I don't understand the principle of the 5th rear motor turning on and off, can you explain it to me?

@@kenhhay5812 The rear motor is used to power the aircraft in "airplane mode". It is started when transitioning from hovering to forward flight and stopped while transitioning back to hovering. The lifting motors used for hovering do not power the plane forward in any way, they just provide lift.

I would say that forward flight in airplane mode is 3 - 4 times more efficient than hovering if you only count flight time. It depends on how fast I fly. Cruising at a slow speed in airplane mode while drawing only 7-8 A is possible!

Try, try, try

I mostly read and follow the official Ardupilot documentation. It is actually really good! But it is a lot to explain, maybe I will try to make some kind of setup videos in the future.

No. Not yet. But I will do that. My intention is to make it fly fully autonomous missions including, takeoff, transition to forward flight, some waypoints, transition back, and then a hovering landing.

Thanks! If you also change the direction of all the motors: yes, it would have the same effect. In conclusion: "Props in", motors should be angled outwards, "Props out", motors should be angled inwards.

@@AxelsDIY Thanks a lot for your explanation!

Maybe, but it is a very small improvement. I don't even think that it would be noticeable. The landing gear on a regular plane creates more drag than the lift-propellers on this plane. It is probably more important on larger VTOL planes that fly at higher speeds in forward flight. But in those cases, there are other solutions available, for example, motors that stop at determined positions using magnets, or special ESCs that drive the propellers to specific orientations when stopped. Usually, two-bladed props are used for lift-motors on VTOLs. I used thee-bladed props here only because I already had them lying around, and I know that worked perfectly for those motors. My plane is only a proof of concept/experiment platform

It might be possible to roll/flip it in acro-quad mode also, but I have not tried it, and I am not sure I will :)

Yeah that isn't its strength. Besides yhe fixed wing roll was an impressive surprise itself. Fine looking and flying craft as your usual. Congratulations.@@AxelsDIY

I have not written any code for this. I am just using the standard version of ArduPilot. And of course, I configured it to work on my homebuilt aircraft.

Ardupilot gets more frequent updates and has more new features. PX4 is more intended for commercial applications, and can sometimes be more stable/reliable. Therefore, Ardupilot is a better choice for a hobbyist like me. If you are interested in the difference you should search more, I am sure there are a lot of better explanations.

A Mateksys H743-WING V3

@@AxelsDIY axel can you please show us your wiring for everything. especially for h743-wing v3

Actually, I am not using bdshot. Instead, I use standard PWM signals to both the motor outputs and the servos. This means that I don't have ESC telemetry, and the filters are not aware of the lift motor RPMs. This is not optimal, but as you can see in the video, it works fine anyway. This plane is a prototype/experiment, and I was a bit lazy... If you want to use bdshot you need to use the special firmware available here: firmware.ardupilot.org/Plane/stable/MatekH743-bdshot/ I don't see any reason why it would not work.

@@AxelsDIY ok thank you

Maybe I can help you if you send me an email to “admin dot axel at brinkeby dot se”.