Open Source Firmware
ErSky9x Explained for the Turnigy 9XR Pro
This manual is based on version r204 of the Ersky9x firmware, issued in May 2014. or more information, see !a"e 44. #$reen shots show a !re%!rodu$tion transmitter.
ErSky9x Explained Contents 'ntrodu$tion................... 'ntrodu$tion.................................................... ...................................................................... ....................................................................... ......................................... ....... 1 (avi"atin" (avi"atin" in Er#ky9x...................................... Er#ky9x.................................................................... ............................................................ .............................................. ................ 2 )utton (avi"ation.................................................................................................................... (avi"ation.................................................................................................................... 2 (avi"atin" )etween *a"es.......................................... *a"es.................................................................................. ............................................................2 ....................2 (avi"ation in a Menu................................................................... Menu...............................................................................................................+ ............................................+ ome *a"es................................................. *a"es............................................................................................. ...........................................................................+ ...............................+ #tatisti$s #$reens........................................................................... #$reens.............................................................................................................................................................adio /eneral #ettin"s.................................... #ettin"s...................................................................... ................................................................ .......................................... ............ adio #etu! !a"e 1113............................................................................ 1113.......................................................................................................... .............................. )oot eason !a"e 11113.......................................................................... 11113.....................................................................................................12 ...........................12 # 5ard #tat !a"e 10113.................................................................................................... 10113.................................................................................................... 12 5alibration !a"e 9113.......................................................................................................... 9113.......................................................................................................... 12 6(6 6nalo" 6nalo" 'n!uts3 'n!uts3 !a"e 7113.......................... 7113............................................................................... ................................................................. ............1+ 1+ '6/ ia"nosti$s3 !a"e 113.............................................................................................1+ 113.............................................................................................1+ ate%Time !a"e -113................................................ -113................................................................................. ...........................................................1+ ..........................1+ 8ersion !a"e 113.................................................................................................. 113............................................................................................................... ............. 14 Trainer !a"e 4113.................................................................... 4113................................................................................................................14 ............................................14 Memory #tat !a"e +113............................ +113.......................................................................................................1...........................................................................1adio #etu! 2 !a"e 2113..................................................................... 2113.....................................................................................................1................................1Model #etu! Menus............................................... Menus.................................................................................... ....................................................................1 ...............................1 Model#el Model #ele$t3............................................... #ele$t3.................................................................................... .........................................................1 ....................1 #etu! :: !a"e 11+3................................................................................................ 11+3............................................................................................................ ............ 19 eli #etu! !a"e 21+3........................................................... 21+3.......................................................................................................... ................................................. 2+ Modes li"ht Modes3 *a"e +1+3......................................... +1+3.................................................................... ................................................24 .....................24 Ex!o !a"e 41+3...................................................................... 41+3.............................................................................................................24 .......................................24 Mixer !a"e 1+3..................................... 1+3................................................................. .......................................................... ..................................................2....................2;imits !a"e -1+3........................................................................................................... -1+3.................................................................................................................. ....... +1 5urves !a"e 1+3.................................................................... 1+3................................................................................................................+2 ............................................+2 5ustom #wit$hes !a"e 71+3................................................................................... 71+3................................................................................................ ............. ++ #afety #wit$hes
ErSky9x Explained Contents 'ntrodu$tion................... 'ntrodu$tion.................................................... ...................................................................... ....................................................................... ......................................... ....... 1 (avi"atin" (avi"atin" in Er#ky9x...................................... Er#ky9x.................................................................... ............................................................ .............................................. ................ 2 )utton (avi"ation.................................................................................................................... (avi"ation.................................................................................................................... 2 (avi"atin" )etween *a"es.......................................... *a"es.................................................................................. ............................................................2 ....................2 (avi"ation in a Menu................................................................... Menu...............................................................................................................+ ............................................+ ome *a"es................................................. *a"es............................................................................................. ...........................................................................+ ...............................+ #tatisti$s #$reens........................................................................... #$reens.............................................................................................................................................................adio /eneral #ettin"s.................................... #ettin"s...................................................................... ................................................................ .......................................... ............ adio #etu! !a"e 1113............................................................................ 1113.......................................................................................................... .............................. )oot eason !a"e 11113.......................................................................... 11113.....................................................................................................12 ...........................12 # 5ard #tat !a"e 10113.................................................................................................... 10113.................................................................................................... 12 5alibration !a"e 9113.......................................................................................................... 9113.......................................................................................................... 12 6(6 6nalo" 6nalo" 'n!uts3 'n!uts3 !a"e 7113.......................... 7113............................................................................... ................................................................. ............1+ 1+ '6/ ia"nosti$s3 !a"e 113.............................................................................................1+ 113.............................................................................................1+ ate%Time !a"e -113................................................ -113................................................................................. ...........................................................1+ ..........................1+ 8ersion !a"e 113.................................................................................................. 113............................................................................................................... ............. 14 Trainer !a"e 4113.................................................................... 4113................................................................................................................14 ............................................14 Memory #tat !a"e +113............................ +113.......................................................................................................1...........................................................................1adio #etu! 2 !a"e 2113..................................................................... 2113.....................................................................................................1................................1Model #etu! Menus............................................... Menus.................................................................................... ....................................................................1 ...............................1 Model#el Model #ele$t3............................................... #ele$t3.................................................................................... .........................................................1 ....................1 #etu! :: !a"e 11+3................................................................................................ 11+3............................................................................................................ ............ 19 eli #etu! !a"e 21+3........................................................... 21+3.......................................................................................................... ................................................. 2+ Modes li"ht Modes3 *a"e +1+3......................................... +1+3.................................................................... ................................................24 .....................24 Ex!o !a"e 41+3...................................................................... 41+3.............................................................................................................24 .......................................24 Mixer !a"e 1+3..................................... 1+3................................................................. .......................................................... ..................................................2....................2;imits !a"e -1+3........................................................................................................... -1+3.................................................................................................................. ....... +1 5urves !a"e 1+3.................................................................... 1+3................................................................................................................+2 ............................................+2 5ustom #wit$hes !a"e 71+3................................................................................... 71+3................................................................................................ ............. ++ #afety #wit$hes
Introduction This manual !rovides a detailed o verview of the ErSky9x o!en sour$e firmware used in the Turnigy 9XR Pro Prot ransmitter. The "reat flexibility of this !ro"rammin" system means that there is a lot that needs to be des$ribed. >ou mi"ht see this as intimidatin", but you don?t need to learn everythin" before you $an en@oy flyin" with this transmitter. That?s why we have !rovided a se!arate and sim!ler "uideA First Steps with ErSky9x . Be re$ommend you read that first to "et the overall !i$ture and to learn enou"h to "et you flyin". 6lso be sure to read Introduction to the Hardware Hardware see Curther 'nformationD at the end of this manual3. Be also re$ommend that you make use of the available 5 forums and es!e$ially !en5forums.$om, whi$h is dedi$ated to the various o!en sour$e 5 f irmwares in$ludin" this one. There you will find enthusiasts, in$ludin" the !ro"ram and hardware develo!ers, ready to hel! you "et the most from this amaFin"ly advan$ed and still evolvin" 5 software. Bhile there, you should $onsider makin" a donation for their efforts. The features of the 9XR Pro Prot ransmitter runnin" ErSky9x f irmware in$ludeA +2 model memories !lus an unlimited number on your $om!uterG u! to 24 $hannel o!erationG !otential for telemetry $ommuni$ation and dis!lay on the s$reenG s!oken announ$ement of a larms, swit$h settin"s and telemetry valuesG $om!letely free mixes allowin" almost unlimited !ro"rammin" of $ontrols and swit$hesG !oint and 9 !oint $ustom $urvesG assi"nment of any $hannel to any fun$tion. The radio also su!!orts an # $ard for the stora"e of audio, firmware, telemetry lo"s and manuals to whi$h this one belon"s. ErSky9x s u!!orts )luetooth $ommuni$ation if the reHuired hardware is added to the $ir$uit board. 't also !rovides I#) a$$ess to the $om!uter%based Eepskye Eepskye! ro"ram, whi$h allows u!datin" the firmware, model memory and # $ard. Eepskye Eepskyea lso simulates the sti$ks, sliders and swit$hes on the radio, both for !ro"rammin" and for develo!in" model settin"s. Easy u!datin" of the firmware allows you to b enefit from the im!rovements $ontinually bein" develo!ed. The $ombination of extremely flexible !ro"rammin" and a !owerful new main board desi"ned b y #ky (orth results in an inex!ensive transmitter that is amon" the most $a!able available today.
Navigating in ErSky9x Button Navigation The transmitter has six in!ut keysA a $ru$iform set of '/T;ETI*B( keys, !lus $ontextual ME(I and E:'T keys. The '/T;ETI*B( keys to the left of the s$reen move the $ursor or !a"es in the a!!ro!riate dire$tions. (ote that short !resses and lon" !resses will !rodu$e different results. or exam!le, when you turn your transmitter on it will start at one of five JomeJ !a"es. #hort !resses of the I* and B( keys wil l take you to different home !a"es. Ea$h ! ress of the key brin"s a new s$reen, eventually takin" you b a$k to where you started. Bhi$hever s$reen you last used will be the home s$reen that a!!ears when you next swit$h the transmitter on. 'f, however, you !ress the I* key for about h alf a se$ond i.e., lon" I*3 you will be shown a s$reen whi$h has information about the )attery and related matters see !a"e -3. 5onfusedK on?t worry, all this "ets Huite easy on$e you have handled the transmitter for a short while.
