# FunCub QuadPlane (Pixhawk)

The Fun Cub QuadPlane VTOL is a standard tailplane aircraft (the Multiplex FunCub) that has been retrofitted with a QuadCopter system.

Key information:

* **Frame:** Multiplex FunCub
* **Flight controller:** Pixhawk

![Fun Cub VTOL](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-776ad3cd281f205aedf49bf0b5b00febf1425bca%2Ffun_cub_vtol_complete.jpg?alt=media)

Unmodified, the Fun Cub is a relatively affordable plane and relatively easy to fly. After the conversion the plane is significantly heavier and less aerodynamic. It still flies quite well but needs around 75% throttle in forward flight.

## Bill of Materials

The actual plane looks roughly like as shown in the image above (other similar models will work just fine - this is a Multiplex Fun Cub).

The minimal equipment required is:

* Multiplex FunCub (or similar)
* Pixhawk or compatible
* Digital airspeed sensor
* 900 kV motors (e.g. Iris propulsion set - motors and ESC)
* 10" props for quad motors (10x45 or 10x47)
* 10" prop for fixed-wing motor (10×7)
* GPS module
* 4S battery
* Aluminum frame for mounting the quad motors (10x10mm square tube, 1mm wall thickness)
* TOW is \~2.3kg with a 4200mAh 4S battery

## Structure

The structure is made out of aluminum booms as shown below.

![quad\_frame](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-6ec9d94e85c226ba9f80a4849dbc0c837b84990d%2Ffun_cub_aluminium_frame_for_vtol.jpg?alt=media) ![Fun Cub -frame for vtol mounted](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-d6d7c6055c37e380d7db7ebfa8786ddafbc893be%2Ffun_cub_aluminium_frame_for_vtol_mounted.jpg?alt=media)

## Wiring

Motor and servo wiring is nearly entirely up to you, but should match the [Generic Standard VTOL](../../../airframe_reference#vtol_standard_vtol_generic_standard_vtol) configuration, as shown in the airframe reference. The geometry and output assignment can be configured in the [Actuators Configuration](../../../../config/actuators#actuator-outputs)

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 TODO       |
| AUX 2  | Right aileron           |
| AUX 3  | Elevator                |
| AUX 4  | Rudder                  |
| AUX 5  | Throttle                |

For further instructions on wiring and configurations please see: [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration).

## Airframe Configuration

1.  For [Airframe](../../../config/airframe) select the vehicle group/type as _Standard VTOL_ and the specific vehicle as [Generic Standard VTOL](../../../airframe_reference#vtol_standard_vtol_generic_standard_vtol) as shown below (do not forget to click **Apply and Restart** in the top).

    ![QCG - Select Generic Standard VTOL](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-a83de2f734a8d96049846441590b2af4d2c2c480%2Fpx4_frame_generic_standard_vtol.png?alt=media)
2. Configure the outputs and geometry following the instructions in [Actuators Configuration](../../../config/actuators)
3. The default parameters are often sufficient for stable flight. For more detailed tuning information see [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration).

After you finish calibration the VTOL is ready to fly.

## Video

@[youtube](https://youtu.be/4K8yaa6A0ks)

## Support

If you have any questions regarding your VTOL conversion or configuration please visit [https://discuss.px4.io/c/px4/vtol](https://discuss.px4.io/c/px4/vtol).
