# VTOL airframe example

This example is based on a Cyphal/DroneCAN VTOL KIT + some additional devices.

It has the following RaccoonLab devices:

Devices used Purpose
Airspeed x2 Airspeed sensor, required for all wing types of UAVs
GNSS MAG BARO GNSS, compass and barometer
mini v2 x7 - Right ESCs
- Left ESCs
- Right aileron
- Left aileron
- Elevators
- Right rudder
- Left rudder
ICE conroller Internal Combustion Engine conroller: air, gas, starter, temperature, fuel tank, temperature and RPM sensor
Rangefinder Laser rangefinder
Aircraft light x3 RGB LEDS
Autopilot Main onboard flight computer

# Layout


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drawing drawing drawing

Here is a list of all the things you will need.

N Name Link Description
1 ESC regulator

# Connection diagram


# Setting up px4/ardupilot parameters

Step 1. Load firmware and reset settings

Load the latest stable firmware and reset all settings to default.

Step 2. Select the airframe

Select the Standard VTOL airframe.


Add an airframe here.

# Nodes parameters configuration


Add info here.