🛩️ Fimi Manta VTOL - How I Got Mine To Fly Properly On INAV 

YES..good information to use MixerTab for TilRotorSpeed and tiltservo positions to have "TransitionDone" smoother ❤

Great work, mine had the same oscillation issues. Overall a very cool little plane, just wobbly on transition. Mine was pretty locked in in tricopter and plane modes, just rocky transitioning to forward flight(mostly fine going back to hover mode). I'll definitely slow down the transition speed and raise the transition angle like in a comment below. BTW, use set mixer_automated_switch = ON and it allows INAV to transition to hover automatically in RTH mode when at the home point. I noticed in the video you said INAV couldn't do it. Happy flying!

Awesome flying, dude! 😃 Thanks a bunch for all the tips for setting it up! Stay safe there with your family! 🖖😊

That's an impressive improvement. Thanks for sharing your various tweaks 🙂

Now let’s try tail sitter in inav!

Thank you so much for demystifying this model. And, thank you for the files! Great job!

Great insights Giz. It flies, "it's not stupid!" A design matter that stands out is the motor-tilt hinge-line is not aligned with the thrust line of the motor (1:35). If you look at the HeeWing VTOL (and other tilt designs), the motor mount and thrust-line are centre aligned with the tilt pivot axis. The Fimi Manta pivots from the top of the motor mount (1:35), so servo torque applied will be non-linear. When the tilt servos where moving faster, they also had to created additional unwanted torque from gyroscopic effects of the spinning propeller. (worse on transition from hover to wing flight due to higher motor rpm) For fixed-wing mode, it may be interesting to experiment with a tiny mix between elevon servo and the motor tilt servo. This could be a way to increase roll rate, and pitch response.

the video I was waiting for... Thanks! will you share the dump cli parameters? I want to test inav on my manta with your setup

Very good, baby steps paid off. I use Horizon mode quite often in iNav as it gives full control of the flight surfaces to full deflection regardless of tune. The wobbling however is caused by Horizon Mode, so its a double edged sword. Once tuned, flying in Acro mode or gyro rate Mode if you prefer will give a much smoother flight overall. Yeah, position hold can only be used once its hovering, not before. Great progress eh?...🤔😳😏😀🇬🇧

This is wildly impressive. I’m gonna either use a donor plane or straight build my own plane very soon.

Excellent Giz, been waiting for this. Many thanks

Thanks for advice on motor servo speed adjustment. Just finished building a T1 ranger with F405TE vtol fc. Set the motor servo speeds as you advise. Test flight today and was pretty smooth.😊😊

Nice that you got it working with INAV. If mine don’t fly well in ardupilot at least I got back up 😅. Btw you gave me a good idea with blu tack👍

Beautiful

Now u need a servo on your roll switch for a camera tilt function so u can see better

Awesome!

If you limit the transition angle to 45 degrees or higher, the roll/yaw oscillation is greatly reduced. I don't want to slow my tilt servos, because the transition from 45 to forward flight has a ludicrous pitch up, as the rear motor just turns off while the tilt motors are still pointed upwards. It would be great if the rear motor turned off slowly at the final transition instead of instantly. I do the whole transition in Acro, no self leveling needed.

14:38 it has three motors, instead of quad I think better call it tricopter, multirotor, multicopter

The reason it won't land for you. Is because you have nav_rth_allow_landing = FS_ONLY. It should be set to ALWAYS if you want it to land by the RTH switch.

i'm totally buying one of these next time they go below $110 USD for the PNP+FC version

Wow! Amazing job ... My respect for the improvment and the final result. Many Thanks for share!

Great video, I'm still hesitant to switch to INAV. In the VTOL position, the engine mount is vertical with the engines horizontal ? On the original version, the engines are tilted slightly towards the rear.

Nice.

Thanks for the diff, got it set up, just one question how far should the throw travel on the wing servos end points be and how high should the rates be? my rates are at 100 percent. not sure if the diff you gave records these settings? Cheers.

Would you comment on how it performs in INAV versus ArduPilot? Also, how did you connect the compass? I bought the RTH version and the two leads for the compass are not connected. Where exactly do they connect on the flight controller. Thanks

😱 OMG. I have so many questions. Did you use the FC version? Would you make a video of your conversion? Will you share your CLI dump. I been trying to get mine to fly with Arduplane with absolutely no luck at all. This looks like an awesome alternative.

Hi and congratulations! Why did you put "inav" in the Vtol? What problems does Vtol have with "Ardupilot"?

Nice! Dump file please. I'm thinking about getting one

Hi i would like your cli dump too please! mine has been a pain with the stock ardupilot, cannot get osd working properly with 03 air unit, too slow getting gps fix no matter what gps module you use or where you mount it.

what vtol would you raccomend to start?

Can you provide the dump file for us please 😊

1st view!

Bad ass!!

It was very good, you are doing a good job updating Fimi Manta at Inav. Congratulations!!! I am waiting to fly mine too, I would like to ask you to look at your email if it is possible, the click that passed me has missed a profile! 😅