# E-flite Convergence Tiltrotor VTOL (Pixfalcon)
The E-Flite Convergence (opens new window) can easily be converted to a fully autonomous VTOL with PX4. There is not much space but it's enough for a Pixfalcon flight controller with GPS and telemetry.
The original Horizon Hobby E-Flite Convergence (opens new window) frame and Pixfalcon have been discontinued. Alternatives are provided in the Purchase section.
# Where to Buy
Vehicle frame options:
- WL Tech XK X450 - Banggood (opens new window), AliExpress (opens new window)
- JJRC M02 - Banggood (AU) (opens new window), AliExpress (opens new window)
Flight controller options ():
- Pixhawk 4 Mini
- Holybro Pixhawk Mini.
- Any other compatible flight controller with small enough form-factor.
# Hardware Setup
The vehicle needs 7 PWM signals, which must be connected to the flight controller outputs as specified in Airframe Reference > VTOL Tiltrotor > E-flite Convergence. This mapping is reproduced below.
|MAIN 1||Motor right|
|MAIN 2||Motor left|
|MAIN 3||Motor back|
|MAIN 5||Tilt servo right|
|MAIN 6||Tilt servo left|
|MAIN 7||Elevon right|
|MAIN 8||Elevon left|
Note that left and right in the reference are defined from the perspective of a human pilot inside a real plane (or looking from above, as shown below):
# Flight Controller
The flight controller can be mounted at the same place the original autopilot was.
# Telemetry Radio
The telemetry module fits into the bay meant to hold FPV transmission gear.
For the GPS we cut out a section of foam inside the "cockpit". That way the GPS can be put inside the body and is nicely stowed away without compromising the vehicle appearance.
# PX4 Configuration
Follow the Standard Configuration in QGroundControl (radio, sensors, flight modes, etc.).
The particular settings that are relevant to this vehicle are: