Turnigy 9XR User Manual
Contents
1. Throttle warning If ON will show a warning when throttle is not at idle when the Tx is turned on The Tx will not output a signal until the alert is cleared Switch warning If ON will show a warning when the switches are not at the default position when the Tx is turned on The Tx will not output a signal until the alert is cleared Memory warning If ON will show a warning when the available eeprom memory is less than 200 bytes when the Tx is turned on The Tx will not output a signal until the alert is cleared Alarm warning This will give you a heads up if your beeper is silent If on and the beeper is set to 0 Quiet you will receive a warning on startup This has been added after a programing session left a user flying on silent find it really useful Mode Choose between stick modes MODE1 MODE2 MODE3 and MODE4 Trainer 2 5 TRAINER 2 5 mode src sw RUD 100 ch4 TRN THR 100 ch3 TRN ELE 100 ch2 TRN AIL 100 ch1 TRN Multiplier 1 0 This menu allows the PPMin trainer inputs to be configured It enables the RAW PPM inputs to be selected to replace the sticks for training purposes The student transmitter does not need to have the same model setup as the instructor All the mixes on the instructors Tx will be applied to the student inputs If for example you have expo on your sticks this will be applied to the raw trainer inputs when they are selected The mode entry selects how the PPMin val2. RIGHT on that will populate the values with a linear curve that is a good starting point You can also change the curve graphically Highlight the EDIT gt line and press RIGHT This will highlight the curve points Pressing UP DOWN will change the values and pressing LEFT RIGHT will select a different curve point Custom Switches 9 11 CUSTOM SWITCHES 9 11 SWI v lt ofs THR 60 SW2 SW3 SW4 SWS SW6 Custom switches are not really switches at all but rather a set of logical conditions that can be used as switches You might have noticed that beyond the physical switches there are 6 switches called SW1 SW6 These correspond to the list you see in this screen Once the condition defined for the switch is met it s value will be ON 1 First we define the condition This can be v gt offset v lt offset v gt offset and v lt offset or it can be a logical condition AND OR XOR or it can be an evaluation between 2 sources 2 If you ve selected a regular condition you need to specify a source and an offset i The source can be a stick a pot a PPM input or an output channel ii An offset can be anywhere between 100 and 100 This will be the test point for the condition 3 If you ve selected a logical condition the switch results the condition applied to the 2 selected switches For example OR ID1 ID2 will be ON if either ID1 or ID2 is on 4 If you ve selected an evaluat
3. c make targets e make all default build the source e make clean Remove compiled files and directories e make wflash Write flash program memory e make rflash Read flash memory e make weeprom Write eeprom e make reeprom Read eeprom e make coff Convert ELF to AVR COFF e make extcoff Convert ELF to AVR Extended COFF e make debug Start either simulavr or avarice as specified for debugging with avr gdb or avr insight as the front end for debugging for debug info look into the makefile e make filename s Just compile filename c into the assembler code only make options e EXT JETI make jeti vesion e AVRDUDE PROGRAMMER Set avr programmer name default usbasp to list all available avrdude c e TARGET Set target name default tgy 9XR e OPT Set optimization level default s e FORMAT Set format can be srec ihex binary default ihex e MCU Set MCU default atmega64 Software Firmware Acknowledgements Turnigy wishes to acknowledge the ongoing development work by the authors of the original source code and the er9x community The 9XR firmware has been developed as a fork of the original er9x firmware and as such will continue to be developed alongside the er9x and open 9x codes The firmware is an Open Source project You are free to look up download modify and release the code under the GNU v2 software license If you have any questions requests or suggestions the best plac
4. Expo and D R To edit expo values highlight the value in the expo column and press MENU Once the cursor blinks you can use the UP DOWN LEFT RIGHT buttons to change the value Notice that while there is a telltale that shows you which side of travel you are adjusting e This means both left and right values are equal Pressing UP DOWN LEFT RIGHT will change both values simultaneously e lt gt When moving the stick you can see either of these symbols When this symbol is visible you are only changing that side of travel For each control you can set 2 switches The main switch changes between high rate high expo and mid rate If the main switch is low e i mid rate the second switch can switch between mid and low rate At the end of each line there s a telltale that shows you which rate you are on e H High e M Medium el Low Pressing MENU LONG while the cursor is on a control will take you to the Edit Expo Dr screen In this screen you can adjust the values for that single control You will also see a graph indicating the action of that control Press EXIT to return to the main Expo Dr screen Triple Dr Example The F Mode switch can be used as a triple rate switch for any one axis or it can be used as a triple rate flight mode switch controlling rates and expos for some or all of the flight axes at once To use it as a triple rate flight mode switch set sw1 to ID2 an
