Change between 6 modes with Turnigy 9XR using mixing.

First I acknowledge lianpinkoh's post, "Channel Mixing in Turnigy 9XR for Arducopter/Arduplane" as this was the post I started out with.  The method I explain below is only a Modified version of lianpinkoh's that is more taylored towards arduplane rather than arducopter and that does not require the servo cable to channel 7.

Below are the uses for the switches I am using:

This Mixing schedule (shown below) sets up the three switches shown above to do the following:

1.) The switch on the left will return the Aircraft to manual mode(mode 6) no matter what mode it currently is in.  Think of this switch as activating/deactivating the other two.

2.) The Middle switch is a three position switch and will switch between three different modes.

3.) The switch on the right is a two position switch.  This switch changes between one set of three modes and another.

If the left switch is flipped up, the 6 modes are activated as follows:

Mode 6: Middle switch: Down, Right switch: down

Mode 5: Middle switch: Middle, Right switch: down

Mode 4: Middle switch: Up, Right switch: down

Mode 3: Middle switch: Up, Right switch: Up

Mode 2: Middle switch: Middle, Right switch: Up

Mode 1: Middle switch: Down, Right switch: Up

Again, if the left switch is flipped down, the middle and right switches are ignored and the aircraft will return to manual mode (Mode 6 in arduplane).

Connect receiver CH6 to APM CH8 for arduplane.  

Let me know if you have any questions!

Views: 31301


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Comment by Gary Mortimer on June 26, 2013 at 1:24am

Be careful too many choices can lead to confusion!


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Comment by keeyen pang on June 26, 2013 at 3:16am

I am using three mode for mission flying with a single three position switch. Mode 1 is manual, use for take off and landing. mode 4 is RTL. After take off and reach safe altitude, I'll switch to RTL to confirm navigation work properly. Then If everything looks good, switch to auto in mode 5, off the plane go for it's mission. So far work well for me. Should we need to change mode, we can always do it in Mission Planner. But it also good to have more option for difference requirement. 

Comment by Mike Perillo on June 26, 2013 at 3:59am
True about the confusion caused by too many modes. The set up allows me to get used to switch positions for 6 modes instead of having to change the three modes I can use in-between missions. The switch on the left is always available to override to manual if the operator gets confused.
Comment by Gary McCray on June 26, 2013 at 11:08am

Ho Mike,

I just added a link to your post here to the Wiki's Six modes page.

Seems like this could work fine with copter too and simply switch back to stabilize mode instead of manual.

And I like the concept of a single "safety" switch for getting out of trouble.

If you are watching your plane / copter head off in to the weeds you need something you can do really quickly and without thinking.

Comment by Matt on June 26, 2013 at 5:54pm

What type of receiver are you using for the 9XR? I was looking at this radio as a starter.

Comment by Mike Perillo on June 26, 2013 at 6:34pm
I'm using a frsky d8r-II plus.
Comment by lianpinkoh on June 27, 2013 at 11:07am

Great job!

Comment by Jared Reabow on June 28, 2013 at 7:37am

i find it easier to use the rotary switch

Comment by Thomas Harvey on July 22, 2013 at 12:48am

Thanks for the guide but could someone please explain how to get the '!' in front of 'AIL'?  I'm only a beginner ;)

Comment by Mike Perillo on July 22, 2013 at 3:45am

Took me awhile to figure that also.  Go down to channel 5 and hold menu until the menu pops up.  Go down to switch and keep pressing left until you get to the "!" series of switches.  They are after "OFF".

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