# Build: Convergence Tiltrotor (Pixfalcon)

The [E-Flite Convergence](https://youtu.be/HNedXQ_jhYo) can easily be converted to a fully autonomous VTOL with PX4. There is not much space but it's enough for a [Pixfalcon](../../../drone_parts/flight_controller/autopilot_discontinued/pixfalcon) flight controller with GPS and telemetry.

:::note The original Horizon Hobby _E-Flite Convergence_ frame and [Pixfalcon](../../../drone_parts/flight_controller/autopilot_discontinued/pixfalcon) have been discontinued. Alternatives are provided in the [Purchase](#where-to-buy) section. :::

@[youtube](https://youtu.be/E61P2f2WPNU)

## Where to Buy

Vehicle frame options:

* **WL Tech XK X450** - [AliExpress](https://www.aliexpress.com/item/1005001946025611.html)
* **JJRC M02** - [Banggood (AU)](https://au.banggood.com/JJRC-M02-2_4G-6CH-450mm-Wingspan-EPO-Brushless-6-axis-Gyro-Aerobatic-RC-Airplane-RTF-3D-or-6G-Mode-Aircraft-p-1588201.html), [AliExpress](https://www.aliexpress.com/item/4001031497018.html)

Flight controller options ():

* [Pixhawk 4 Mini](../../../drone_parts/flight_controller/autopilot_pixhawk_standard/pixhawk4_mini)
* [Holybro Pixhawk Mini](../../../drone_parts/flight_controller/autopilot_pixhawk_standard/pixhawk_mini).
* Any other compatible flight controller with small enough form-factor.

## Hardware Setup

The vehicle needs 7 PWM signals for the motors and control surfaces:

* Motor (left/right/back)
* Tilt servos (right/left)
* Elevons (left/right)

These can be wired to flight controller outputs more-or-less in any way you want (though outputs for motors should be grouped together, and so on).

The outputs are configured in the [Actuators Configuration](../../../config/actuators) by following the instructions for VTOL tiltrotor geometry and output configuration. Note that you will need to start from the [Generic Tiltrotor VTOL](../../../airframe_reference#vtol_vtol_tiltrotor_generic_tiltrotor_vtol) frame.

Note that left and right in the configuration screen and frame reference are defined from the perspective of a human pilot inside a real plane (or looking from above, as shown below):

![](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-6bc7e6da41611d79dcd29f327fff51789b93857e%2FVTOLTiltRotor_eflite_convergence.svg?alt=media)

### Flight Controller

The flight controller can be mounted at the same place the original autopilot was.

![Mount Pixfalcon](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e8a77cb8fb60cddfe4d7284365dc8202d7cb8046%2Feflight_convergence_pixfalcon_mounting.jpg?alt=media)

### Telemetry Radio

The telemetry module fits into the bay meant to hold FPV transmission gear.

![Mount telemetry module](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-eda8bbd085124a47a90846699f59ffac5d9525d2%2Feflight_convergence_telemetry_module.jpg?alt=media)

### GPS

For the GPS we cut out a section of foam inside the "cockpit". That way the GPS can be put inside the body and is nicely stowed away without compromising the vehicle appearance.

![Mount GPS](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-eb59335798cfc5af2516081358a5f16ad1e0c2a4%2Feflight_convergence_gps_mounting.jpg?alt=media)

## PX4 Configuration

Follow the [Standard Configuration](../../../config) in _QGroundControl_ (radio, sensors, flight modes, etc.).

The particular settings that are relevant to this vehicle are:

* [Airframe](../../../config/airframe)
  * Select the airframe configuration **E-flite Convergence** under **VTOL Tiltrotor** and restart _QGroundControl_. ![QGroundControl Vehicle Setting - Airframe selection E-Flight](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-494ad0594838d4c50d193e0d67f8a5166fd68e3a%2Fqgc_setup_airframe.jpg?alt=media)
* [Flight Modes/Switches](../../../config/flight_mode)
  * As this is a VTOL vehicle, you must [assign an RC controller switch](../../../../config/flight_mode#what-flight-modes-and-switches-should-i-set) for transitioning between multicopter and fixed-wing modes.
