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 Steven Taylor on January 15, 2013 at 1:54pm

This helped me out a lot but how do I set up the remote to trim the apm on channel 6 ?

Comment by Markus Horeld on March 10, 2013 at 10:06am
Comment by David Court on March 11, 2013 at 3:35pm

Using open9x (exactly the same instructions for er9x), I made one small enhancement.

I added an additive mix on channel 5 to add the ELE switch with a weight of -125 and source of MAX.  By setting STABILIZE mode in the minimum position in Mission Planner, I'm able to use the ELE switch to completely override the current flight mode directly into STABILIZE, regardless of the other switch states.  The advantage is that I don't need to worry how I lay out the other flight modes - I can always switch back to stabilize in a moment.

The disadvantage is that it's easy to leave that override switch on between launches, and think that for example ALT HOLD mode has been engaged, when in fact it hasn't.  To deal with that, I set a power-on switch alarm for the override switch, and part of my pre-launch routine is to power-cycle the TX.

Comment by Hein du Plessis on April 18, 2013 at 3:59am

@Brian thank you so much. I tried this many times over but could not get close to Gordon's values. Then I read your post about MAX=HALF. I figured MAX=FULL for some reason...

Of course, thanks Gordon!

Comment by Leandro Gonçalves Santos on May 18, 2013 at 9:41pm

DAVID COURT or other

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

Comment by Bill Bonney on May 18, 2013 at 10:54pm

This is how I have my mode switch setup on my Open9x radio.

Comment by Bo Barry on August 17, 2013 at 4:49pm

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.

Comment by John G. on September 8, 2013 at 9:05pm
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
Comment by John G. on September 8, 2013 at 9:43pm
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
Comment by James Butler on January 7, 2014 at 7:11pm

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?




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