PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
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        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
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        • VESC
      • TBS Crossfire (CRSF) Telemetry
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      • Gimbal (Mount) Configuration
      • GPS/Compass
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        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
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        • Sky-Drones SmartAP GPS
      • Grippers
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      • Optical Flow
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      • Precision Landing
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      • Satellite Coms (Iridium/RockBlock)
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        • Telemetry Wifi
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          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
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        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
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        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
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    • Hardware
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On this page
  • Bill of Materials
  • Tools needed
  • Assembly steps
  • Step 1: Attach motors mounts
  • Step 2: Attach the wings
  • Step 3: Connect the electronics
  • Step 4: Final Assembly Checks
  • Configuration
  • Video
  • Support
  1. Vehicle Types & Setup
  2. VTOL
  3. Standard VTOL

Falcon Vertigo QuadPlane (Dropix)

PreviousRanger QuadPlane (Pixhawk)NextTailsitter VTOL

Last updated 1 year ago

:::warning Discontinued The Falcon Venturi FPV Wing frame on which this vehicle is based is no longer available. :::

The Falcon Vertigo Hybrid VTOL is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera.

The RTF kit contains everything needed for a full system except an RC receiver and telemetry module. The components can also be purchased separately.

Key information:

  • Frame: Falcon Vertigo Hybrid VTOL

  • Flight controller: Dropix

  • Wing span: 1.3m

Bill of Materials

Almost everything you need is provided in the RTF kit (the links next to components below are provided in case you wished to purchase any component separately):

  • Pre laminated EPP wings

  • Wingtips and full hardware

  • Dropix flight controller (discontinued) with

    • GPS u-blox M8N

    • Power Sensor

  • 4 x propeller 10”x 5” (quad motors)

  • 1 x propeller 10” x 5” (pusher motor)

  • 1 x ESC 30A

  • Pusher motor power system

  • Carbon fiber tubes and mounts

  • G10 motor mounts

  • Dropix power distribution board and cable

The kit does not come with a radio receiver or (optional) telemetry modules. For this build we used the following components:

Tools needed

The following tools were used to assemble the airframe:

  • Philips screwdriver

  • 5.5 mm Hex Socket Screwdriver

  • Wire cutters

  • Soldering iron and solder

  • Hobby stainless steel tweezer

  • Gorilla glue

  • Fiberglass reinforced tape

Assembly steps

The RTF kit requires the following assembly.

Step 1: Attach motors mounts

  1. Spread gorilla glue inside the wing brackets as shown.

  2. Attach the carbon tube in the brackets. The bracket and tube must be aligned using the white mark (as shown in the picture).

    :::note This is very important because the white mark indicates the center of gravity. :::

  3. The following images show the alignment of rods from other viewpoints:

Step 2: Attach the wings

  1. Insert both carbon tubes into the fuselage.

  2. Spread gorilla glue between the two white marks on each tube (indicated by the red arrows). The white mark in the center (blue arrow) will be placed in the center of the fuselage and the other marks on the sides.

  3. Once the carbon tubes are inside the fuselage, spread gorilla glue on the rest of the tube and attach the wings.

  4. The fuselage has two holes for the motor and servo cables. Pass the cables through the holes and then join the wings to the fuselage.

  5. Within the fuselage connect the signal cables you just passed through from the wings to the ESC using the provided connectors. The ESC are already connected to the motors and set up to turn in the correct order (you will need to connect the ESC PDB to a power module in a later step).

  6. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller.

  7. Repeat these steps for the other wing.

Step 3: Connect the electronics

This kit includes Dropix flight controller with most of the required electronics pre-connected (if you use another Pixhawk-compatible flight controller the connections are similar).

Connect the ESC power connector and pass the signals cables to the flight controller

  1. Connect the ESC to the power module using the XT60 connector

  2. Pass the signals cables through to the flight controller

Motor Wiring

For example, you might wire it up like this example (orientation as if "sitting in the plane"):

Port
Connection

MAIN 1

Front right motor, CCW

MAIN 2

Back left motor, CCW

MAIN 3

Front left motor, CW

MAIN 4

Back right motor, CW

AUX 1

Left aileron

AUX 2

Right aileron

AUX 3

Elevator

AUX 4

Rudder

AUX 5

Throttle

Flight Controller Connections: Motors, Servos, RC receiver, current sensor

The image below shows back of the dropix flight controller, highlighting the outputs pins to connect quad motors cables, aileron signal cables, throttle motor, and the current sensor and receiver (RC IN) input pins.