5. beep will sound enabling you to hear when the input is centered This is useful for checking the center of the pots without looking 14 Proto encoding protocol i PPM with ppm you can choose how many channels to encode Anything from 4 to 16 channels You can also change the pulse spacing This is useful for systems which might experience jitter On the whole it might be a good idea to leave it alone ii Other protocols include Silver A B C and TRACO9 15 Shift Sel Shift select POS NEG Select signal shift POSitive or NEGative 16 E Limits Extended limits Allows limits to go to 125 Please test first and make sure this does not cause unwanted mixing between channels 17 Trainer Trainer enabled This allows you to select if the trainer inputs are used on this model 18 T2thtrig If t2thtrig is ON then the second timer will be started when the throttle stick is moved above about 5 This allows the original timer to be used to measure throttle on time TH and the second timer to give elapsed time both triggered from the throttle stick 15 DELETE MODEL MENU Guess This deletes the current model You need to press MENU LONG for that to happen though WARNING Deleting a model causes the memory to jump to the previous model memory in the list Do not delete a model memory while you have a model listening Always shut down your receiver before deleting a model This all sounds perfectly reasonable u
6. e Radio Setup e Trainer settings and PPM In Calibration e Diagnostics e Analog Inputs e Calibration Radio Setup 1 5 RADIO SETUP 175 Owner Name ME OF COURSE Quiet 25 9 Ov Inactivity Alarm Om Mode ex x Kl ne 2 RUD THR ELE AIL Use this screen to set up general functions for the Tx 1 Owner Name The radio owner s name You Unless hmmm This will also be displayed on the splash screen 2 Beeper Sets Beeping levels i Quiet No beeping at all No warning nada If the kids are sleeping and you must setup the model in your living room this is the mode to use Just remember that the Tx will not even warn you when the battery is low If you re using a Lipo watch out ii No keys The beeps are normal but edit keys are silent iii Normal Normal beeping iv Long beeps For those who want to annoy other people v Extra long beeps 3 Contrast The LCD s contrast The values can be 20 45 The higher the value the darker the screen 4 Battery warning Battery voltage warning When the connected battery s voltage drops below this voltage the Tx will beep Though the Tx will continue to function normally it s really advisable to land as soon as possible 5 Inactivity alarm This will set up a warning that will beep if the Tx is left unattended for the specified amount of time The default value is 10 minutes To turn off the Inactivity timer set the value to zero Also when running on USB power the ala
7. 0466 0 A4 0414 0 AS O7EE A6 0345 Here you can see the analog inputs in hexadecimal format to save space and annoy you at the same time Values range between 0 0x7FF 0 2047 A1 A4 are the gimbals sticks A5 A7 are the pots A8 is battery voltage You can press DOWN and highlight the battery voltage Pressing LEFT RIGHT will increase and decrease the value and so enable you to calibrate the battery voltage monitor Calibration 5 5 CALIBRATION 5 5 START CALIBRATION MENU 10 STA Ula This screen allows you to calibrate the analog channels A1 A7 The calibration method goes like this 1 Press MENU gt SetMid 2 Set Sticks to center Including throttle and pots 3 Press MENU gt SetSpan 4 Move sticks and pots through full range 5 Press MENU gt Done Values are saved here 6 Press MENU Back to top The values are calculated when you press MENU They are saved when you press MENU to Done Model Setup From the main screen pressing LEFT RIGHT will enter the model select settings menus Here you can set up settings that model specific The menus are as follows Model Select Model Setup Heli Setup Expo Dr Mixer This is the important one Limits Reverse Curves Custom Switches 10 Safety Switches 11 Templates 0 ON O U bh W N Model Select 1 11 MODELSEL free 1560 1 11 01 GOOF I 114 02 YAK 55 60 03 04 05
