VTOL Explorer Build Instructions
The VTOL Explorer (Vertical Take Off and Landing Explorer) is a “kit bash” project based on the Flite Test Explorer. It is designed to be easy and fun to fly in all flight modes from hover to Fast Forward Flight (FFF).
As an airplane, the VTOL Explorer is very normal. It does all the typical maneuvers you would expect of a trainer including inside loops, rolls, and inverted flight (barely). It is a bit heavier and more complex than a typical trainer, and is not very fast. The rate of climb is modest. Flight times are about 7 minutes with a 3,300mAh battery and good safety margin.
As a quad-copter the VTOL Explorer is very easy to fly. It is mostly auto stabilized by the onboard electronics. I would not recommend it as your first quad-copter only because there are excellent, cheap, and extremely durable quad-copters that you can learn to fly in your living room. If you can comfortably hover tail in, meaning the aircraft is facing away from you, then you will have no difficulty hovering the VTOL Explorer.
Transitions from hover, to SFF (Slow Forward Flight), to FFF (Fast Forward Flight), and back again, are as easy as flipping a switch and flying the plane. SFF is the easiest flight mode, ranging from gentle cruising in airplane mode to a nose high hover.
The VTOL Explorer handles a modest amount of wind with ease. It flies at any speed from slowly backwards to full forward flight. You can point the nose into the wind, match your airspeed to the wind speed, and hover for a takeoff or a landing.
A video of the VTOL Explorer in flight is available here:
The PDF file of the build instructions is too large to be included here. It, and all of the related files can be found here. If the links don't open with a left click then try a right click and open in a new tab:
https://www.dropbox.com/sh/njtenb8l0j5csb4/AAAj2RpwOic2kop3_YheUYuCa?dl=0
OpenAero-VTOL Support Thread. Get the latest firmware and ask your questions about the firmware here:
http://www.rcgroups.com/forums/showthread.php?t=1972686
OpenAero-VTOL GUI Support Thread. Get the latest GUI (Graphical User Interface) and ask your questions about the GUI here. The GUI is not absolutely necessary, you can always enter the user parameters via the 4 button and LCD interface on the KK2 board. Recommended for users with more advanced PC skills:
http://www.rcgroups.com/forums/showthread.php?t=2624242
The build instructions are based heavily on the excellent Flite Test build video located here:
The original build thread can be found here:
http://www.rcgroups.com/forums/showthread.php?t=2704091
Specifications
Weight ready to fly: 3.47 pounds with battery.
Weight without battery: 2.9 pounds
Wingspan: 56”
Wing Area: 398 sq. in.
C.G.: 5.25” behind the wing Leading Edge
Typical Flight Time: 7 minutes
Lift Motors: Flite Test Power Pack D, (4) Emax 2213-935kv
Lift ESCs: (4) Emax BL Heli 20 amp XT-60
Lift Propellers: Emax 10x4.5, (2) CW, (2) CCW
Forward Thrust Motor: Flite test Power Pack C, Emax GT2215/09
Forward Thrust ESC: - Emax BL Heli 30 amp ESC
Forward Thrust Propeller: 9 x 6 EP, APC
Battery: 3.3Ah, 25-50C or better
Servos: (4) Emax ES08A II 8.5g
Flight Controller: KK2.1.5 or KK-mini
Flight Controller Firmware: OpenAero-VTOL
Measured Power/Lift:
3.8W - All motors off
204W, 11.48V, 17.8A – Hover Power
450W, 10.98V, 41A – Full throttle, hover motors only
6.5 lbs. – Maximum Hover Lift
101W, 11.64V, 8.7A – Minimum forward flight at cruise, forward thrust motor only
225W, 11.43V, 19.7A – Full throttle, forward thrust motor only
Parts List
Most of these parts can be obtained from the Flite Test store, and equivalent parts are broadly available. Some of the simplest and most common parts such as glue and tape are not listed. Obviously, you will need to make substitutions to match your radio.