  1. Connect quad motors signal cables.

  2. Connect the aileron cables and throttle motor in the auxiliary outputs.

  3. Connect the throttle motor signal cable from the ESC to the appropriate flight controller auxiliary port. Connect the ESC to the throttle motor.

  4. Connect the receiver (RC IN).

Flight Controller Connections: Telemetry, Airspeed Sensor, GPS, Buzzer and Safety Switch

The sensor inputs, telemetry, buzzer and safety switch are located in the front of the flight controller, as shown in the connection diagram below.

  1. Connect the telemetry, airspeed sensor, GPS, buzzer and safety switch as shown.

Flight Controller: Connect power module and external USB

The inputs for the USB port, power module and external USB are located on the right side of the flight controller.

  1. Connect power and USB as shown

:::tip The external USB is optional. It should be used if access to the USB port is difficult once the flight controller is mounted. :::

Install the pitot tube (airspeed sensor)

The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube.

:::warning It is important that nothing obstructs airflow to the Pitot tube. This is critical for fixed-wing flight and for transitioning from quad to plane. :::

  1. Install the Pitot tube in the front of the plane

  2. Secure the connecting tubing and ensure that it is not bent/kinked.

  3. Connect the tubes to the airspeed sensor.

Install/connect receiver and telemetry module

  1. Paste the receiver and telemetry module to the outside of the vehicle frame.

GPS/Compass module

The GPS/Compass module is already mounted on the wing, in the default orientation. You don't need to have to do anything extra for this!

Mount and orient the flight controller

  1. Set your flight controller orientation to 270 degrees.

  2. Secure the controller in place using vibration damping foam.

Step 4: Final Assembly Checks

The final assembly step is to check the vehicle is stable and that the motors have been set up correctly.

  1. Check that the motors turn in the correct directions (as in the QuadX diagram below).

  2. Check the vehicle is balanced around the expected centre of gravity

    • Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable.

    • If the vehicle leans forward or backwards, move the motors to balance it.

Configuration

Notes:

After you finish calibration the VTOL is ready to fly.

Video

Support

Quad power set (discontinued)

4 x

1 x

Receiver:

Telemetry: (Discontinued)

:::note General information about connecting Dropix can be found in . :::

Motor and servo wiring is nearly entirely up to you, but should match the configuration, as shown in the airframe reference. The geometry and output assignment can be configured in the

Connect the receiver to the RC IN port on the back of the dropix, as shown above (also see the ).

Connect the telemetry module to the front of the flight controller as shown below (see the for more detail on the pins).

:::note If necessary the servo direction can be reversed using the Rev Range (for servos) checkbox associated with each servo output in the QGroundControl configuration (for servos only) (this sets the or parameter). :::

Perform the normal .

For select the vehicle group/type as Standard VTOL and the specific vehicle as as shown below.

Set the to ROTATION_YAW_270 as the autopilot is mounted with respect to the front of the vehicle. The compass is oriented forward, so you can leave that at the default (ROTATION_NONE).

Configure the outputs and geometry following the instructions in

The default parameters are often sufficient for stable flight. For more detailed tuning information see .

@

If you have any questions regarding your VTOL conversion or configuration please visit .

Airspeed Sensor
Tiger Motor MT-2216-11 900kv V2
ESC 25A
3700mah 4S 30C Lipo battery
FrSSKY D4R-II
Holybro 100mW 915MHz modules
Dropix Flight Controller
Basic Configuration
Actuators Configuration
Standard VTOL Wiring and Configuration
youtube
https://discuss.px4.io/c/px4/vtol
flight controller instructions
flight controller instructions
Autopilot Orientation
sideways
Airframe
Actuators Configuration
Actuator Output
Generic Standard VTOL
Generic Standard VTOL
Falcon Vertigo Hybrid VTOL RTF
Build tools
Add glue on wing brackets
quad motor frame rod alignment from bottom
quad motor frame rod alignment schematic
Level Centre of Gravity
Level Motors
QCG - Select Generic Standard VTOL
Dropix connectors front
PWM_AUX_REV
PWM_AUX_MAIN