8. 2 Timer Here you set the value for the timer Press RIGHT LEFT to choose between minutes and seconds Press MENU and the cursor will blink To edit use the UP DOWN RIGHT LEFT buttons and MENU EXIT when done 3 Trigger Choose what triggers the timer gt remember by pressing LEFT you ll see the same values with the sign This means that the usage is inverted 1 OFF timer is off 2 ABS timer is on 4 RUs RU ELs EL THs TH ALs AL chooses to activate the timer based on stick position When a XXs is selected THs for example The timer starts whenever the stick is not at zero The XX sign is the same except the timer speed is determined by stick position When at zero the timer is stopped When at full the timer goes at normal speed When midway the timer s speed reflects the sticks position 5 Switches You can specify a switch so whenever that switch is activated the timer counts 6 Momentary switches A switch denoted with m like TRNm means momentary That means that moving the switch once to the on position and back turns the timer on Moving it on and off again turns the timer off difficult know take a sip from your coffee relax a bit take a break it s not difficult once you try it out 7 TriggerB You can choose a second source to trigger the timer but switches only 8 Timer Here you can choose whether the timer counts up or down 9 T Trim Throt
9. M In this screen you can see select copy and move models between different memory slots quote the word slots because memory management is dynamic The available memory is displayed at the top of the screen Memory usage for each model is displayed on the right The more complex your model mixes curves options limits etc the more memory it ll take The on the left shows the currently loaded model memory Pressing UP DOWN will move the cursor between different models Pressing MENU will highlight the model Pressing UP DOWN with the model highlighted will move it up down Pressing EXIT will un highlight the model Pressing EXIT will load the highlighted model Pressing EXIT LONG will load and exit to the main screen Pressing RIGHT LONG will load the model and go to the next screen Model Setup Pressing LEFT LONG will load the model and go to the last screen Pressing MENU LONG will duplicate the selected model A confirmation screen will be displayed reguiring you to confirm the duplication of the selected model Model Setup 2 10 15 00 Ths Lots of options here 1 Name Unsurprisingly here you edit the model s name To edit scroll down until the name is highlighted and press MENU Once your press MENU only one letter will remain highlighted To change the letter you press UP DOWN To move the cursor press RIGHT LEFT Once done press MENU EXIT to exit the edit
10. Turnigy 9XR User Manual Cee TAA Ferree VIIA PATO COIITIOL SYSTOITI Table of Contents Disclalinet i lt a cds eek sila accesses seve a a vee eek RN IO UCM uv aoe massat a Roa eas TI A ay oe Rae EN ip oa Bs HOWE WOEKS msn saa Daa aka nk inde davai Labia stereos Nomenclature sessen eien tidad Edif DUNAS A A A E A ARON SA a NE a E E T T E Editing and Savinte di dit On Startup Quick Model Select unicos idas a Transmitter Layout sie arcise AAA KATKI eee aes ri AAA on uskoen uns SiaKt ees yes E General Views iesiri srie a ad ii Statistics Screens Statistics SCreEeNS ccc ccc cece cece ee nunnan nnen General SEUA a a ON Radio Seip 1 5 ind AREEN Trainer UN Ei Diagnostics Bl as Analog Inputs VIV A As eve Calibration ura A A A EN TESSEN aa Model SUD as Model Select iD o A ta ea o AA A o a o DA Model SED aii di Hel SUD a tea etc EXpo Dr 4 1 irori oie nyned EEE E E ELE ESSI EREE ET Triple DE Examples Ama assa eee Mixer 5 11 vaa o mana maa TAA saana Bhs alia ts INT AIT S CLE elan aren ast e NIE naw eh salle baeoaes E tot sakitt St pest tt VCE MAX oF KS BO A oe wR Mimas ker t ae oe Eatin SCOP acs TS S oon viaria ida Reverse V T iner Ri an wae BE sd oem wad ela glee Sas eA oi ee UG Na Curves SFL 2 ays haste ty cate seem ua ears eee edusta Custom S witches 9 11 ias rss er MASI STEN ONEN SNS ao bores Safety Switches 10 11 cui a APA EAE Templates di oh dees KTTO Edk ERP AI nace bade sen T
11. as long as the cursor is at the top right position of the screen Editing and Saving As a rule once a value is changed it is saved You can turn off your Tx and turn it back on and the values will be saved The values are saved internally in the MCU s eeprom However there is a slight delay sometimes so it s probably a good idea to wait a couple of seconds before turning off There is no undo functionality Once something is erased changed it s changed for good Generally when a value is highlighted and you cannot move left or right then pressing UP DOWN will change that value When moving left or right is possible you need to press MENU to edit that value Edit mode is displayed by the cursor blinking To exit edit mode press either MENU or EXIT Also it is possible to change values with the P3 pot the one at the front of the Tx called PIT TRIM AUX 2 On Startup Quick Model Select On startup holding a certain key will load an associated model memory This is useful for quickly changing between model memories e Holding MENU Will load Model memory 1 e Holding EXIT Will load Model memory 2 e Holding DOWN Will load Model memory 3 e Holding UP Will load Model memory 4 e Holding RIGHT Will load Model memory 5 e Holding LEFT Will load Model memory 6 Transmitter Layout Main Screen General view The main view is split into top and bottom The top contains the following e The current mode
12. center point as well While the subT is highlighted hold the stick so that the surface is centered Press MENU LONG and the position will be recorded 2 Min Max These set the endpoints of the channel Notice that there s a telltale that hints as to which side is active at the moment Each limit point can range between 100 to 100 The limits act both as gains and as absolute limits The servo will not go beyond the limits you set here Reverse 7 11 The reverse operate on the output channels and reverse the channel s output REV reverse 1 REV Reverse This function reverses the output of the channel Press MENU to trigger Curves 8 11 Surprisingly in this menu you set your custom curves Curves are nifty things that can tell your servo how to move when you move your stick In 9XR there are eight 5 point curves and eight 9 point curves A 5pt curve is a curve you can edit at position 100 50 0 50 100 A 9pt curve is a curve you can edit at position 100 75 50 25 0 25 50 75 100 When you enter the menu you see a long list of zeros Scroll down to the curve you wish to modify and press MENU or RIGHT This will bring up the screen for editing the curve Depending on whether you chose a 5pt or a 9pt curve you will see 5 or 9 editable points Scroll through the points with UP DOWN Change the value with LEFT RIGHT At the bottom you will see a preset entry Pressing LEFT
13. d JE X AIP ISS man EE eet ar garg Dd aa Programming a throttle cut veers sas alisios ai seuss elie ee ote Build and Program Instruir ri Building from SOU iria dy A O ROA Make targets iii ia da Make OPUS tdi Software Firmware AcknoledgementsS ooooccononccnnoncconnnanononacononacononacononaconnnonon Disclaimer THIS FIRMWARE IS PROVIDED ON AN AS IS BASIS WITHOUT WARRANTY OF ANY KIND AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE DEVELOPER AND OR AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PERSONAL AND OR PROPERTY DAMAGE HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS FIRMWARE EVEN IF THE DEVELOPER AND OR AUTHOR HAS BEEN ADVISED BY USER OF THE POSSIBILITY OF SUCH POTENTIAL LOSS OR DAMAGE USER AGREES TO HOLD THE DEVELOPER AND OR AUTHOR HARMLESS FROM AND AGAINST ANY AND ALL CLAIMS LOSSES LIABILITIES AND EXPENSES Introduction The 9XR is a computerized radio from Turnigy The transmitter is outfitted with a 128x64 pixel monochrome LCD two x 2 axis gimbals three variable potentiometers pots six 2 position switches one 3 position switch and some funky Digital trims How it work
14. d and you won t be able to test it in eepe An example of it s use would be using it as a LAND function cut the throttle flip the switch and use the elevator trim to set a good glide angle 5 Trim When this is ON the trim value if exists will be carried on through the mix When OFF it is ignored 6 Curves i x gt 0 The value of the source is carried through only if it is positive greater than zero Otherwise it is zero ii x lt 0 Same but for negative values iii x The value is passed as an absolute value iv f gt 0 If source is positive then the output value is weight otherwise it is O v f lt 0 If source is negative then the output value is weight otherwise it is O vii c1 c16 custom curves These are defined in the CURVES 6 8 screen You can also press MENU to edit the curve directly 7 Switch Here you select the switch that operates the mix If the switch is not selected then the mix is on by default 8 Warning Here you can select an audible warning that will sound whenever a mix is active This will only work when a switch is defined You have an option of 1 2 or 3 beeps The warnings will sound in succession so you can hear them individually 9 Multpx This value defines how the mix will be added to the channel i Add This is the default value With this value the mix is added to the previous values in the same channel ii Multiply Use this to multiply the previo
15. d sw2 to ID1 If you want rudder elevator and aileron all assigned to this switch for flight modes be sure to set sw1 and sw2 as above for each axis With the switch in the up position it will be at low rate as indicated by the L at the end of the line In the mid position it will be mid rate and at the down position it will be at high rate You can also include throttle if you d like to have different expo curves for each of the flight modes Mixer 5 11 The function of the mixer is to take the inputs perform some function on them and route them to the output channels Since selection is totally free you have a very flexible system which is extremely powerful and very quick to boot Main Screen When you enter the screen for the first time you ll probably see a list like so MIXER CH1 100 THR CH2 100 AIL CH3 100 ELE CH4 100 RUD CH5 100 FULL GEA What this is telling you is that the rudder stick s input is being routed with a weight of 100 to CH1 Same for the elevator throttle and aileron Though not visible now you can also see the switch column which will tell you if a switch is assigned to the mix and also a crv curve column which tells you what curve is applied to that mix When you scroll down you ll see that sometimes the weight is being highlighted and sometimes the channel s number is underlined When the weight is highlighted pressing LEFT RIGHT will edit that value and pressing MENU LONG will en
