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RC VTOL F-35 Parkjet

Free plans, .stls, and code to build and fly your own VTOL F-35

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This is a full-VTOL F-35 radio controlled parkjet. It uses conventional miniquad/drone components and a fully custom flight controller for smooth transitions between hover, where it flies just like a regular multirotor drone, to forward flight, where it flies like a foamie parkjet. Active stabilization and aileron-mounted motors for thrust vectoring makes for impressive maneuverability and control, not to mention speed in excess of 80 mph. No RC plane in existence is as fun or as capable as this.

Full Tutorial and Flight Footage:

Flight Controller: dRehmFlight VTOL

VTOL is notoriously difficult to get working in the RC world due to flight controller limitations. But I wrote my own easy to understand flight controller code, dRehmFlight VTOL, that this project uses: https://github.com/nickrehm/dRehmFlight

Tutorials to set up your flight controller hardware and hook up your radio receiver to talk to the flight controller are available here: https://www.youtube.com/playlist?list=PLTSCOv-lGtMax-oA4Pnq8OTxd4fTucrjQ

While the code is fairly easy to modify for this platform, I am also providing the exact same modified version of dRehmFlight that I fly on my F-35. You should only need to change some of the servo offset variables in the control mixer to level the surfaces prior to flight. Control gains have already been tuned to fly well. Available here: https://github.com/nickrehm/dRehmFlight-F-35

~~~THIS AIRPLANE WILL NOT BE ABLE TO HOVER OR TAKEOFF VERTICALLY WITHOUT THE FLIGHT CONTROLLER~~~


Parts I've used and recommend: 

Motors: https://amzn.to/3qXXIU7

Propellers: https://amzn.to/3dMu52E

ESC: https://amzn.to/3B22aq0

Battery: https://amzn.to/2TEVEEp

Servos: https://amzn.to/3hEwgGH

Teensy 4.0: https://amzn.to/3i5Zwqn

IMU: https://amzn.to/3htnU6a

VTOL_F35_plans_sheet1_FULL.pdf

Sheet 1 of the F-35 plans, full size.

Adobe Portable Document Format - 53.29 kB - 07/06/2021 at 18:24

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VTOL_F35_plans_sheet1_FULL_NOGRID.pdf

Sheet 1 of the F-35 plans, full size and without the grid for laser cutting.

Adobe Portable Document Format - 45.66 kB - 07/09/2021 at 18:46

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VTOL_F35_plans_sheet1_A4.pdf

Sheet 1 of the F-35 plans, ready to print on A4 paper.

Adobe Portable Document Format - 45.94 kB - 07/06/2021 at 18:24

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VTOL_F35_plans_sheet2_FULL.pdf

Sheet 2 of the F-35 plans, full size.

Adobe Portable Document Format - 53.17 kB - 07/06/2021 at 18:24

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VTOL_F35_plans_sheet2_FULL_NOGRID.pdf

Sheet 2 of the F-35 plans, full size and without the grid for laser cutting.

Adobe Portable Document Format - 45.59 kB - 07/09/2021 at 18:46

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Nick Rehm wrote 05/05/2022 at 23:42 point

A pwm, ppm, or sbus compatible receiver will work right away with the flight controller code on the teensy 4 microcontroller: https://github.com/nickrehm/dRehmFlight

  Are you sure? yes | no

alfonsadenbroeder wrote 04/26/2022 at 15:50 point

Hi Nicholas, great work!. I got mine flying without any issues. Three things: first, I want to send some money your way, to me this was great value :) Do you have a paypal account? Secondly, I seem to have some occillation like 10 hertz in roll in hoover, seems gains for aileron motors are too strong, which variables should I lower? Thirdly, I'm working on a larger version, width 1 meter , 3 EDF64mm. Maths work out, the setup is very comparable to the standard F35 (thrustvectors instead of aileron/motor combo), but any preliminary thought on changes in the controller settings?

  Are you sure? yes | no

Nick Rehm wrote 05/01/2022 at 19:12 point

I think there's still a paypal link in the github repo, it's not necessary but I appreciate the gesture :) 

Yes control gains may vary depending on motor/prop/ESC combo. They're all adjustable in the control mixer function--each 'flight mode' has a different set of controller gains. Start by lowering the roll P gain by 10% and see if that kills the oscillation. You may want to go ahead and lower by the same amount in transition, and by equivalent amount for forward flight yaw.

I did a little bit of hacky code for the flight mode /fading setup on this project, so if you intend to deviate at all in fundamental design, I might recommend just starting with a clean version of dRehmflight and building up the mixing yourself. That way you'd avoid my very F-35 specific code that is only intended to work with this platform. Custom control mixing is not too tricky: https://www.youtube.com/watch?v=_n5GBudUf5Q

You can follow along with others modifying the code and post any questions you have here: https://www.rcgroups.com/forums/showthread.php?3706571-dRehmFlight-VTOL-Teensy-Flight-Controller-and-Stabilization

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sevans wrote 03/31/2022 at 06:51 point

Hi there great project.

But as already stated the 4 in 1 esc seems not to be avaliable has anyone got sujjestions for an alternative that they have used for this project ??.

Thanks

  Are you sure? yes | no

barrydillon wrote 10/15/2021 at 11:07 point

the 4 in 1 esc is no longer available, what can I use in its place and does any code need changing

  Are you sure? yes | no

George G Shemaka wrote 08/05/2021 at 01:41 point

Spliced in a single ESC to one of the motors and Teensy and it worked fine.  New Lumineir 4 in  1 ESC appears to be bad.  

Your software built in diagnostics was a big help.

  Are you sure? yes | no

George G Shemaka wrote 08/04/2021 at 18:48 point

Also, checked and I'm showing motor commands between 120 and 250.  Channel 5 reduces all command to 120 so do I have a ESC configuration problem?

  Are you sure? yes | no

George G Shemaka wrote 08/04/2021 at 18:24 point

Little problem.  Have complete servo control but no motor when ch 5 invoked.  Checked print radio data and channel 5 switches between 1000 and 2000.  Does the Lumenier 50Ax4 require some separate set up?  Thanks.

  Are you sure? yes | no

George G Shemaka wrote 08/03/2021 at 00:40 point

Build almost complete.  Electronics and software worked as advertised.  3D printed ailerons.

Instructions and videos first class. Impressive work.  Thank you!

  Are you sure? yes | no

Adam Hale wrote 07/09/2021 at 17:20 point

Would it be possible to upload plans without gridlines? We use a laser cutter in my aeronautics group and those tend to interfere. 

  Are you sure? yes | no

Nick Rehm wrote 07/09/2021 at 17:59 point

Yes I'll upload a version without the grid shortly!

  Are you sure? yes | no

Nick Rehm wrote 07/09/2021 at 18:48 point

Updated to include no grid version in files section. Cheers

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Mike Szczys wrote 07/02/2021 at 15:58 point

Looks tasty, can't wait to see the details!

  Are you sure? yes | no

Nick Rehm wrote 07/09/2021 at 14:28 point

Thanks Mike! Everything is available now

  Are you sure? yes | no

Mike Szczys wrote 07/09/2021 at 14:35 point

Those aileron-mounted motors are wild!

  Are you sure? yes | no

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