Mode Switch Setup for Turnigy 9x with ER9x Firmware


How to setup the mode switch mixing for Turnigy 9x with ER9x

First thanks to Olivier whose post in my Futaba tute  helped me get my head around ER9x mixing.

I am an AC2 user so there may be some APM differences I have missed.

This tutorial was created using eePe v247 and ER9x r349.

I am going to assume that if you have managed to load ER9x, then you must be familiar with eePe and basic ER9x programming.

We will be using the 3 position flight mode switch and the 2 AIL D/R switch in this example 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. Remember that 1815 will put APM into hardware manual because it uses the ch8 input, so you may as well assign manual mode to that position when you setup your chosen flight modes in CLI.

Use the PWM test in CLI to read the pulse width numbers for ch5 on AC2 and ch8 on APM. The pulse-width readout is now conveniently located on the Radio Calibration page of the Planner. I have used a servo programmer here as it is convenient for photos.

You can use eePe to setup initial mixing but Remember to backup your eeprom first.

Please don't just blindly copy my values as your radio may produce different pulse widths. The Turnigy is not as accurate as my 12fg and the pulse values seem to vary slightly every time I cycle power. Hey, it's a $55 radio :)


1. Clear any flight mode mixing you may already have, otherwise you will go round in circles chasing numbers due to the switch interaction. I wasted many hours by trying to jump straight into mixing.

2. Start with end points at +- 100 and subtrim 0 on ch5.

3. Setup these mixes on ch5. Don’t get overly concerned about the numbers for ID0 & ID2, they just get us in the ballpark.



4. Put the flight mode switch in position 1. Adjust the weight of the ID1 mix to get a pulse of 1490. This is the key to not chasing your tail later, it is also not the normal centre pulse width but is right in the middle of the range we are trying to setup.



5. Leave flight mode in position 1 and put AIL D/R switch in position 0. Add the mix shown here (make sure it is !AIL) and adjust the weight to get a 1425 pulse.



6. Leave flight mode in position 1 and put AIL D/R switch in position 1. Add the mix shown here (make sure it is AIL) and adjust the weight to get a 1555 pulse.



7. Put the flight mode switch in position N and AIL D/R in position 0.  Adjust the ID0 weight to get an 1165 pulse.



8. Put the flight mode switch in position 2 and AIL D/R in position 1.  Adjust the ID2 weight to get an 1815 pulse.



9. 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, 1298, 1423, 1556, 1681 and 1813.

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  • Great instructions Gordon. I tried a few instructions from youtube with no luck. 

    Yours got me where I needed. 


  • Thanks for that great clear piece of instruction.

    The other method of mapping the AIL switch to channel 9 completely confused the brain.

    Having succeeded at this, I now fing that THR fail safe shows in MP that it's in Loiter (RED letters) mode, despite the Failsafe being set to RTL, when I switch off my transmitter ...Any ideas?

    Maybe because there's no GPS signal?. Best DP.

  • Hi can anyone tell me of were to get in the UK if possible a pulse monitor for setting up the tx

    many thanks to Gordon for a excellent post for the likes of us newbies


  • Developer

    Thanks, If you get hold of a Taranis it get s even cooler, Here's a demo I made

    You can use CH7/8 to switch different mode like RTL or Simple Mode. Or do an Auto Tune... or even just controlled landing.




  • This is really great stuff. OpenTX on my Turnigy 9x along with this  and Bill Bonney's instruction ( on showing the current flight mode on the display is very cool. Thank you all. 

    I'm curious about what some of you use channels 6, 7 and 8 for with the APM. I've read a little about using a pot on channel 6 for in flight tuning but I don't understand the details yet. Does anyone have any links that might help?



  • oops forgot to mention to use channel 8 for APM:Plane / Ardupilot, not channel 5 like Arducopter APM:Copter! too bad I cant edit my post above to remove ch 5. And instead of "training" I use RTL there
  • here are my settings for my Turnigy 9XR, Ardupilot 2.5
    -52 half id0, ch5 1165 training mode
    -26 half id1, ch5 1300 fbwa mode
    -1 half id2, ch5 1426 loiter mode
    -13% half !ail,ch5 1555 auto mode
    +63 half ail, ch5 1686 acro mode

    and of course manual mode 1815+ which is un-editable
  • I finally got the 6 flight modes setup on my er9x.  But I could not get it to work until I set CH 6 to CH 5, 100%, no switch!   I could not get the entry by CH 6 blank as shown.

    Also, why do I assign Ch 7 to TRN? What function does it provide?

    I'm about ready to launch, hopefully better than my previous tries.

    Any help appreciated.

  • Developer

    This is how I have my mode switch setup on my Open9x radio.3692719500?profile=original

  • DAVID COURT or other

    please show me your configuration for Open9X.... I need help for 6 position mode using switch P3

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