16. e to express them is either on the firmware s page www turnigy9xr com index php Bug reports and enhancement requests can be reported here http forum turnigy9xr com index php eePe and er9x are free to use under the GNU v2 0 License Feel free to use copy and modify it as you wish SOURCE CODE And Code Development The 9XR source code is available for download at http turnigy9xr com source tey 9XRv1 1 rar If you feel you d like to contribute time software code documentation tutorials or real world programming examples feel free to share it with the R C community via the Turnigy 9XR forum If you have written software that you feel should be featured on the site please email us at code Oturnigy9xr com We will feature your firmware variations at turnigy9xr com as free community software and if it makes the grade we will certify it as approved 9XR firmware We look forward to seeing the 9XR embraced for what it is that is the peoples radio and look forward to watching the software develop alongside new hardware solutions as they become available The Turnigy 9XR Hardware Development Team thanks you for your support
17. emplates To choose a template scroll down to it and press MEU LONG This will add the template to the existing mixes Channel order This will allow you to set the way the templates are written to the mixers RETA means RUD 1 ELE 2 THR 3 AIL 4 AETR means AIL 1 ELE 2 THR 3 RUD 4 At the bottom you ll see an option called CLEAR MIXES MENU Pressing MENU LONG on this will clear all the mixes leaving you with a clean slate The templates are 1 Simple 6 CH Plain vanilla 6 ch airplane 2 T Cut This adds a throttle cut mix on your throttle channel 3 V Tail 4 Elevon Delta 5 Heli Setup This will clear your mixes and curves and setup a preliminary eCCPM heli 6 Gyro Setup Once you have the gyro setup then go setup your TX so that the stick direction is correct Just like a flybarless system you are not controling the servo directly The gyro s head holding ability and your ability to make yaw changes are two seperate operation as far as the gyro is concerned 7 Servo Test This will setup a servo test output on CH15 To test your servos choose the mixer s source as CH15 It will cycle slowly between 100 and 100 Examples Programming a throttle cut Though you can use a template for this it s instructional to do it via the mixer Start off with the default 6 mixes Scroll down until CH1 is underlined like this MIXER CH1 100 THR 100 AIL 100 ELE 100 RUD 5 100 FULL GEA Cha
18. ion you gt evaluate between For example Switch on only if CH1 is less than RUD gt V1 lt V2 CH1 RUD lt etc you need to select the 2 sources to Example Say you have a glow plug driver which you want to turn on when the throttle is below 10 1 Highlight SW1 2 Select the source as THR 3 Select the offset as 80 remember 100 100 so 10 from idle is 80 4 Select the condition as v lt ofs Now you need to use a mix to run the switch Go to the mixer menu Select the CH8 as the channel you want the GP driver to operate on On that channel select source as MAX and Switch as SW1 Now whenever the throttle goes below 10 CH8 will go to 100 Safety Switches 10 11 SAFETY SWITCHES 10 11 0 0 0 0 0 a Safety switches allow you to select a switch and have it write a value for a channel that will overwrite any other value For example you might want to set a switch on the channel your electric esc is placed That way you can work on your model and not worry that a chance programing error will spin up the propellor This does not make your radio fool proof You must be careful at all times Hopefully this can add another level of safety and reduce the risks associated with this hobby Templates 11 11 04 Elevon Delta 05 Heli Setup Channel Order RETA The templates are there to help you get started When entering the screen you ll see a list of available t
