SIM001 › Flying the VTOL › Flying with a flight controller
The VTOL on its own
The T1-S VTOL needs no ground station. The sim starts ArduPilot for itself, and the keyboard or a radio flies the plane through it: the sticks go to ArduPilot as the radio signals of a real receiver. B is the arm switch and N picks the next mode of the radio, and QHOVER is the first. Your first hover shows each step.
Arming lets ArduPilot run the motors
ArduPilot arms the plane when the arm switch is on and the throttle is closed. The top line of the HUD says ARMED when it has.
If the autopilot is disarmed, press B, the arm switch of ArduPilot. The line at the top of the HUD says ARMED.
See it in Your first hover.
How this is tested verified
Given the autopilot is disarmed When the pilot arms the plane Then the autopilot is armed
Opening the throttle lifts the VTOL straight up
In QHOVER the plane takes off vertically. There is no throw.
If the autopilot is armed, press 4. In the hover modes the middle of the throttle holds the height, and the throttle that you set above it is the climb. The plane leaves your hand and climbs away.
See it in Your first hover.
How this is tested verified
Given the autopilot is armed When the pilot opens the throttle to climb Then the plane is flying
Closing the throttle holds the hover
In the hover modes the middle of the throttle stick holds the height, and the keyboard sends the middle when the throttle is closed. The plane does not fall.
If the autopilot is armed and the plane is flying, press 0 to close the throttle. The plane leaves your hand and climbs away.
An exception to A lowered throttle stick brings the plane down.
See it in Your first hover.
How this is tested verified
Given the autopilot is armed And the plane is flying When the pilot closes the throttle Then the plane is flying
Sending the plane home lands it
In QRTL the plane flies back to the pilot box and lands by itself.
If the autopilot is armed and the plane is flying, press button 6 on the front of the radio. The plane flies to home, and lands there. The plane lands and stops on the ground.
See it in Your first hover.
How this is tested verified
Given the autopilot is armed And the plane is flying When the pilot sends the plane home Then the plane is on the ground