Configuring Turnigy 9x with arducopter


There had been two blogs regarding configuration of Turnigy 9x with APM but i had experienced difficulties in them. So here i am, writing my own experience.

I am using the Turnigy 9x Mode 2 with RF 9X v2 2.4GHz module and 8 channel receiver but the same applies to Mode 1 as well.

About Turnigy 9x: I think they are good for their price. They provide almost all the functionality needed for APM.

The package contains a controller with the transmitter module installed, a 8 channel receiver and a binding wire which can be used for paring other receivers or transmitters ( i haven't tried that.)

Following is the connection list between turnigy receiver and APM.

Receiver       APM

1                    1

2                    2

3                    3

4                    4

5                   Not connected

6                   5

7                   6

8                   7

PWR            PWR

GND            GND

Goto menu->System settings and Type Select. Select Acro

                                                      Stick Select  Mode 2 ( Mode 1 users select mode 1)

Goto menu-> Function settings, goto second page and select Aux Channel

Assign CH5 to Gear and Channel 8 to THRO HOLD.


Open Mission Planner after connecting APM (connected to receiver as mentioned above) via USB. Goto Configuration and then Flight Modes. Configuring the F Mod switch will require us to read the PWM. We don't need anything other than the mission planner. The PWM reading can be taken on the Current PWM.

The PWM ranges for different flight modes are also shown on the same APM window. We need 1165 for Flight mode 1, 1295 for flight mode 2, 1425 for flight mode 3, 1555 for flight mode 4, 1685 for flight mode 5 and 1295 for flight mode 6. It is not required to get these exact values. The values for flight mode 2-5 are the mean of the range values. You might not get the exact values, select a value closer to these.

Set the F Mode (AUX 3) Switch at N (top position) and Gear to rear on the controller.

On page 2 of the controller menu, select Prog Mix

Goto Mix 1, change status to ACTIVE, Master to GYR and Slave to FLP, SW to NOR

Change  the DNRate parameter until you get 1165. (mine was 075)

Now change the Gear switch to front.

Change the UPRate parameter until you get 1295. (mine was -044)

Press menu to save changes.

Change the F Mode switch to 1 and Gear switch to rear.

Goto Mix 2, change status to ACTIVE, Master to GYR and Slave to FLP, SW to ID1

Change  the DNRate parameter until you get 1425. (mine was 013)

Now change the Gear switch to front.

Change the UPRate parameter until you get 1555. (mine was 019)

Press menu to save changes.

Change the F Mode switch to 2 and Gear switch to rear.

Goto Mix 3, change status to ACTIVE, Master to GYR and Slave to FLP, SW TO ID2

Change  the DNRate parameter until you get 1685. (mine was -049)

Now change the Gear switch to front.

Change the UPRate parameter until you get 1795. (mine was 076)

Press menu to save changes.

Exit the menu and toggle the switches to see the flight modes change in the same APM page.

Flight Mode 1: F Mode switch at N and Gear switch to Rear

Flight Mode 2: F Mode switch at N and Gear switch to Front

Flight Mode 3: F Mode switch at 1 and Gear switch to Rear

Flight Mode 4: F Mode switch at 1 and Gear switch to Front

Flight Mode 5: F Mode switch at 2 and Gear switch to Rear

Flight Mode 6: F Mode switch at 2 and Gear switch to Front

We have sacrificed channel 6 for getting six flight modes. Channel 6 is usually used for tuning. Once tuned, i don't think we need channel 6 then. In order to use channel six for tuning, disable MIX 1, 2 and 3 by changing their status to INH. You don't need to vary any other parameters. Goto CH_AUX and assign

CH5 => Gear

CH6 => PIT_Trim

CH7 => Throttle Hold

You can tune on channel 6 then using the PIT TRIM potentiometer on the controller. Once tuned, change back the CH_AUX as mentioned before and enable the MIX 1,2 and 3.

Adjusting controller inputs sensitivity ( Limiting the controls)

There are three toggle switches with labels Rud D/R, ELE D/R and AIL D/R.

these switches have two positions, 0 and 1.

They can be used to vary the range of the inputs during the flight. By default they are -100% to 100%. You can change them to e.g. -50% to 50% and can be changed during the flight with the D/R switches if desired to have a sensitive control.

D/R switch at 0 => Limited control

D/R switch at 1 => Full control

By default these switches are disabled, in order to enable them, goto menu on the controller, func settings and select D/R EXP. Change between the channels by changing the CH to RUD0, ELEV and AILE.

Change the D/R limit to whatever you want to be the limited control input ( control channel output is limited from the controller even if fully deployed. Can be changed to full by changing the D/R switch to 1 on the controller)

You can see the response on the D/R Expo page on the controller by setting the limit D/R and toggling between corresponding D/R switch on the controller.

Press Menu to save changes.

Reversing the pitch stick. You also have to reverse the pitch stick to get pitch down with pitch stick forward and pitch up with pitch stick back.

Arming/Disarming Issue with the D/R at RUD0. Arming and disarming requires full rudder to the left and right i.e. 100% (not limited). So it won't arm/disarm if the RUD0 is limited and the D/R RUD is at 0. Either don't use this D/R limit on RUD0 or remember to put the D/R Rud at 1 while arming / disarming.

