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Permalink Reply by david.collett on June 4, 2012 at 4:41am

Hi,

Mode 6 is not changeable because at that setting (>1750ms PWM pulse-width), a hardware manual override is invoked and chan 1-4 are passed straight to the servos and not into the APM at all. I understand this is done within the PWM encoder, (another avr chip?) and is completely outside of the APM's control. I believe it's purpose is to allow a manual takeover should the APM malfunction (e.g. crashes during code development etc).

What I can suggest is that you reverse the servo output of your channel 8, so you can use just mode 6 for manual instead of mode 0, and still have the stick in the desired position, this is what I did on my 9x. (manual is all switches 'back').

Hope this helps,

Dave

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Permalink Reply by IronStone on June 4, 2012 at 10:53am

ok, a perfect and easy solution for this problem! To 'easy' for me to find it self ;)

Only one thing i cant understand, why is that what you described needed in arduplane but not in the arducopter firmware ? Its more 'nice to know' than essential since this simple and good solution above. 

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Permalink Reply by david.collett on June 6, 2012 at 12:32am

Good question, I believe it is recommended not to use channel 8 at all for mode-setting on arducopter. Invoking manual override and sending rx signals straight to your escs on a copter is almost certainly a bad thing since the arducopter code is doing all the mixing etc that makes it fly!

Dave

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Permalink Reply by IronStone on June 6, 2012 at 1:43pm

Arducopter uses chan5 for the mode switch, but you're right, given signals straigth to the esc on a copter isn't a good idea. Anyway, thanks for your solution.

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