# 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
| View | Top | Bot |
|---|---|---|
 |  |  |
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.
WARNING
Add an airframe here.
# Nodes parameters configuration
WARNING
Add info here.