dying to try this, I actually already have a 10" quad running INAV 7, I think I'll give this a try as well. Is there a better documentation on how to setup?As VTOL isn't supported yet on the configurator, I'm not really sure how to do it. Would you mind share your diff so I can use as a base for mixing, transitions, etc? Thanks.

[@Crunklefloop]

Sure thing - if you message me on Facebook I can invite you to the VTOL testing group chat which will help get you started. Although at this stage it's still in the test phase so the documentation is limited to what's in the Github pull requests etc.

[@adilsongoliveira]

@@Crunklefloop Thanks for the offer. I don't have a facebook account but I'll create a fake one for that, you will see a request from Jonas Salk. Thanks again.

[@Crunklefloop]

@@adilsongoliveira Just sent you a message there 🙂

[@GuGuHBmX]

What Foam is that you are using on your WS googles? i've been trying different ones and they all fit kind of weird Really digging the build, great job!

[@Crunklefloop]

It's an unbranded foam pad I found on eBay of all places. Worth checking Aliexpress too as there are a few on there.

[@sberzfly]

very nice, what font did you use for the walksnail osd

[@Crunklefloop]

It's actually a custom font that was made for me by a friend.

[@davidlee50]

The wobble is the blades slicing without lift, like the arc. Slow it up and the attitude would change. It has been reported in other planes too fyi.

[@Crunklefloop]

I'll check that out, although, in converse, if I do a fast transition there's no wobble. We're also looking into some other occurances such as motor yaw control as I believe tbis is still active when in transition tilt so the motors are effectively wobbling when tilting as the MC yaw mode is still in play. One thing we're also going to try is adding in a degree of differential thrust control during the transition to counteract any yaw effects too. I need to go through some more tuning and setup, unfortunately time and weather have not played ball this week.

[@shotahayashi2969]

I don't know why all tilting rotors vtol use prop blades meets at bottom/front direction. It will introduce more coupling to roll/yaw control.

[@maxun1]

I LOVE ITTTTT!

[@steinne]

Hi, great videos- would you be able to share the stl file or link to the camera mount? I plan on testing inav 7 and compare with Ardupilot (which I am running now).

[@Crunklefloop]

It's not uploaded anywhere, it's just something I knocked up in CAD. I can send it to you though if you ping me a message through FB messenger.

[@steinne]

sounds good. @@Crunklefloop

[@FlyByWireC]

Hi, is it possible to have your 3D print file for the Tilt Arm? I have just broke mine😂😂😂. I am willing to pay for it if you listed it on cults

[@Crunklefloop]

Hi, the tilt mounts were actually designed, printed and sent to me by a friend so I'm not sure if the file is available. I've asked him though.

[@FlyByWireC]

@@Crunklefloop Thank you so much for replying！I hope he still does, That will save me a lot of time compare to ordering a new pair of arms from heewing🤝🤝🤝

[@jasontotz]

Nice build mate. I have started building a T1 and wondered if you could share a diff all of yours or even maybe a tutorial as Im getting very confused with all the info I have found. Cheers 👍

[@Crunklefloop]

Hiya, yes no problem at all. If you message me on Facebook I'll send it to you.

[@kool-k-kel]

great mods!

[@Crunklefloop]

Thanks dude

[@kool-k-kel]

I did originally speak on your early t1 ardu vid, bout battery type and amps. Tbh i did chuck ardu on mine was challenging. Didn`t manage to fly apart from garden hover testing. Feel more comfortable using Inav. Can`t wait to try / find a guide.. Is it available now inav 7?@@Crunklefloop

[@Crunklefloop]

@@kool-k-kel Yes, you can download INAV 7.0 RC3 currently and setup VTOL. It does still require a bit of a process but it's not too complicated. I've put links to the docs in the video description for you.

[@kool-k-kel]

cheers, i`ll try n flash it now :)@@Crunklefloop

[@kool-k-kel]

question on board calibration, did you do in the model or did you calibrate fc on the desk? thx .. appreciated@@Crunklefloop

[@ApappieK]

Nice. Looking forward to the new INAV goodies. How well works position hold on your current setup?

[@Crunklefloop]

I haven't tested that in MC mode yet. Might give that a try tomorrow.

[@peacemakermotion3949]

Very nice mate! I noticed you transition from hover while stationary. Is it any different if you were to get some forward momentum going before the transition? Or is that not recommended?

[@Crunklefloop]

Yes transitioning when already moving forward in MC mode would be smoother. I'll try that on the next flight

[@peacemakermotion3949]

@Crunklefloop yeah sweet. I'm about to get Into the vtol. How is it feeling compared to your ardupilot setup? Also are these new motors your running the same as what they supply with the vtol kit? If not why did you change them?

[@Crunklefloop]

I find it much much nicer to fly than Ardupilot, in VTOL it's more nimble and in Fixed wing mode it's more responsive and locked in. I'm using T-Motor F2004 1700kv's. I changed them as I burnt out the bearings on one of the original motors.

[@peacemakermotion3949]

@@Crunklefloop Hey there! One more question haha. How does it fly in fixed wing mode compared to just the normal t1 ranger non vtol? Does it fly just as good?

[@Crunklefloop]

@peacemakermotion3949 on INAV it flies as-well in the VTOL setup as the normal T1. In-fact, to save a bit of battery, I often just launch fixed wing with Autolaunch and use the VTOL mode just for landing.

[@gizzmomambo]

Interesting but think it’s got a lot more testing before official release

[@Crunklefloop]

Yes, we're still in the testing phase. It's nice to have another option outside of Ardu though.

[@DanoFPV]

I just want someone to build and tune one of these for me. Quads I can do all day long, but wings I find to be infuriating.

[@Crunklefloop]

If you fly quads I guess you use BF or INAV. When INAV 7.0 is ready for release that might be the option that most makes sense with what you already know as Ardupilot can be a bit of a learning curve. You can get the PNP kit from Heewing which, aside from some basic assembly, is pretty much ready to go. There's a link in the description 🙂

[@EnglishTurbines]

Great flying spot, so Farmer doesn't mind then..?...😳😏🇬🇧

[@Crunklefloop]

They haven't yet lol

[@EnglishTurbines]

@@Crunklefloop No Karen Farmers in Devon I guess. I saw the sheep coming down the road as you were flying...Must be great having all that space.....🤔😏😏

[@Crunklefloop]

@@EnglishTurbines I find most people are pretty decent if you don't make a nuisance. I tend to just take off and then throttle back so when it's in the air it's barely audible. The VTOL testing makes a bit more noise but still not excessive. It's very different to quads which tend to cause more upset.

[@JustFPV-net]

Go for ExpressLRS 3.3, mate ...

[@Crunklefloop]

I think I'm already on 3.3, Iflashed whatever was the latest one a week ago. Very impressed with the performance of ELRS