E-flite Convergence Tiltrotor VTOL (Pixfalcon)

The E-Flite Convergence can easily be converted to a fully autonomous VTOL with PX4. There is not much space but it’s enough for a Pixfalcon with GPS and telemetry.

{% youtube %} http://www.youtube.com/watch?v=E61P2f2WPNU {% endyoutube %}

硬件设置

The convergence needs 7 PWM signals and is connected to a Pixfalcon in the following way (matching the airframe configuration in PX4, left/right seen looking from behind the plane):

Port 接口定义
MAIN 1 Motor right
MAIN 2 Motor left
MAIN 3 Motor back
MAIN 4 empty
MAIN 5 Tilt servo right
MAIN 6 Tilt servo left
MAIN 7 Elevon right
MAIN 8 Elevon left

The Pixfalcon can be mounted at the same place the original autopilot was.

Convergence Tiltrotor (Pixfalcon) - 图1

The telemetry module fits into the bay meant to hold FPV transmission gear.

Convergence Tiltrotor (Pixfalcon) - 图2

For the GPS we cut out a section of foam inside the “cockpit”. That way the GPS can be put inside the body and is nicely stowed away without compromising the looks :).

Convergence Tiltrotor (Pixfalcon) - 图3

配置

Before the autopilot is configured normally (radio, sensors, flight modes), select the airframe configuration “E-flite Convergence” under “VTOL Tiltrotor” in QGC and restart.

If the airframe is not yet visible in QGC, set the following parameters and restart:

  • SYS_AUTOSTART: 13012
  • SYS_AUTOCONFIG: 1

备注：

  • Remember to assign the transition switch for switching to fixed-wing.
  • By default permanent stabilization is enabled. If you like fully manual flying in fixed-wing, set VT_FW_PERM_STAB to 0.