Modifying quad tailsitter with adding folding wing option

PX4 Autopilot
1

Hi . As the title suggests, I would like to add a folding and unfolding option to the quad tailsitter.

As if it is a general px4 tilt function, it is a concept that from the folded MC mode to the half-fold mode for transition and full expansion for entering cruise mode.

Attach my initial sketch for explanation.

%EA%B7%B8%EB%A6%BC1
%EA%B7%B8%EB%A6%BC1715×540 21.7 KB

Currently, we are producing models with reduced size.

00100dPORTRAIT_00100_BURST20190326211719118_COVER
00100dPORTRAIT_00100_BURST20190326211719118_COVER2851×2138 1.16 MB

00100dPORTRAIT_00100_BURST20190326211700336_COVER
00100dPORTRAIT_00100_BURST20190326211700336_COVER2851×2138 1.27 MB

So I am currently struggling to set up mixer.
Maybe I think the quad tailsitter is probably the best of base.

Which mixer to insert here to configure the folding option? Can I add an existing tilt or flap function to my mixer? Also I am thinking about how to integrate this function with Air Speed.
The aerodynamic approach is carried out separately.

If you have an idea for this, ask for advice.

Regards, Changkeun Moon

2 Likes
2

Airframe looks cool! Awesome project!

3

Thank you.
I will continue to post my project progress

4

Keep struggling.
There are the following problems.
I’ve tried configuring a mixer before, but I’m not a specialist for px4.

We concluded that a kind of parameter similar to the vtol tilt servo should be added to the tailsitter mixer.

How do I get access to add parameters that control the fold actuator for mc mode, transition mode, and fw mode?

1 Like
5

Could you try the recently added dynamic control allocation? With that all the painful mixers were removed!!

P.s. I am although unsure how the actual control command part would work, as it is a morphing wing :eyes: