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Fixed the stock flight modes

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benlye 2016-12-05 20:20:51 +00:00 committed by GitHub
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10
docs/Models.md
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@ -84,7 +84,7 @@ The Rx powers up in binding mode so the transmitter should be set to autobind.
AETR are simple +100% mixes. Note that the model expects Elevator (CH2) to be reversed, which is handled in the module firmware, so no need to reverse it on the Tx.
###Flight modes
CH5 is used to transmit the flight mode to the APM flight controller. The original Tx uses a 3-pos switch (SWA) and a 2-pos switch (SWB) to achieve six different combinations, but only five are used (two are the same). Flight modes are selected based on a signal on CH5 within a specific range.
CH5 is used to transmit the flight mode to the APM flight controller by setting the output to a value in a pre-defined range. The original Tx uses a 3-pos switch (SWA) and a 2-pos switch (SWB) to achieve six different combinations, but only five are used - with SWA at 0, 1500 is sent when SWB is at 0 and 1, leaving flight mode 3 unused. However, in the stock CX-20 flight controller settings, both flight mode 3 and 4 are set to the same flight mode, meaning we can configure our new Tx settings to send a value for mode 3 without changing the standard flight mode behaviour. Afterwards, you can optionally use Mission Planner to assign a new flight mode to mode 3 or mode 4, or reconfigure them altogether.
The values, modes, and switch positions for the stock Tx are:
@ -92,8 +92,8 @@ Mode|Stock Tx PWM Value|CX-20 Mode|SWA|SWB
---|---|---|---|---
1|1100|Return to Home|2|0
2|1300|Altitude Sensor|2|1
3|1400|Manual|0|0
4|1500|Manual|0|1
3||||
4|1500|Manual|0|0 or 1
5|1700|Direction Lock|1|1
6|1900|Stable|1|0
@ -107,7 +107,7 @@ Direction Locked|Simple
Altitude Sensor|Altitude Hold
Return to Home|RTL (Return to Launch)
The flight modes can be mapped as-is, but you could easily use Mission Planner to add an additional mode instead of duplicating Manual/Stabilize. Either way you will need to set your Tx up to provide these (or very similar) outputs on CH5.
We need to set the Tx up to output these values on CH5 (or very similar values - more information, including the PWM width ranges is documented in the [Arducopter Wiki](http://ardupilot.org/copter/docs/common-rc-transmitter-flight-mode-configuration.html#common-rc-transmitter-flight-mode-configuration)).
One easy way to acheive this is to configure six logical switches mapped to two physical switches, for example the 3-way ID switch and the AIL D/R switch, then configure the logical switches to activate a flgiht mode and to apply a specific weight to the CH5 output.
@ -146,6 +146,8 @@ CH5|-80%|HALF|L1|REPLACE
|+40%|HALF|L5|REPLACE
|+80%|HALF|L6|REPLACE
**NB** The weight values in this table will get you in the ball park, and will most likely work fine. Because transmitters can vary they should be double-checked in the Mission Planer Radio Calibration screen, and tweaked as necessary.
### CH6 and CH7
CH6 and CH7 can be assigned to switches or pots to provide additionaly functionality such as PID tuning, gimbal control, or APM auto-tune or auto-land.