This is a short guide for setting up ArduPilot on a flying wing. I use an Omnibus F4 that was previously set up for INAV (so motor on 1, elevons on 3/4), so most of this guide will be geared to that. If you use a different controller, your mileage may vary.
You should keep the full list of ArduPilot parameters open, for your reference while tuning.
I have created a utility that lets you easily get/set/backup/restore parameters from the command line. It's called Parachute, and you can download it here:
See Building ArduPilot for instructions on how to build the latest version.
The values in this section are specific to the Omnibus F4, but the settings aren't, so you'll usually need to adjust your outputs to your specific configuration but you probably won't need to skip many of the steps here.
AHRS_ORIENTATIONand monitor the artificial horizon to see if it moves correctly.
BRD_ALT_CONFIG=1, to get UART 3 to act like a UART instead of I2C on the Omnibus F4.
SERIAL2_PROTOCOL = 23 (RCIN) SERIAL2_BAUD=115 SERIAL2_OPTIONS=4 RSSI_TYPE=3
All these values are necessary, because usually the
SERVO1_FUNCTION=70 SERVO1_MIN=1000 SERVO1_MAX=2000 SERVO1_TRIM=1000 SERVO3_FUNCTION=77 SERVO3_MIN=1000 SERVO3_MAX=2000 SERVO3_TRIM=1500 SERVO4_FUNCTION=78 SERVO4_MIN=1000 SERVO4_MAX=2000 SERVO4_TRIM=1500
SERVOn_TRIMwon't be at 1500.
SERVO_BLH_OTYPE=4for DShot150 and
SERVO_BLH_MASK=1to enable it for the motor.
COMPASS_ENABLE=0if you don't have a compass, otherwise calibrate it (not detailed here).
TERRAIN_ENABLE=0to get rid of the terrain warning.
AHRS_TRIM_Yand check that FBWA mode flies level.
INS_GYRO_FILTER=60for faster updates.
SCHED_LOOP_RATE=100for the same reason.
SERVO_AUTO_TRIM=1so the aircraft trims itself while flying.
FS_LONG_TIMEOUT. I tend to disable the short action and set long to RTL.
RTL_CLIMB_MIN=30so the aircraft climbs first before starting to return to home.
ACRO_LOCKING=1to avoid drifting when you aren't moving the sticks.
AUTOTUNE_LEVELaccording to how aggressive you want the tune.
ACRO_ROLL_RATEaccording to your craft.
THR_PASS_STAB=1so you have total throttle control in ACRO/FBWA/STABILIZE.
ARSPD_FBW_MAXto the minimum and maximum airspeed you want auto modes to fly (see the TECS tuning guide below for details).
MIN_GNDSPD_CMso the craft makes an effort to return even under high winds. WARNING: Might make throttle pulse or have other unwanted side-effects.
TKOFF_THR_MAXto the desired max takeoff throttle.
TKOFF_ALTto the altitude you want takeoff to reach.
THR_SUPP_MAN=1so you can manually set the autolaunch "idle" throttle (before the throw).
TKOFF_THR_MINACC=18for the takeoff throw to activate takeoff with a minimum of 2g.
TKOFF_LVL_PITCHto your desired angle (20 is a good value).
TKOFF_THR_DELAYto the number of deciseconds that you want the motor to wait before it starts up.
TKOFF_THR_SLEW=-1to make the throttle spin up faster.
old_value+pitch*π/180to get the new value for
(Many thanks to Michel Pastor for his help with everything in this note.)
Last updated on September 22, 2021. For any questions/feedback, email me at firstname.lastname@example.org.