构建：Convergence 倾转旋翼机（Pixfalcon）
The E-Flite Convergence can easily be converted to a fully autonomous VTOL with PX4. There is not much space but it's enough for a Pixfalcon flight controller with GPS and telemetry.
Purchase
Vehicle frame options:
WL Tech XK X450 - Banggood, AliExpress
JJRC M02 - Banggood (AU), AliExpress
Flight controller options ():
Any other compatible flight controller with small enough form-factor.
Hardware Setup
The vehicle needs 7 PWM signals, which must be connected to the flight controller outputs as specified in Airframe Reference > VTOL Tiltrotor > E-flite Convergence. This mapping is reproduced below.
| Port | 接口定义 |
|---|---|
MAIN 1 | 右电机 |
MAIN 2 | 左电机 |
MAIN 3 | 尾电机 |
MAIN 4 | 空 |
MAIN 5 | 右倾转舵机 |
MAIN 6 | 左倾转舵机 |
MAIN 7 | 右翼升降舵 |
MAIN 8 | 左翼升降舵 |
Note that left and right in the reference are defined from the perspective of a human pilot inside a real plane (or looking from above, as shown below):
Flight Controller
The flight controller can be mounted at the same place the original autopilot was.
Telemetry Radio
The telemetry module fits into the bay meant to hold FPV transmission gear.
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.
PX4 Configuration
Follow the Standard Configuration in QGroundControl (radio, sensors, flight modes, etc.).
The particular settings that are relevant to this vehicle are:
As this is a VTOL vehicle, you must assign an RC controller switch for transitioning between multicopter and fixed-wing modes.
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