19. l s name GOOFI in this case and yes it s a real airplane The battery voltage Trim increment information Timer and timer trigger information Pressing EXIT LONG resets the timer Throttle trim activation information The bottom consists of three screens You can flip between these with the UP DOWN keys The 3 screens are Value bars these show the output values for the first 8 channels Input values Stick position and switch indicators Elapsed timer Timer that may be started stopped MENU or reset to zero MENU LONG Statistics Screens STAT 08 02 TOT STAT2 TME 08 02 00 00 TSW tmr lLat max 5 us STK 00 00 00 00 ST tmr ILat min 5 us tmr 1 Jitter 0 us MENU to refresh From the main screen pressing UP LONG DOWN LONG will enter the statistics screen The first shows some available timers and traces the throttle stick as well The second shows general timing of the Tx The value tmain shows how long the math takes This will increase as you add more mixers It can be very large sometimes depending on eeprom writes The Stack value shows the unused space in hexadecimal between the end of used Ram memory and the lowest point the stack has reached You can reset the timers by pressing MENU General Settings From the main screen pressing LEFT LONG will enter the general settings menus Here you can set up settings that will be the same regardless of chosen model The menus are as follows
20. nce swash mixing is turned on Heli menu 3 10 these become active and hold the result of the swash mix Generally CYC1 holds the fore aft output and the other two do the rolling On the 120X mode CYC1 is the odd one out v PPM1 PPM8 PPM input channels These are fed by the ppm input or trainer port You can use these to configure a buddy system or to simply extend your radio with more functions like head tracking for you FPV guys vi CH1 CH16 These are the outputs of the other mixes You can use these to chain mixes for very complex behavior 2 Weight This value multiplies the value from the input It can be 125 to 125 3 Offset This value is added to the value from the input It can be 125 to 125 4 FiModetrim If ON then the offset field is used to store an alternative trim setting ONLY IF the mix is active The trim affected is the one selected by the source for the mix The mix is really used to store the new trim info and does not even need to be on the channel to which the trim is applied So you could set up a mix on any channel like add ELE weight 0 FIModeTrim ON Switch ID1 Now when ID1 is active the elevator trim switch will modify the offset field in this mix the value being used for the trim setting Switch ID1 off and the trim reverts to the original setting Because the weight is 0 the mix will actually have no effect on the channel to which it is attached This description may be as clear as mu
21. nge source to FULL and Weight to 100 Also set the Switch to THR Like so Keep on scrolling down until you reach Multpx Change the value to Replace Now press EXIT You should see the following screen THR FULL THR AIL ELE CH4 100 RUD CH5 100 FULL GEA CH6 100 HALF ID1 What it tells you is that on CH3 you have 2 mixes defined The first takes the value of the throttle stick The second depends on the THR switch When the switch is off the mix is ignored so the only value will be the value of the throttle stick When the switch is on that value will be replaced with 100 This Section is for Advanced Users Programmers Build and Program Instructions You might want to play with the code and modify the 9XR to suit your own needs It s really easy if you know a little C First to program the MCU download the full programing instructions Flashing the 9x by Jon Lowe Building from Source Please refer to www turnigy9xr com for the latest 9XR source code Flashing you may have to run as admin to access the USB port in Linux To write the FW make wflash AVRDUDE PROGRAMMER usbasp To write the EEPROM make weeprom AVRDUDE PROGRAMMER usbasp To read FW make rflash AVRDUDE PROGRAMMER usbasp TARGET backupflash To read the EEPROM make reeprom AVRDUDE PROGRAMMER usbasp TARGET backupeeprom Make sure you replace usbasp with the name of your programmer To list available programmers type avrdude
22. ntil you actually forget to turn off you electric model and have it fly around your house uncontrolled you ve been warned Heli Setup 3 11 1 ELE Direction NOR AIL Direction NOR COL Direction NOR This screen is specifically designed to help you set up a CCPM heli Swash Type This defines what kind of Swash plate you have on your heli i 120 Standard 120 swash plate The pitch servo is towards the front back ii 120X Same 120 swash plate but turned 90 so the pitch servo is on one side iii 140 140 swash plate again the pitch servo is towards the front back iv 90 90 Basically a simple 90 setup where you have a single servo operating the pitch and two operating the roll Collective This defines the collective s source The idea being that you can create a mix with all the required curves and switches and simply plug it in here to mix with the others Swash Ring As the name implies This limits stick movement just like a physical swash ring Notice that this only works on AIL and ELE regardless of radio mode selected ELE AIL COL Invert These invert the direction of the input functions Use these to make the controls move the correct way when setting up your heli Expo Dr 4 11 4 11 swl sw2 This screen allows you to enter and edit Expo and D R values for the main controls RUD ELE THR AIL For each control you can input values for Left Right for both