Navigating Between Pages. The home !a"es form a $entral $ore from whi$h you $an "o ri"ht, l eft, u! or down to a$$ess sets of !a"es whi$h have similar fun$tions see dia"ram below3. 6 lon" ;ET !ress takes you to the adio #etu! se$tion se$tion where short !resses '/T '/T or ;ET allow you to $y$le throu"h the 11 !a"es. 6 lon" '/T !ress takes you to the 14 !a"es of the the Model #etu! se$tion. 6 lon" I* !ress from the home !a"es takes you to three #tatisti$s !a"es as you $an see in the dia "ram above. 6nd a lon" B( !ress takes you dire$tly to the Tele metry !a"es. The Telemetry !a"es $an also be a$$essed from the ome !a"es by short !resses of B( or I* a number of times until the first telemetry !a"e shows. These !a"es are re$o"niFable be$ause they do not have the trim !osition "ra!hi$s alon" the bottom and ed"es of the s$reen.
n$e on a !a"e, short !resses of ;ET and '/T ste! throu"h the various items found there, su$h as !hysi$al and $ustom swit$hes.
Navigation in a Menu (avi"ation in a menu is strai"ht forwardA The I*B('/T;ET keys will navi"ate between editable fields, or lines of fields de!endin" on the s$reen. *ressin" ME(I will enter the edit mode. 'n this mode, '/T;ET $han"e the value, while ME(I or E:'T validate the in!ut and return to navi"ation. 'f there is only one value on a line to be edited, the ;ET and '/T keys $han"e it dire$tly without !ressin" ME(I. 6 short !ress on E:'T "oes ba$k to the !revious navi"ation level, but a lon" !ress "oes ba$k to the home !a"e where you started. To return to the !revious !a"e, lon" !ress the ME(I button. 'n edit mode, a short$ut is available to reverse the si"n of a value. Bith the $ursor on the value, !ress ;ET and '/T keys to"ether and the si"n will $han"e from !ositive to ne"ative or vi$e versa. This works even with the $ru$iform key arran"ement, as the keys re"ister $lose enou"h to"ether for the radio to re$o"niFe the short$ut.3
Home Pages There are five ome !a"es, four of whi$h show the same basi$ information in the to! !art of the s$reenA model name, transmitter battery volta"e, timer value, timer swit$h identity, and trim in$rement settin". Trim !osition "ra!hi$s are shown on the sides and bottom of the s$reen. The fifth ome !a"e shows telemetry.
Home Page 1 (Stick and Pot Positions) 'n the first ome !a"e view, the l ower half of the s$reen shows a " ra!hi$al re!resentation of sti$k and !otentiometer !ositions. 6 list of the swit$hes shows those in the Lu!? !osition in normal text, while those in the JdownJ !osition are !resented in white letters on a dark ba$k"round i.e., reversed3. 'n other words, this s$reen shows the in!uts to the !ro$essin".
'n the u!!er half of the s$reen, the transmitter volta"e is dis!layed in lar"e !rint, alon" with the trim in$rement ty!e, here LMed? see !a"e 20 3. The $urrent value of Timer 1 is also shown in lar"e !rint, alon" with the swit$h used to a $tivate it, here LTs? see !a"e 193. 'n addition, the $urrent li"ht Mode will be dis!layed if it is other than the default M01.
Home Page 2 (rap!ic Servo Outputs) 'n the se$ond ome !a"e view short !ress down from the !revious s$reen3, the u!!er !art of the s$reen is identi$al to ome *a"e 1, while the lower half of the s$reen shows in bar "ra!h
form the $hannel out!uts. These bars refle$t the out!uts resultin" from the !ro"rammin" for the !arti$ular model !ro$essin" the in!uts of the sti$ks, !ots and swit$hes. (ote that @ust above the $hannel out!ut "ra!hi$ is a bar showin" whi$h $hannels are bein" '/T or ;ET key $han"es the $hannel view from the first set of 7 dis!layed. 6 short !ress of the $hannels 1%73 to the se$ond set 9%1-3 and then to the third set 1%243. Bith the ne$essary hardware, the transmitter is $a!able of $ontrollin" 24 $hannels. Warning A 't?s easy to "ive a short ri"ht !ress inadvertently and dis!lay $hannels not bein" used on your transmitter. This $an be very $onfusin".
