ZOHD Talon Rebel GT VTOL

Описание: Converted a ZOHD Talon Rebel GT to VTOL.

Components:
Cube Orange+
Here3+ GNSS
Castle Talon 60amp ESC for forward thrust motor
Forward thrust motor = T-motor F90 1500KV
Lumenier 5" toroidal prop for forward thrust motor
Quadcopter Motors = T-motor F-90 1300KV
Gemfan 6042 bi blade props on Quad Motors
TBS Lucid 60 amp 4 in 1 ESC for quad motors
3DR 433mhz air telemetry radio
3DR MS4525D0 airspeed sensor with pitot tube
Emax analog 12 gram micro servos for control surfaces
Spektrum DSMxII receiver
Arduino Nano with 3.3v and 5v voltage regulators to power anti-collision strobe light and RPI zero2w

Link to Ardupilot Q Modes: https://ardupilot.org/plane/docs/quad...

QSTABILIZE (Mode 17)
QHOVER (Mode 18)
QLOITER (Mode 19)
QLAND (Mode 20)
QRTL (Mode 21)
QAUTOTUNE(deprecated and not in most builds on firmware server) (Mode 22)
QACRO (Mode 23)
LOITER to QLAND (mode 25)

One version of steps you can use to convert to VTOL. You may have to find some motor mounts that work for you on Thingiverse or wherever. Somebody made my motor mounts and carbon spar mounts out of Nylon and I don't have the files.

1. Reinforce wings with laminate wrap, not strictly necessary but there will definitely be more stress on wings with this mod.
2. Identify, measure, and stencil out where you want carbon spars to go on the wings.
3. Mount the carbon spar mount 112mm from the black plastic wing root holder on the fuselage. I used gorilla clear glue for this, you can use any strong adhesive. Let cure for at least 24 hours.
4. I used 10mm x 10mm square hollow carbon tubes to hold the motor mounts. Using square carbon tubes instead of cylindrical will make your life easier with the motor mounts, you'll know they're horizontal to the ground and not off a few degrees. You'll have to cut the square tubes with a fine tooth saw (and wet the carbon so the nasty dust doesn't get in your lungs or eyes) to 1ft length.
5. The center of the rear motors should be 45mm from the trailing edge of the wings, and the front motors should be roughly 132mm from the leading edge.
6. Once you get your carbon spars installed, run your motor wires along the bottom side of the carbon spars and secure with zip ties, I used MR30 plugs at the end of each motor wiring bundle to easily connect/disconnect. I have the opposite MR30 plug glued into the fuselage which are then connected to the 4 in 1 ESC. I highly recommend using a method like front motors have female plugs glued into fuselage and rear motors have male plugs glued into the fuselage that way you can accidentally connect the wrong motor.
7. Take your 4 in 1 ESC, wire it up so each ESC has three wires (measure out the wire lengths you'll need). Connect MR30 plugs.
8. On the 4 in 1 ESC, solder on your ground and signal wires. Solder on with 12gauge power wires with Low ESR capacitor and connect to FC. Since it's a 4 in 1 ESC you only need to connect 1 ground wire to your Matek F405 wing servo rail and then connect each motor signal wire to a servo rail signal pin. I highly recommend you crimp on Dupont connectors so you can easily connect and disconnect signal wires. You could absolutely use 4 single esc's to accomplish this but a 4 in 1 allows for less wiring and makes things cleaner in my opinion.
9. This is where things get a little janky for Mission Planner. When everything is wired up and you've double checked everything, head to the mission planner SETUP TAB then go to OPTIONAL HARDWARE, then go to MOTOR TEST. You'll have to connect battery power to the system and spin each motor using the MOTOR A, B, C, and D. Click on the "please click here to see your motor numbering" so you can see what motor corresponds to Motor A, B and so on. You need to make sure that each motor is spinning in the correct orientation. If it's not, un solder 2 motor wires and swap them to reverse direction. Or, you may be able to go into whatever ESC firmware you have and reverse motor direction that way.
10. Once you have motors spinning in the correct orientation, we can start setting up the Q Flight Modes. Once you get here, go to full parameter list, search for Q_Enable = 1 See this documentation for further Quad Plane Tuning https://ardupilot.org/plane/docs/quad....

If you have questions on how I went about this please let me know!