23. rm is inactive Values can be from 1 to 250 minutes To reset the timer simply move one of the sticks 6 Filter ADC i SING Single conversion This is the fastest conversion but base resolution is 1024 ii OSMP Oversampling This uses extra samples to increase resolution to 2048 Just slightly slower than SING iii FILT Filtered This is in case you have excessive noise from the conversion servo jitters This will filter the input and prevent that noise It will however increase latency by 30msec 7 Throttle reverse This is for all you wacky people who fly with the throttle backwards e i idle is far from you and full is close to you Though personally don t understand how you fly like that it s a nice feature The reverse will also reverse the throttle warning on startup and some other throttle related functions 8 Minute beep Beeps every full minute while the timer is running 9 Countdown beep Beeps at 30 20 10 3 2 and 1 seconds before the timer ends 10 11 12 13 14 15 16 17 18 Flash on beep Flashes the backlight on timer beeps Light switch This chooses a switch which can be used to turn on the backlight Light off after When this is not OFF any keypress will turn on the backlight and turn it off after the specified number of seconds Splash screen Show the logo on radio startup Btw you might not know this but the splash screen can be skipped on startup by pressing any key
24. s Bear with me here some flow charts coming up What the heck was that The system receives 4 types of inputs 1 Main Sticks 2 Potentiometers 3 Trims 4 Switches The analog inputs sticks and pots go through a calibration phase The sticks can also go through Expo and Dr filters before going to the mixer The mixer does it all It directs each input to the desired output CH1 CH16 It controls how the inputs are added It also controls the timing of each function After the inputs are processed by the mixer they are directed to the relevant output channels The limit procedure takes over and makes sure no output goes too far Finally the channels are encoded and sent to the RF module to take that nice little hike through the air to your model Nomenclature just so we understand each other Inputs 1 RUD Rudder 2 ELE Elevator 3 THR Throttle 4 AIL Aileron 5 P1 P2 P3 Pots 6 Switches i THR Throttle cut switch don t confuse this with the THR stick The TH switch is located on the back left side ii RUD Rudder Dual Rate switch iii ELE Elevator Dual Rate switch 7 IDO ID1 ID2 Three position switch Flight Mode switch These 3 define the 3 position switch IDO is the top position ID1 mid position and ID2 bottom position 8 AIL Aileron Dual Rate switch 9 GEA Gear switch 10 TRN Trainer switch This switch is spring loaded 11 SW1 SW6 Cu
25. stom switches More on these later It should be stated that every function in this Radio is assignable There are no fixed switches You can choose the TRN switch to be throttle cut and use the triple switch to control Dr The names are useful since they are labeled like that on the Tx Edit buttons There are 6 edit buttons on the Tx In this manual they are noted with square brackets MENUJ Some functions need the button to be pressed and held for a second or so The are noted as long presses like so MENU LONG The sign Whenever you see the sign you can read that as not or inverted Switches can be normal or inverted So when choosing the elevator d r switch ELE is normal operation and IELE denotes inverted operation Navigation As a general rule the UP DOWN LEFT RIGHT move the cursor appropriately The MENU key is used for selection and for editing The EXIT key is used for exiting surprise Pressing EXIT will generally bring the cursor to the top of the screen Another press will exit the menu to the main screen Pressing EXIT LONG will exit immediately to the main screen Pressing MENU from the main screen will take you back to the last menu From the main screen you can press RIGHT LONG to enter the model setup pages Pressing LEFT LONG will enter the general setup menus Once in the menus you can navigate between different screens using the LEFT RIGHT keys
