What's new -
A totally reworked 4 channel system. You can now capture 4 channels with .5µs accuracy and output throttle and rudder with 4µs accuracy.
New throttle output is more reliable and has a more standard 0 - 100 definition so config files will make more sense. This also makes Mega config files more compatible.
Channel 4 output has two modes
- one for Rudder correction which will output a % of Aileron to the Rudder. (.2 is the default) This mode will allow you to override the rudder so you can land in Stabilize mode and steer the plane on the ground.
- one for programmatic control of Channel 4 - Great for dropping eggs or snapping photos.
To switch modes, edit your config file: CH4_RUDDER = 1 for Rudder control, 0 for programmatic control
To control the rudder action in flight with the AP, set ADVERSE_ROLL to a value from 1.0 to -1.0. Moving the rudder stick will override the action, just like the Pitch and Roll Controls.