Fixed wing VTOL (vertical angle mode)

[wernight]

Background:

I recently had a very hard to launch and land delta wing model and that is pretty much is uncontrollable at low speed but also pretty fragile.

Idea:

1. User holds the plane vertically with the rotor above the CG.
2. User toggles a switch to start VTOL auto take off
3. iNav spins the prop progressively.
4. Once the model feels weightless, user lets go of the aircraft and moves back.
5. iNav uses ailerons to avoid the aircraft to roll (spin) and keeps slowly rising (using altimeter).
6. At set altitude or manually triggered, the user takes over.

Yes you'd start with a plane either skydiving to the ground, or possibly just hanging up vertical. It's still usually pretty easy to fly from that point.

In the case of a pusher (prop behind), this could still work just need to reverse the spin temporarily.

Landing could also be possible even for models that can only fly really fast. When toggling landing the plane would go again vertical ASAP and try to progressively lower its altitude until the user disarms near the ground.

VTOL angle mode:

Not required per say to implement the idea but overall probably the simplest way to implement the idea and improvement over it would be a new flight mode that would turn the fixed wing to behave like a quad in angle mode (but a quad with a single motor above the CG). Then the user could use sticks and control the plane like a quad in angle mode:

• Elevator/roll (right stick in mode 2) to tilt the plane to move it around in case of wind better or adjusting landing spot (especially for models without GPS).
• Rudder to adjust the yaw as practically the compass would probably be useless and only the accelerometer would be able to tell the if the plane is spinning. This may result in errors adding up and a plane starting whilst spinning fast.
• Throttle to adjust the rising speed to decide the land without completing take off.

Requirements:

Minimum requirements for fixed wings: Delta wing, fixed wing with aileron, or possibly even tractor fixed wing with rudder and elevator. The motor must be strong enough to lift the entire craft.

Altimeter might even be optional.

GPS should be optional but may be used to avoid drift.

Support of multi motors may be added later.

Bonus:

This could be used to train holding the plane vertically for tricks.

Demo of almost exactly what I mean: https://youtu.be/n7fns6Avavo (thanks to Erwin & Eric)