26. ter the Edit Mix screen and allow you to edit that mix When the channel s number is underlined pressing MENU LONG will insert a new mix for that channel and take you to the edit mix screen for it You can also press MENU This will highlight the mix Then you can press UP DOWN to move or copy the mix Notice that moving or copying is decided by whether you press up or down on the first press after highlighting the mix If you first try to move it down it will be copied Subsequent presses of UP DOWN will move the copy up or down until you press MENU or EXIT Pressing UP will move the mix without copying it Again subsequent presses of UP DOWN will move the copy up or down until you press MENU or EXIT If the Trainer function is enabled and active the four values RUD ELE THR and AIL are changed to the PPMin values selected in the TRAINER menu Edit Mix In this screen you edit individual mixes Here are the available options for each mix 1 Source This is the input for the mix It can be the following i Stick or pot Self explanatory ii HALF The output is either O or the value describes in weight This is controlled by the switch iii FULL Same as MAX but the value is weight if the switch is off or weight if the switch ison MAX and FULL can be a little confusing Look in the examples section for well examples iv CYC1 CYC2 CYC3 The 3 outputs of the heli swash plate mix O
27. tle trim This is a nifty feature for power fliers When activated a couple of things happen First off the center detent for the throttle trim is removed Also the throttle s trim will now only affect the low side That means you can use the trim for setting idle while full throttle remains unchanged 10 T Expo another throttle related function This one makes the throttle stick s expo go from zero to full instead of having a center like all the others Always the odd kid out this throttle IS 11 Trim Inc Trim increments i Exp Exponential With this the trims are fine near the center ii ExFine Extra fine 1 step per click iii Fine 2 steps per click iv Medium my personal favorite 4 steps per click v Coarse 8 steps per click 12 Trim Sw Neat little function this is When in flight if this key is activated it reads the current position of the sticks and trims and copies that into the subtrims After that it zeros the trims This is really neat for new models when you might have a hard time taking your hands off the stick and pressing the trims Simply hold the plane level with the sticks and press the selected trim switch The plane is trimmed 13 Beep Cnt Beep Center Here you set center warnings The string RETA123 corresponds to RUD ELE THR AIL P1 P2 P3 When the letter corresponding to the analog channel is highlighted the system checks for center When the input is at center a short
28. ue is used Off unused add to instructor stick value replace instructor stick value The entry applies a weighting to the PPMin value 100 to 100 Use 100 to reverse the input Use values closer to O to reduce the students control sensitivity The src entry selects the PPMin channel for the function The sw entry selects the switch used to action the trainer operation Multiplier 1 0 to 5 0 scale for PPMin values The multiplier does as it s name suggests It multiplies the ppm Input by a set amount Great for dealing with different tx s whose makers don t know how to encode PPM P CAL Center calibration for first 4 PPMin values This entry allows you to calibrate the mid point for the first 4 input PPM channels Highlighting Cal and pressing MENU will calibrate the mid point for all PPM IN channels PPM IN is read from the signal at the trainer port of the Tx There is an option for each model to enable or disable the trainer input function If you do not need the trainer function you may disable it and use the selected switch for something else All the PPMin values are available to the mixer Diagnostics 3 5 DIAGTHR O 3 9 RUD 0 ELE 0 a a M ID2 0 00 AIL O te 00 This menu will help you visualize the current state of the trims keys and physical switches Each Key Switch Trim is represented When pressing a key or switch they are highlighted Analog Inputs 4 5 ANA A1 0422 0 4 5 A2 0347 63 A3
29. us values in the same channel iii Replace This value is used in conjunction with a switch When the switch is off the value is ignored When the switch is on the value discards the previous values and places it s own value in the channel 10 Delay Down Up Use this to delay use of this channel Usually used with a switch When the switch is turned ON or OFF the mixer will wait the specified number of seconds before changing the value 11 Slow Down Up Slow the rate of change in the channel When not zero these will determine the maximum speed with which the value can change The specified value is the number of seconds to go between 100 to 100 12 DELETE MIX MENU Pressing MENU LONG here will delete the mix and return to the main mix screen Limits 6 11 1003 100 95 CH4 14 4 100 gt 100 gt 100 This is probably the second most important menu The limits operate on the output channels as you can see from the flow chart in the introduction In the LIMITS menu you can set the center point subtrim limits both left and right Each channel here corresponds to a channel in your receiver The limits you set will be used on that channel only Columns 1 subT SubTrim This sets the channel s center point HINT The values of subT can be 100 to 100 with increments of 0 1 This is done so to have excellent resolution when setting the center of each surface You can use your stick to set the
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