VTOL Testing with the T2 Cruza running INAV

[@Sebas-lk3jv]

thank you for this details maiden and feedback sharing. I am doing the same build right now :) just received the vtol conversion kit.

[@erlandfpv]

That powerloopa thing, drift me crazy when i think to try stack vtol on my T2😂😂😂😂

[@DZARO]

Yeah, I know! It was super annoying and caught me completely off guard. I think the reason for this was the fact that I had slowed down the servo speed for the tolting servos. When the craft was transitioning from one mixer to the other, it was going a bit crazy because the motors were not angled like the mixer was expecting them to be. I removed set the servo speed to default (zero) and now the transtion works perfectly fine.

[@erlandfpv]

​@@DZARO thanks for update, I'm preparing my heart to using vtol for my Cruza T2, basically from your advice and videos, so there is no error anymore right? Joshua bardwell release the videos about T1 vtol with inav7 too did that joshua bardwell videos related for you build in case of the setup, servos and wiring? Thanks,

[@erlandfpv]

​@@DZAROmaybe if you can, make some videos about that speed of servo, so i can save and do exactly what you do, thanks

[@erlandfpv]

​@@DZAROso, when on vtol mode, as we transitioning switch from vtol to wing mode, we must switch immediately, not give a second right?

[@DZARO]

​@@erlandfpv No, you do the following: 1. Take off in VTOL mode and enable Horizon mode to make things easier. 2. Gain sufficient height (appx. 50m should be enough). 3. Enter Transition mode and gain sufficient airspeed (speed should be above your stall speed, i.e. 40-60km/h for most models). 4. Enter fixed wing mode. 5. Once in stable flight, exit Horizon mode and continue in acro mode. For landings, you can switch to VTOL mode much faster and the plane will slow down on it's own. At the moment it is not advisable to enable POSHOLD at the same time as VTOL mode because you can flip the craft over. Program POSHOLD via the radio to have sufficient delay so that the speed of the aircraft drops to a minimum. That way, POSHOLD in VTOL mode will not do anything funny.

[@squirrelynutz1]

Flip are due to going into acro. If its like ardupilot you need to use angle mode or horizon. Acro and manual stops the rear motor suddenly. Thats why it flips.

[@RCGuyVideos]

21:48 - Interesting, what happens if you enter "position hold" but you're in fixed-wing mode? And vice-versa, what happens if you enter "loiter" but you're in MC VTOL mode?

[@DZARO]

@@RCGuyVideos In fixed-wing mode, the plane begins to loiter and in tricopter mode, the plane just hovers and maintains altitude and position. You can see it at the end of the video where I try to disturb it while in POSHOLD. It would be interesting to test what will happen if you switch between VTOL modes (mixes) while POSHOLD is on. That's for the next video 🫣

[@techlock5406]

Thank you for the video. Did you buy the vtol kit or printed own?

[@DZARO]

I bought the VTOL kit. It's good quality, but the motors are a little bit underpowered for vertical take-off I think. The hover throttle is over 50% sometimes. Someone from the Heewing Community on FB changed the motors and props and got better performance. The trade-off is in the weight of the whole combo. Their combo is a lot heavier by the looks of it.

[@Jacob-on5zh]

so it's you over new jersey???

[@DZARO]

@@Jacob-on5zh absolutely, my plane flies on fairy/pixie dust and has unlimited range to fly to the other side of the world 😂😂

[@MKrEvolution]

Hey man are you from MK? Ping me if so 😊

[@erlandfpv]

Ardupilot or inav7 there?

[@erlandfpv]

If inav7, there is a no mere (??) Mark on the osd, great

[@DJI_Silesia]

@@erlandfpv Pretty sure he's using the custom INAV build with a lot of symbols changed.

[@DZARO]

I'm using INAV on this build. I've use Ardupilot before, but I just can't stand the UI

[@DZARO]

@@erlandfpv Yes, that's another video that I've made, here is the link: kzbin.info/www/bejne/g6fOf4l4q7GnndE Essentially, I made custom firmware builds for all the flight controllers that INAV supports up to version 7.1.1. I'll be doing a 7.1.2 batch just so that it's available. A few months ago, I made a pull request to merge my changes with the main INAV development branch, but the INAV devs didn't like how things were mapped out because they were saying that I was using the wrong icons. I agree with them, they are essentially right, but I am happy with not all icons being perfect as long as they do the job and most importantly, they remove the "??" from all icons. Links for the constom firmware are in the video description. I was also in touch with DJI developers in China and I explained to them the imporance of adding the INAV font set, and they said that they would look into implementing it (as well as fixing the Betaflight one). As the fonts are on the goggles, not the Air Unit, DJI just need to release an update for the goggles so that you have all the major font sets, i.e INAV , Betaflight and Ardupilot. I think that this should be coming with the release of the O4 system, so my patch will become obscolete unless you are using F411 FCs, which will no longer be supported from INAV 8.

[@Sebas-lk3jv]

@@DZARO Not really a fan of Ardupilot :) Inav seems to work fine in vtol. I will build mine on inav as well. It's more easier than Ardupilot :)