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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Comment by Darren on May 16, 2011 at 7:45am

@Gordon, Nice write up.

The added display on that HFP-10 radio is nice.

It would be nice feature to add pwm value display to the er9x firmware, as I dont see any display options to show them.

FYI, I was able to use 4 mixes for the same results. But again, like @gordon has said, dont use these numbers!

You should determine your own values by using PWM test cli while settting up the mixes.


Comment by Tom on May 16, 2011 at 8:06am
Gordon thanks for your help with mode set up on AC2 i still cant seem to get my Aruora-9 mixing right im hoping that some one that has all ready program there Aroura-9 will do a set up and post it here thank you   tom
Comment by Gordon on May 16, 2011 at 4:02pm

@Tom. I found this. Just be aware that @Shaw has not checked the numbers in his post. Maybe you can refine it a little and and create a blog for Chris to put in the wiki.


@Darren, yours will be a bit more efficient, I'm not very fluent in er9x yet. Good idea on the pwm display for er9x, I'll check on Erazz's blog and give him a suggestion. He is developing his own flight controller/imu, he might find it useful.

Comment by Gerard Valade on May 18, 2011 at 1:06am

Another way is to add  a new functionnality to er9x firmware.
My idea is to use a momentary switch (TRN) and make a rolling code.
Each time that you push the switch, the value will change and it will display the name
of the the function on the screen. When it reach the max number of the function,
it will start to the beginning.

I dont know if my explain is clear but if sommebody had some more idea
we can ask to Erez Raviv to code that.

Comment by Paolo on March 6, 2012 at 8:07am
Sry for the question. This settings are for a plane or a quadcotter?

Comment by Dany Thivierge on March 6, 2012 at 8:41am

@ Paolo, you put your radio in Plane mode even for quads. This is the way to go for ArduPilot. 

Comment by Brian McGrath on June 3, 2012 at 11:25am
This setup works great! If you have a version of er9x that doesn't have the MAX source, use HALF instead rather than FULL.
Comment by Strike Eagle III on July 30, 2012 at 9:08am

This is awesome! Thanks! I noticed as well that er9x no longer has a MAX source on the mixer, but it looks like HALF does the same thing.

Once I got the radio set up the way instructed here, I made the following modifications--

- Changed the switch for the -50% to ID2

- Changed the switch for the +54% to ID0

- Changed the switch for the -13% to AIL

- Changed the switch for the +14% to !AIL

This effectively reversed the order that the switches operated in (i.e. flt mode sw N and Ail 0 is flight mode 6 or manual, not flight mode 1) .  My reasoning was that er9x wants the flt mode sw to be in position N and the aileron switch in position 0 on startup--if they're not you get a switch error prompt.  I think that "default" position should be manual mode--basically when the radio turns on, er9x prompts you to put it in manual mode. I then configured the rest of the flight modes as follows:


FM2 - Loiter



FM5 - Auto

FM6 - Manual

I kind of new to this, so I'm curious if I'm missing something in my reasoning.


Comment by Marooned on August 28, 2012 at 4:12pm

This is my Er9x setup for having 6 modes used in my quadrocopter. Fixed wing used w/o APM2 so far.

59% HALF ID0


-41% HALF ID2


All summed up for CH5.

It makes 3-position switch to jump on 1,3,5 (odd) or 2,4,6 (even) depending on AIL switch.

Comment by UndCon on September 3, 2012 at 11:40am

Funny - when I set this programming I get the 2 way lever (set to !AIL and !AIL) to do nothing
I get the action on Throttle CUT

I have no clue why but I can live with it


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