The Flightory Stallion VTOL is a 3D-printable unmanned aerial vehicle (UAV) designed for vertical take-off and landing (VTOL) operations. This user manual provides instructions for converting the basic Stallion aircraft into its VTOL configuration and offers guidance on its assembly, recommended components, and software configuration using Ardupilot.

Function Description:

The Stallion VTOL is a trimotor aircraft, featuring two front tilt motors and one fixed rear motor. This configuration allows for both vertical take-off and landing (hover mode) and efficient horizontal flight (plane mode). Yaw control in hover mode is achieved by tilting the front motors, providing precise maneuverability during vertical operations. The aircraft is designed to be built from 3D-printed parts, with specific material recommendations for optimal strength and performance. The manual focuses on the VTOL modification, assuming the user already possesses the basic Stallion aircraft or refers to its dedicated manual for initial construction.

Important Technical Specifications:

While specific dimensions and performance metrics are not explicitly detailed in the provided pages, the manual highlights key components and materials:

Materials:
- PETG: Recommended for Boom L/R, Motor Mount Front, and Motor Mount Tail due to its strength and temperature resistance. The manual suggests considering carbon fiber additives for further reinforcement, especially for the Motor Mount Front, which is exposed to significant loads and vibrations.
- LW-PLA: Recommended for Wing 1 L/R VTOL, Wing 2 L/R VTOL, and Wing 3 L/R VTOL, likely for its lightweight properties crucial for wing structures.
Recommended Electronics:
- Motors: Emax ECOII 2807 1300KV or T-Motor F90 1300KV (3 pieces total: 2 front tilt, 1 rear fixed).
- Propellers: 7x4, 7x5, or 7x6 (two counter-clockwise (CCW) and one clockwise (CW)).
- Servos: 2pcs PowerHD 1810MG or GDW DS041MG (for tilting the front motors).
- ESCs (Electronic Speed Controllers): 3pcs Emax Formula Series 45A BLHeli32 or Lumenier 51A.
- Battery: 4S (max 4S3P 10.5Ah Li-Ion) or similar LiPo.
- Bearings: 2pcs 3x8x4mm Flange Bearing (for front motor tilt mechanism).
- Screws/Nuts/Washers: 3 pcs M3 Screws, Nuts, and Washers.
Motor Positioning (Tail): The tail motor shaft should be located 195mm from the front end of the tail boom tube.
Front Motor Screw Length: The M3 screw securing the front motor mount should be approximately 15mm long.

Usage Features:

The Stallion VTOL is designed for flight operations that leverage its vertical take-off and landing capabilities, making it suitable for environments where traditional runway take-off and landing are not feasible.

Flight Modes: The aircraft's configuration is heavily reliant on Ardupilot software, which supports various flight modes for quadplanes. Users are encouraged to familiarize themselves with Ardupilot's documentation on flight modes, flying a quadplane, and VTOL tuning.
Yaw Control: In hover mode, yaw is controlled by tilting the front motors, offering precise directional adjustments.
Transition: The aircraft transitions from hover to horizontal flight, with the front motors gradually tilting forward and the rear motor shutting off. The Q_TRANSITION_MS parameter, set to 7000 milliseconds (7 seconds), ensures a smooth transition without loss of lift or altitude.
Automatic Landing: Ardupilot's EnableLandReposition option allows for manual position adjustment during automatic landing, enhancing precision. ThrLandControl also enables manual throttle control during landing.
Stall Prevention: The Q_ASSIST_SPEED parameter, when set to -1, disables the automatic tilt-up of motors to assist in generating lift below a certain speed, as this function is not desired for the Stallion VTOL.

Maintenance Features:

The manual emphasizes several aspects related to the maintenance and durability of the 3D-printed components:

Material Selection and Reinforcement:
- For parts like the Motor Mount Front, which experiences high loads and vibrations, printing with 100% infill is crucial.
- Further reinforcement with thin fiberglass cloth and epoxy resin is recommended for critical areas of the Motor Mount Front to enhance durability and ensure reliable flight.
- The option to print PETG components with carbon fiber additives is suggested for increased strength, especially if the printer can handle high temperatures (around 300°C).
Assembly and Gluing:
- The wing assembly process is similar to the basic Stallion, with specific attention to segments 1 and 2 for motor boom mounting.
- Firmly gluing the Boom in place using CA glue, ensuring even application, is vital for structural integrity. The main spar passing through the Boom further reinforces the structure.
Cable Management: Proper routing of motor and servo cables through designated channels in the booms and wings to the fuselage is essential for a clean and functional build.
Bearing Installation: The 3x8x4mm bearing in the front boom assembly, secured with an M3 nut, is critical for stabilizing the motor mounting and ensuring smooth tilting movement.
Software Configuration: Regular updates and familiarity with the Ardupilot documentation are crucial for maintaining optimal performance and troubleshooting. The manual provides specific parameters for the Stallion VTOL, including Q_ENABLE, Q_TILT_ENABLE, Q_FRAME_CLASS, Q_TILT_MASK, Q_TILT_TYPE, Q_TILT_YAW_ANGLE, Q_TILT_MAX, Q_TILT_RATE_UP, Q_ASSIST_SPEED, Q_M_PWM_TYPE, Q_OPTIONS, ARSPD_FBW_MIN, ARSPD_FBW_MAX, Q_TRANSITION_MS, Q_LAND_SPEED, Q_M_BAT_VOLT_MAX, and Q_M_BAT_VOLT_MIN. These parameters need to be correctly set for the aircraft to function as intended.
ESC Calibration: Using recommended ESCs that support DSHOT1200 (by setting Q_M_PWM_TYPE = 7) allows bypassing manual ESC calibration, simplifying setup.
Battery Voltage Compensation: Setting Q_M_BAT_VOLT_MAX and Q_M_BAT_VOLT_MIN (e.g., 16.8V and 13.2V for 4S packs) enables throttle compensation in hover mode, ensuring consistent thrust regardless of battery voltage.

FLIGHTORY STALLION VTOL - Slajd 28

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