FT Explorer Speed Build Kit, $39
https://store.flitetest.com/ft-explorer-speed-build-kit/
Power Pack D (Standard Quadcopter), $120
https://store.flitetest.com/power-pack-d-standard-quadcopter/
Power Pack c (Fixed Wing Large), $65
https://store.flitetest.com/power-pack-c-fixed-wing-large/
FT Elements Simple Firewall , 4 each, $5 ($20 total)
https://store.flitetest.com/ft-elements-simple-firewall/
Female XT60 Connectors, $4.50
https://store.flitetest.com/female-xt60-connectors-5pcs-bag/
Male and Female Bullet Connectors, 3.5mm, 12 pairs, $5.25
Flite Test Water-Resistant Foam board by Adams (50 pack) , $80.00 (Need 1 sheet)
https://store.flitetest.com/flite-test-water-resistant-foam-board-by-adams-50-pck/
Turnigy nano-tech 3300mah 3S 25~50C Lipo Pack, $28.34
Hobbyking KK2.1.5 Multi-rotor LCD Flight Control Board With 6050MPU And Atmel 644PA. $19.99
ZYX-S S.BUS Connection Cable, $3.47
http://www.hobbyking.com/hobbyking/store/__24523__ZYX_S_S_BUS_Connection_Cable.html
Orange Rx R620X V2 6Ch 2.4GHz DSM2/DSMX Comp Full Range Rx w/Sat, Div Ant, F/Safe & SBUS (Any size RX with S.bus and satellite capability will work), $20.64
OrangeRx R110X DSMX/DSM2 Compatible Satellite Receiver (Any compatible satellite RX will work) $12.79
USBasp AVR Programming Device for ATMEL Processors, $3.99
Colored Acrylic Packing Tape, 2” wide, $3.95 each
Amazing Goop, $8.00, Any hardware store
https://www.amazon.com/Amazing-All-P.../dp/B0000A605I
12 AWG Primary Wire, Any Color, $5.00, 1 foot, Any hardware store
18 AWG Primary Wire, Any Color, $5.00, 17 feet, Any hardware store
Terms of Use
The unique aspects of the VTOL Explorer design are offered freely for use by anyone, commercial or private. If Flite Test wants to offer a speed build kit for the motor pods, etc. they are welcome to do so.
The base Explorer design is the property of Flite Test.
The KK2.1.5 and KK-Mini design are the property of HobbyKing.
The OpenAero-VTOL (OAV) Firmware is open source and subject to the terms and limitations in the OpenAero-VTOL User manual.
If FliteTest wanted to offer the KK2 pre flashed with OAV, and possibly even loaded with the specific user parameters for the VTOL-Explorer then I would be happy to work with them to make that happen. Flashing the firmware is a significant entry barrier for many new users.
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A DX6i will work, it has 6 output channels and only 6 are needed. It is not ideal because it lacks a 3 position switch, and only has a 2 position switch. That means it would only be able to provide 2 output levels to drive the flight mode, presumably Hover and FFF (Fast Forward Flight). The intermediate mode, SFF (Slow Forward Flight) would not be possible unless you used various mixes to combine multiple switches to create 3 output levels (-100,0, +100) which is possible but a little messy. Also, when calibrating the inputs you really need the transition control output a 0% or neutral 1.5ms pulse, otherwise the FC (Flight controller) will assume neutral is whatever it happens to be putting out, when you push the calibration button. Once again, this can be done in various ways, including by temporarily programming that output to be neutral, but it is inconvenient. Bottom line, a DX6i is more than good enough except for the transition control output where it is less than ideal but still workable.
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When calibrating it would be important to set the flap switch down and the gear switch up, the position that outputs a neutral 1.5ms pulse. Confirm proper functionality on the monitor screen.
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RG
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5 STARS!
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Thanks
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5 stars from me!
