Ardupilot V-Tail Mixing Servo Setup Update, XUAV Mini Talon VTail Plane Part 9

Ardupilot V-Tail Mixing Servo Setup Update, XUAV Mini Talon VTail Plane Part 9. Now that I have both wings I can show how the ailerons connect with a y-cable and briefly go over the APM wiring again.

APM HKPilot Modified Wiring Diagram:
Go to    • Ardupilot APM 2.6 Wiring, MinumOSD, A...  
and Take a picture of the screen around time code 07:40

See video link below for programming APM for V-Tail Planes:
   • Ardupilot V-Tail Mixing Setup in APM ...  

Instructions for setting up a vtail plane in Mission Planner:
http://ardupilot.org/plane/docs/rever...

To setup a VTAIL plane in the Mission Planner, you can enable a software VTAIL mixer using the VTAIL_OUTPUT option. The VTAIL_OUTPUT option works the same way as the ELEVON_OUTPUT option, except that it operates on the elevator and rudder output channels (channels 2 and 4).

Note that you cannot use the VTAIL_OUTPUT option on an APM1 board if you have the flight mode channel (FLTMODE_CH) set to 8, as on the APM1 this will lead to hardware pass through of controls when in manual, which means your transmitter must be setup for vtail mixing. If using an APM2 or PX4 this is not a problem, and the VTAIL_OUTPUT option is recommended for vtail planes. On an APM1 use a hardware vtail mixer instead.

The VTAIL_OUTPUT option is designed to operate exactly as a hardware vtail mixer would operate. To set it up follow these steps:

1-Setup your transmitter with no vtail mixing
2-Set both RC2_REV and RC4_REV to 1 and KFF_RDDRMIX to 0.5
3-Start by setting VTAIL_OUTPUT to 1. In later steps you may adjust this to 2, 3 or 4.
4-Put your APM into FBWA mode
5-Pitch up the nose of the plane observe what happens to the vtail
6-If the two vtail segments move in opposite directions, then change VTAIL_OUTPUT to 2, and try again.
7-If the two vtail segments move in the same direction, but the APM is correcting the pitch in the wrong direction (both segments are moving up) then change RC2_REV to -1
8-Next try rolling your plane to the right. The two vtail segments should move to try to turn the plane left (to correct for the right roll). If they move in the wrong direction then set RC4_REV to -1
9-Now change to MANUAL mode and adjust your transmitter reversals for channels 2 and 4 to produce the right movement in MANUAL mode.
10-Finally adjust the KFF_RDDRMIX to a value that gives the right amount of rudder movement for coordinated turns on your plane. This may require some inflight tuning. A initial guess of around 0.5 is likely to work for most planes.