The controller has a timer functionality which can be used to start the timer at the start of the mission, and the timer will start beeping with each second in the last minute to warn about the end of timer. This timer must be set considering the endurance of the arducopter. The timer can be set in the TIMER in the Func Setting in the controller menu. Once set, the timer can be triggered with the TRN switch at the back of the Gear switch. The timer can be paused by the same switch. In order to reset the timer, you will have to restart the controller. (Make sure APM is disarmed in case it is configured for throttle failsafe)

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  • Hi guys,

    i have a Pixhawk and there I only have a ppm-sum signal. I can change channel 6 in 6 different ways, but not channel 5 with my Turnigy 9x. Is there a way to change channel 5 in 6 different ways fir the mode-selection or is there a possibility to change the mode-selection channel itself to channel 6?

    Otherwise I can only switch between 2 flight modes with the gear-switch.

    Thanks in advance for some advices!

  • Turnigy 9X with the stock 9X8Cv2 receiver has got a configurable failsafe for signal loss. 

    -Set the transmitter to PPM in SYSTEM SETTINGS->MODEUAT/MODULATION->PPM 

    -Set FUNC SETTING->E.POINT->THROTTLE to 120%/120% (This changes the maximum throw up&down. protip: move throttle stick to change value for up/down...)

    -Set FUNC SETTING->SUBTRIM->THROTTLE to -120 (sets the midpoint lower, so that the failsafe value goes to less than 1000

    -Set FUNC SETTING->FAIL SAF->THR->F/S 000% (This sets the failsafe (tranmitter off) value to 0%, which goes -to <1000 since we changed the midpoint/endpoints.

    -Adjust your throttle trim and APM/multiwii/etc. failsafe thresholds so that the failsafe signal value is lower & failsafe is correctly activated in your autopilot. Poke, Test, poke and test. Don't rely on the default values!

    Note: My Turnigy transmitter&receiver are a few years old from Hobby King. Your results may vary. Tested on [SYSTEM SETTINGS->TYPE SELECT->ACRO] model type. Not sure if everything are the same for GLIDE&HELI. Also the Turnigy is a cheap-ass system, consider something better for anything valuable&dangerous. :)

    Some pics of menus: 

    Turnigy9Xfailsafe (1) (6 photos)
    Shared with Dropbox
  • Hi this works fine with all cables and using normal mode but i now changed my frsky d8ii-plus to ppm-sum and i cant get this working.

    Anybody knows how to?


  • Many thanks, very helpfull


  • Hi,

    I the tutorial there is a connection assignment

    from APM to Radio, where channel 5 at radio is

    not used. Then later on It states that Assign CH5 to Gear.

    Is the wiring diagram right.


  • I have been trying to make this work on a FlySky 9 channel radio which I believe to be the same as the Turnigy 9X.  These same steps are well documented in Dennis Baldwin's excellent video: .  I did all the steps very carefully over and over.  It may be that I am doing something wrong, or that there is some difference between the Turnigy 9x and the Flysky. For whatever reason, adjusting the uprate and downrate had no effect on the PWM output coming in to Mission Planner on Channel 5.  For reasons that are completely unclear to me, the solution here in which the three position switch (Flt. Mode) and the gear switch are used to get 6 modes does not work. After extensive more or less random fiddling around, I found that I needed to set Aux Channel 6 to "Gear", rather than Aux Channel 5 to "Gear" and instead of setting the "Master" in the three Mixes to GYR as the instructions suggest, I set it to THR instead.  This way, I could get 5 flight modes out of it.  Again, I have no idea why, but it seems that with this setup only the downrate setting makes a difference, but the settings below will give a total of 5 different flight modes.

    Wiring (same as standard method)

    Receiver 1 - APM 1

    Receiver 2 - APM 2

    Receiver 3 - APM 3

    Receiver 4 - APM 4

    Receiver 5 - not used

    Receiver 6 - APM 5

    Aux Channel (different from standard method)

    Aux Channel - 5 set to null

    Aux Channel - 6 set to gear

    Mixes (different from standard method)

    Mix 1

    State: ACT



    Offset: 000

    Uprate: 000 (giving a PMW value of 1686 = Flight Mode 5)

    Downrate: 047 (giving a PMW value of 967 = Flight Mode 1)

    Switch: NOR

    Mix 2

    State: ACT



    Offset: 000

    Uprate: 000 (giving a PMW value of 1967 = Flight Mode 6)

    Downrate: -059 (giving a PMW value of 1294 = Flight Mode 2)

    Switch: ID1

    Mix 3

    State: ACT



    Offset: 000

    Uprate: 000 (giving a PMW value of 1967 = Flight Mode 6)

    Downrate: -090 (giving a PMW value of 1425 = Flight Mode 3)

    Switch: ID2

    Hope this might be helpful to others who have been having trouble.

  • hi Majid Khan, is there a way to mix Thro with Hov Pit? If yes how to do it?

    It's just like throttling through that potentiometer. Is that possible?

  • very good info. thanks!

  • Does the Turnigy 9x support the failsafe features in Arducopter 3.0?  I've seen a lot of conflicting info on this.

  • Hi I've a problem, in configuration for Program Mix i can only change the parameters DNRate and UPRate from -100 to 100, so i don't understand how i can set 1765 ?!?

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