I really wish FT would take the opportunity and will make a kit out of this. People have been asking for VTOL kit for a long time.
Great job!
Thanks,
Tal
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I am a fixed wing guy but I'm fascinated of the drone technology so this project will definitely get me going. And since it has the beginner mode it looks perfect for a noob like me.
Excellent work. 5 star quality.
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THANKS,
Joe
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Some people have also made the motor pods out of a solid piece of wood. That is a better solution in some ways if you have the necessary tools. You can make them thinner and more rounded for better aerodynamic efficiency.
http://www.rcgroups.com/forums/showthread.php?t=2704091&page=4
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http://www.altitudehobbies.com/kk2.1.5-lcd-flight-controller-openaerovtol-pre-flashed
Several people have asked for this as it is sometimes difficult to get your PC configured with the proper drivers, application software, and of course you need the programming cable. You will still need to enter the parameters for your specific aircraft, but that is what the buttons and the LCD display are for.
If you are going to use OAV in a number of projects, then it is probably worth your time to learn how to flash the boards yourself, but if this is your first OAV project, then it is well worth it to just buy the board pre-flashed.
I should point out that this powerful firmware is useful for much more than just VTOL aircraft. It is a general purpose flight controller that can be used in all sorts of aircraft and for all sorts of purposes. People have even used it in cars to control oversteer. It can turn most any aircraft into an easy to fly trainer and is also a lot of fun in 3D aircraft that can be made to auto hover. I don’t recommend it for simple multi-copters as there are better and simpler dedicated flight controllers for that purpose, but it can fly multi-copters as they are often a part of VTOL aircraft. It has a general purpose and very flexible user interface that is not aircraft dependent. The user manual and supporting documentation are very complete and combine with the board to create an excellent educational lab for understanding the basics of flight stabilization.
Ongoing and free product support is offered via this RC Groups thread:
https://www.rcgroups.com/forums/showthread.php?t=1972686
The user manual and other detailed documentation are available here:
https://www.rcgroups.com/forums/showatt.php?attachmentid=9348795&d=1474065247
If you want to use the Excel based GUI (Graphical User Interface) you will still need to set up your PC to flash the board yourself. Fortunately, the GUI is just a convenience and is not necessary. The on board buttons and LCD display are all you need. The GUI is available here:
https://www.rcgroups.com/forums/showthread.php?t=2624242#post34252361
Thank You to HappySundays for making all this possible.
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Can you point me to the settings for the flight profiles... I found one that I think will work, but I am keen on saving all three to mess with.... I just ordered a FT Explorer, and all the parts to replicate the machine you made the video of... Again.. Thanks for all the hard work over the years.... I have followed your work for quite a while.. !!!
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Tks for a great project and all the work that you have obviously put into it.
Just want to check with you first. Can I use a KK mini instead of a KK2.1.5. The mini has the 6060MPU and Atmel 644PA, but not sure about memory space etc. Yes the conections are a bit different.
Here in Australia can only get the mini from HobbyKing. Could go on Ebay and buy and pay a heap for one, but never sure what you are going to get from the chinese.
Tks Ken
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You are one smart cookie, thank you for posting all the design information and making it public. I am going to make one of these and have already started ordering all the parts. It will set me back a bit but this is too cool not to make. I have a Turnigy 9XR with Orange DSM2/DSMX technology. which I think should work. I'm super new to things like S-bus and flight controller boards. Can you tell me why you need the satellite and S-bus features and do you think the 9XR will work? Thanks again, this is one of the coolest things I've seen and your approach is fantastic. So much detail and actual measured quantities. Do you have any idea how much drag the quad rotor blades produce during airplane mode? Wowzers!
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The build instructions and information are fantastic. Thank you for taking the time to make it easier for a newbie like me to explore the hobby in new and interesting ways. Golden.
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Did you have a specific reason you selected a pusher configuration? Any specific reasons for selecting the FT explorer besides roominess? Thank you, Mike
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