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The Autopilot Teaching Model

Here, we tell the story of our first flight testbed

Version 1
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The autopilot test model, like the basic scaled flying model, is a boxwing vertical takeoff and landing aircraft controlled by differential thrust in all modes. Unlike the base model, the autopilot test model is completely printed from PLA plastic, has a "fuselage" (rack) for attaching electronic components and a battery, and uses commercial 6042 propellers.

The Electronic Components of the Model

The model's equipment includes the following components:
1) Matek H743 Slim V3 Flight Controller 
2) TBS CROSSFIRE Nano diversity RX Receiver (868/915) 
3) Flowood GOKU GM10 Nano V3 GPS Navigator
4) Three-axis compass (magnetometer) GY-273 (HMC5883) (2 pieces)
5)  RUSH BLADE 50A SPORT F4 modes
6) Foxeer Micro Toothless 2 StarLight FPV Camera
7) DarwinFPV 5.8G 40CH 25/200/600/800 MW TX805P VTX Video Transmitter
8) RUSHFPV Cherry antenna (RHCP / LHCP)
9) iFlight XING2 2207 1750 KV 6S motors

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The Flight Test Program

Test objectives
 

- Concept feasibility study
- Tuning and binding the electronic components
- Setting up autopilot operating modes with varying degrees of autonomy up to fully automatic flight along the route
- Exploration of aircraft flight modes, including:
                Stall
                Transition
- Determination of limit modes for autopilot and other flight restrictions, including crosswind
-  Evaluation of the aircraft's flight performance in all modes
-  Gaining experience in setting up and piloting aircraft in vertical takeoff and landing without control surfaces
-  Development of rapid prototyping techniques
-  Specification of the test program, set of instruments and equipment for the scaled model of the Martian aircraft
-  Enriching the content of students' practical classes

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The autopilot teaching model in its maiden flight, November 9th, 2024

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With the first version of the model, we have conducted three series of tests (November 2024 - May, 3rd, 2025)

The autopilot modes we tested were:

  • STABILIZE

  • HOVER (altitude control by autopilot)

  • LOITER (altitude and position of the drone controller by autopilot)

Once the drone breached the fence boundary and was going to land automatically (QLAND mode).​

​

By May 3dr, the aircraft still was not flyable.

Version 2
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After the May 3rd crash of the third copy of the first version of the aircraft from 20 meters, we redesigned the model to make the 3D working part editable and to increase the wing area for future fixed-wing flights at lower speeds. Here's what has changed in the model:

  • Wing span and chord increased by approximately 15-20%

  • Box wing height increased by about 15%

  • Structural design updated (this time, we used the slicer's infill capability) and divided the model into parts to ensure proper printing for structural stiffness according to the loads

  • Motor wires are now internal

  • There are now two separate plates connecting the top and bottom wings (one for the battery, another for electronics), connected by small plastic plates for additional stiffness

  • The thrust-to-weight ratio is now slightly smaller (around 2.5), which should simplify control and tuning of the aircraft (hopefully!)

  • Finally, the electronic components are enclosed by walls on all four sides to protect against bad weather and propeller wake.

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