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)

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Comment by Pekka Ahola on March 17, 2014 at 12:45pm

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: https://www.dropbox.com/sc/9qmdbg1m1fqkmvy/PNpV77VN0n 

Comment by Tom on March 26, 2014 at 12:59pm

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!

Comment by Ryan Coxey on May 23, 2014 at 8:58am

Works great! right on! But, does this mean I can use CH 5 as a gimbal tilt control?

Comment by Dmitry on August 21, 2014 at 8:17pm

Just throw in my two cents - 

"The timer can be paused by the same switch. In order to reset the timer, you will have to restart the controller." OR you can hold "exit" button to null the timer.

Comment by iyad on January 6, 2015 at 1:06pm

i  just got this Turnigy 9X V2 , and i did all the above successfully . 

am using an APM2.6 on my Quadcopter ,its connected to Mission planner and all is working ,but it will not Arm .

i checked the radio signals and i calibrated them and set all values of the channels to 1500 when positioned at the middle ,i used the trimming buttons because the RUDD (yaw) was around 1400 when the stick is in the middle.

not sure what the problem is.. could it be the trimming that is not giving the right value to Arm since the Rudd is the one used for arming ???

PS: my previous RC Armed the APM, but i had to change the trimming of the Rudd all the way to the right to arm, then set it back to value that balances my Quad.

Comment by Marius on January 6, 2015 at 1:18pm

I ran in same issue some time ago. I did no trim the values on remote at all.

I just reset to factory the APM, from the terminal, then I recalibrate the escs,

(thr - maxed... power on), then I tuned up all the values. Check the mission

planner preconditions to arm as well.

Comment by iyad on January 6, 2015 at 1:31pm

i have the new version of the Mission Planner. the terminal is disabled in this new version.

any particular steps to take ?

Comment by iyad on January 6, 2015 at 1:45pm

ok i fixed the problem by running through the Wizard from the Initial  setup .

Comment by iyad on January 11, 2015 at 8:46pm

you wrote "DNRate parameter until you get 1165. (mine was 075)"

mine is also 75, but how can i change it to 1165  if the range is only 100 to -100 ???

same thing for UPRate

Comment by Majid Khan on February 7, 2015 at 9:53pm

@iyad You adjust DNRate parameter on the transmitter to get a corresponding PWM value on the mission planner. 0745 was my DNRate parameter value on the transmitter whereas 1165 is the PWM value on the mission planner.

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