Configuring Turnigy 9x with arducopter

Manual

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.

DON'T ASSIGN CHANNEL 6 TO ANYTHING. IT MUST BE LEFT NULL.

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)

Views: 86206

Comment by StamusContra on January 13, 2013 at 3:10am

Does anyone have a tip on how to reverse pitch? I've gone into the system settings, switched it over to reverse but still no luck...

Comment by Jim Wittstruck on January 18, 2013 at 9:06am

Okay, what am I doing wrong? I have done this successfully with  an APM 2.5 on a plane, and have just gotten a 3DR Quad that I'm having problems with. I set my mixes as you lay out and can see the PWM's change on the "Radio Calibration" page but I the only mode changes that take place is between mode 1 and mode 6 when I switch my gear (channel 5) switch. No modes change whn I move my F(3 position) switch even though I can see the PWM change (on the Radio Calibration page.

Any suggestions?

Comment by Jim Wittstruck on January 18, 2013 at 4:58pm

Oops!

I overlooked the pin order on the rx and had 5 to 5, etc. Once I followed ALL of the instructions it worked fine.  THANKS!

Comment by Majid Khan on March 15, 2013 at 2:18am

@Steve Burton

Sorry for late reply.

Please check the connections. Make sure pin 5 of receiver is not connected to APM. Also pin 6 of receiver is connected to APM pin 5, pin 7 of receiver to APM pin 6 and pin 8 of receiver to APM pin 7.

In order to save settings on Turnigy controller, you have to press MENU, to discard changes you have to press EXIT button on the controller. You can verify the settings by pressing the MENU button and then checking the settings again.

Comment by Silviu on March 17, 2013 at 12:03pm

Hello I have a problem,when I get to this I get stuck:

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)

What are UPRate ,DNRate and where to look for them.

Comment by Silviu on March 17, 2013 at 12:06pm

Sorry,I forgot:On controller the values are -100 to100 how do you get 1165 value or 1295.Thank you

Comment by Majid Khan on March 18, 2013 at 12:20am

@Silviu

On your turnigy 9x controller, Press menu, then press DN to select FUNC Settings, enter it by pressing menu again.

Go to Prog.Mix and there you can find different channel mixes.

Kindly go through the blog again. I hope you will figure this out. Do let me know if you get any problem.

The values on the controller will be between 100 and -100. You are right about them. The vaules like 1165 and 1295 are not controller values. These are the PWM values which you will see in the Flight Modes in Configuration in the Mission Planner.

Comment by Mathieu on March 18, 2013 at 7:55am

I have an Eurgle model, I follow the procedure but when I change the DNRate/UPRate nothing happens, the channel 5 PWM Stay at 14XX... This is normal ? :( 

Comment by Steve Burton on March 18, 2013 at 11:53am

Same here you see no change anywhere it looks as if the flp/mode/3way sw isn't functioning at all, that's my experience. I had to go to mix 6 and 7 to get anything to work, then I only was able to some funtionality. It must have to do with the firmware.

Comment by Mathieu on March 18, 2013 at 1:15pm

With this video I can achieve a 3 flight modes configuration with this switch (but not in acro mode) So the switch is working. It's just the mix that seems not having any effect...

http://www.youtube.com/watch?v=6n_5wNA2jTI 

Comment

You need to be a member of DIY Drones to add comments!

Join DIY Drones

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service