How to setup the mode switch for APM/AC2
This tutorial was created using the Futaba 12fg, but keep reading and it may give you some ideas on your radio. If you already have your particular radio figured out, write a tute like this and maybe we can get a collection of them added to the APM/AC2 wiki's.
You will need two spare switches, a 2 position and a 3 position to be able to get all six flight modes for the APM/AC2. We are aiming to get pulse widths of 1165, 1295, 1425, 1555, 1685, and 1815.
If you have a device which can measure pulse width, it is much more convenient than watching numbers scroll on the cli. The pulse-width readout is now conveniently located on the Radio Calibration page of the Planner. Some servo testers can measure what is coming out of the receiver.
1. Start with end points at 100 and subtrim 0 on the gear ch.
2. Go to the AFR screen #2 and set the function to Gear.
3. Put Gear switch in middle the position. Now backup to AFR screen #1 and set the offset to get a pulse of 1490. This is not the normal centre pulse width but is right in the middle of the range we are trying to setup. This could be done with subtrim on other radios.
4. Go to the Prog Mixes screen, pick a mix and set it to Offset, then activate it to get to the next step.
5. You should now be in the setting screens for your chosen mix. Go to screen #5 to assign a switch to use as your secondary mode switch and remember to activate it. I chose SF as it was a 2 position switch.
6. Go to Mix screen #1 and set the function to Gear.
7. Set the secondary mode switch to the rear and Gear switch to centre and adjust Offset Off for a 1425 pulse.
8. Set the secondary mode switch forward and adjust Offset On for a 1555 pulse.
9. Go back to AFR screen #1 and make sure you are still in the Gear function. Put both switches to the rear and adjust Rate B for an 1165 pulse. This can be done with gear endpoints on other radios.
10. Flick both switches all the way forward and adjust Rate A for an 1815 pulse.
11. That’s it. If you flick through all 6 combinations, it should be pretty close to what the APM/AC2 expects to see. I ended up with 1165, 1296, 1426, 1555, 1684 and 1814.
Here is the file for my complete model. I would suggest using it as a guide only because my switch assignments may not suit you.
Comments
Many thanks Grodon. 4 Minutes and it worked!
no problem....lol.....tks :)
Jonis: I have attached the file to the end of the blog. I can't believe it never crossed my mind before.
Kicking myself...........hard
Gordon, another idea is to export your model with this mix setup and share with us! :)
It's easy and you just need an SD card.
Tks for this tuto!
Still testing two switches on Futaba 9C with success.. it uses master and slave terms.. will publish if I get hold of it
http://code.google.com/p/ardupilot-mega/wiki/APMModes
@Luke excellent writeup for the 9303. Just shows how fast good info gets buried in blog/forum systems, your post was only a month before mine and I completely missed it. I even missed the link buried in the wiki page because I only really scan through the APM wiki as I am more a copter person. I think these tutes should have their own sub heading in the flight mode section and APM & AC2 should both point to the same place for the tutes.
To the AC2 team, I do realise that AC2 is still young and the wiki is still very much in development.
There's a JR9303 tutorial here, though I agree, it doesn't cover all JR. This here is a great addition since many people are using Futaba, though most use the 7C/9C. In the comments over on the other thread there still seemed to be some confusion for the 7C.
I agree this should be added to the wiki - hopefully Chris will see it. I think it would be better too if the links in the wiki could indicate which tutorial to use for which radio, instead of having the link buried in the text as it is now.
Luke
Great stuff, that has the Turnigy with ER9x covered. I so wish there was an eePe for every brand. Now how about the vanilla Turnigy, Hitec and JR/Spectrum. Lets get this all in one place to make it easier for the DIY community.
@Darren
I wrote this mainly with AC2 in mind which uses ch5 for mode selection. Could you confirm that 1815 will not put AC2 into hardware manual because it doesn't use ch8. You are spot on about using the cli, I first started by guessing at mixing numbers. Once I started using real pwm values it was easy. The hard part for most people is understanding the radio, which is why I would love to see this stuff end up in the wiki. More info = more users = more money for DIYDrones to use on R&D for even more cool toys.
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