Modifying quad tailsitter with adding folding wing option

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.

Currently, we are producing models with reduced size.

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


Airframe looks cool! Awesome project!

Thank you.
I will continue to post my project progress

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

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: