How to setup Arduplane for T1 Ranger VTOL

***PLEASE READ THE DESCRIPTION***

A little tutorial on how to setup a VTOL, specifically on a T1 Ranger. A bit lengthy video but worth watching, I hope. I have discussed here a few settings and some tips. You may pause the video if needed. Some photos and highligted keywords for the parameters are included in the video to help you look through the parameters list (which is really too massive to go through if you will do it line by line). I hope I was able to share enough information to get you flying the VTOL. Im still tuning my T1 Ranger VTOL, I will give an update regarding the latest parameters. I will share the new parameters ASAP. The guide is primarily for the T1 Ranger VTOL, but you can follow this to setup another VTOL platform as the parameters would be almost similar.

NOTE:
In some setups, they have been experiencing yawing when using the single direction motor configuration. if you are not able to address this matter by mechanically adjusting the motor angles, you may try the ALTERNATIVE motor layout that has one front motor rotating on opposite direction.

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WARNING:
Transition to Fixed Wing Mode from VTOL:
If you transition to MANUAL or ACRO, then the VTOL motors will immediately stop. In the case of a tilt-rotor, the motors will also immediately rotate to forward flight orientation. It would always be safe to transition to other modes (e.g. fbwa) to still have stabilization support from the motors during the transition, right then you can safely switch to manual or acro once transition is done.

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Here's the link to the parameters (as of July 3, 2022), note that I am using a Matek H743 Slim, flashed with custom dev firmware, thus DO NOT USE LOAD FROM FILE option, instead, you can use the COMPARE PARAMS option in mission planner to compare our parameters, we only need to cross-check the Q_ portions anyway.

https://drive.google.com/file/d/1pGaY...

changed the following:
Q_A_RAT_YAW_D,0.15
Q_A_RAT_YAW_I,0.6
Q_A_RAT_YAW_P,1.2

(carried over from the previous parameters)
Q_TRANSITION_MS,1000
Q_TILT_MAX,70
Q_TILT_RATE_DN,10
Q_TILT_RATE_UP,80

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Disclaimer: The parameters is obtained from the Matek H743 Slim running custom dev firmware, please to not just load the file into your flight controller, use it as baseline data instead.
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for questions/suggestions, please feel free to leave a message below.

PS: Pardon the video/audio quality, I haven't got enough time to polish this as my laptop got faulty. I found a pic that i failed to resize in the video, but for sure you can figure it out.


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DSHOT ESC on Arduplane:
   • how to setup dshot ESC protocol and b...  

Hee wing T1 ranger VTOL build walkthrough:
   • Hee Wing T1 Ranger VTOL build walkthr...  

Official Build guide:
https://ardupilot.org/plane/docs/quad...

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PS. if you guys are still not aware, these are the flight modes to avoid during transition

ACRO
STABILIZED
TRAINING
MANUAL

Instead, switch to fbwa since this will limit the angle at which the plane can pitch, this also will limit ANY stick inputs and won't cause the plane to over pitch should you give stick inputs during transition. Unlike when using stabilized mode, plane won't do a loop or barrel loop when in fbwa, even with max stick deflections. That way, even if you push the stick to max, the plane will still do the transition safely when in fbwa

If you switch to Acro or Manual, the tail rotor will stop and your plane will lose the lift, leading to crash due to uncontrolled pitch as reaction to the motors instantly tilting forward.. You will need that lift to keep plane within desirable pitch during the transition to achieve the minimum airspeed.