Tunigy 9x Firmware with Mavlink stack



I release a new firmware for Turnigy 9x,

You can use telemetry from APM (watching battery voltage and GPS informations).

You can tune major value of PID (not all).

And the last you can change flight mod via Mavlink or PPM chanel. 


Actually I tested only on the last version of AduCopter, I thing you can easily change the sources code to adapt for ArduPlane


Project home :



 Download binary :




Turnigy 9x with Mavlink from GerardV on Vimeo.


Main screen with alternate voltage display (transmitter and APM)

On the picture, '20.1' is the voltage of APM and 'STAB' is the flight mod


Mavlink infos screen



Mavlink GPS screen



PID settings screen (can modify P & I parameters)



Settings flight mod cmd



I had two another parameters :

alarm on low battery from mavlink and the setting of the baud rate (it is preferable to get an high speed RF module)3690890902?profile=original


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  • Who says we don't have an uplink?  Couldn't we use the raw data encoded into a PPM channel to send data to the APM?  It would require "translation" code in the APM firmware to accomplish this, but I'm seeing the bigger picture... 

    • 9x with FrSky could be a standalone setup with PID tuning & save waypoint capability using your firmware.
    • Add bluetooth on the 9x, and then design smartphone GCS station.
    • USB connection (or bluetooth as above) from 9x (Smartieparts board?) to laptop in the field, for on the fly updates.
    • PC-based PPM encoder to FrSky directly.  You could then fly exclusively via joystick and not need a TX at all.  This capability exists already, just with the more expensive Xbee link. 

  •  If you never flash this radio you can find all documentations on er9x project found here :

    modding your radio and flashing


    or you can find a Solderless Pogo board


    for flashing I would recommanded to install eepe :



    For the transmission you'll need a wireless RS232 high speed datalink, you can use xbee

    but in europe I cannot use 900Mz and you mus modfify like for FRSKY project



    My radio:



    Due to the ATMEGA64 we approach the maximum memory,and in my version of gv9x-mavlink I remove the splashscreen,
    the helicopter option (all mixing is done in ArduCopter)
    and displays statistics

    the binary is here :



    Next time, I have to explain how to set the rotary switch.

    Tell me if you have problems. 

  • like wise is there some info on modding the radio please as i think its great

  • How would you install this? Would you need xbee installed into the 9x?

This reply was deleted.


Shivchand Jaysaval liked Shivchand Jaysaval's profile
Aug 25