Thrust vectoring tilt VTOL

PX4 Autopilot Configuration and Flight Modes
#1

Hi

I am working on a VTOL with tiltable rotors and without any other control surfaces. I managed to configure the mixer files (for motors and servos) so that the vehicle hovers and goes into FW mode by tilting the rotors. I also managed that pitch/roll is achieved only by tilting the rotors. However, the servos also move in MC flight in response to control inputs and I look for a way to stop this from happening. Any ideas?

#2

There are parameters that stop that: e.g. VT_ELEV_MC_LOCK
But I have done it the opposite way for doing landings within moments of gliding therefore the rotors have to be tilt upward with 0 throttle to reduce drag.

#3

Got it, thanks. I made changes in the source code and flashed the drive. Seems to work now.