Home Page " (Numeric Servo Outputs) 'n the third ome !a"e short !ress down from the !revious s$reen3 the lower half of the s$reen shows the $hannel out!uts in di"ital form from %100 to N100. 6"ain, the bar shows whi$h $hannels are bein" dis!layed here 1%73. The u!!er !art of the s$reen is identi$al to the !revious s$reens.
Home Page # ($imers) 'n this ome !a"e the lower half dis!lays @ust the Timer 2 readin" in bold ty!e for easy visual referen$e.
Home Page % ($e&emetr' Series) 'n the fifth ome !a"e short !ress down from the !revious one3 the s$reen shows various sets of telemetry data. These may in$lude /lobal *ositionin" #ystem /*#3 data, volta"e, tem!erature, rate of $limb, battery $a!a$ity used or other information, de!endin" on what sensors you have installed in your model.
6 lon" !ress of the ME(I button will reset the maximum altitude and maximum s!eed readin"s to Fero. or further information on telemetry see !a"e +-. 6 short !ress of the '/T or ;ET key will $y$le amon" the five Telemetry s$reens, whi$h you $an ada!t to suit your reHuirements. 5onseHuently, the information in the s$reens may vary from what is shown below.
The next !a"e not shown3 has the u!!er half as des$ribed before and the lower half a $ustomiFable value, whi$h may be a timer or a telemetry value or other variable. The last Telemetry s$reen !rovides for information s!e$ifi$ to the #M !roto$ol and is intended for use with a #M telemetry transmitter module. 't only a!!ears when #M2 or #M: o!eratin" mode is sele$ted in the Model #etu! #$reen 11+3.
6 short !ress of the I* or B( key will take you ba$k to the ome s$reens and allow you to $y$le throu"h them.
There are various o!erations usin" the E:'T button. 'f the timer is bee!in", a Hui$k !ress of the E:'T key resets it and sto!s the bee!in". 'f you are on a telemetry s$reen, a Hui$k ! ress of the E:'T key resets the telemetry. ;(/ E:'T resets both T'ME 1 and telemetry.
Statistics Screens 1. Batter' Screen rom the ome !a"es, a lon" !ress of the I* key brin"s u! a s$reen where the battery details, time and L5*I tem!erature? are shown. $urrently, the tem!erature readin" is ty!i$ally as mu$h as 10O5 too low, as shown3.
The m6h readin" shows the battery $a!a$ity used sin $e the last reset, normally after $har"in" the battery. To reset the number to Fero, lon" !ress the ME(I key. To ad@ust date or time, "o to !a"e -11 of the adio #etu! s$reens.
2. S$$ Screen 6 short !ress I* from the )attery s$reen brin"s a statisti$s s$reen whose main feature is a "ra!h of throttle !osition versus time. 't also shows the !eriods for whi$h the timers have been a$tive and total time the transmitter has been on.
". S$$2 Screen 6nother short !ress brin"s a s$reen whi$h shows the LtmainJ in millise$onds the maximum time taken to run the main menu loo! in the firmware & this is mainly for the develo!ers3.
The s$reen also shows information relatin" to the )'( re!ly if a #M module is used and J)T re!lyJ )luetooth3, if the ne$essary hardware is installed. 6nother short !ress of the I* key brin"s you ba$k to the home !a"e from when$e you started. That?s it for navi"ation amon" the various ome, Telemetry and #tatisti$s s$reens that mainly dis!lay data. (ow we ex!lore the !a"es of adio #etu! that allow us to set the basi$ !arameters for how the transmitter o!erates.
Radio eneral Settings rom the ome !a"es, a ;(/ !ress of the ;ET key yields the radio setu! menu. (avi"ation amon" the !a"es here is as follows. The I* and B( keys move the $ursor to hi"hli"ht values that may be edited. 6 short !ress of the ME(I key will $ause the $ursor to flash and allow the '/T and ;ET keys to $han"e the values or o!tions in that field. 6 short !ress of the E:'T key will sto! the $ursor from flashin" i.e., will exit Edit mode3 and allow navi"ation u! or down. Be start with !a"e 111, as this $ontains many of the most im!ortant settin"s and is the first we $ome to by !ressin" ;ET. 6fter that we will $ontinue to !ress ;ET, whi$h takes us throu"h the remainin" !a"es in reverse order. Be $ould eHually well !ress '/T and view them in nominal order.3
adio Setup (page 1*11)
Owner Name This is the only field in adio #etu! where the entry method is different to the above des$ri!tion. 5hoose a s!a$e where a letter is reHuired and !ress ME(I to hi"hli "ht it. Bhen the I* or B( key is !ressed the followin" a re shown in seHuen$eA a blank s!a$e, u!!er $ase letters, lower $ase letters, numerals, JPJ and J% Jand J.J. Bhen you have the $orre$t letter or numeral in !la$e, !ress ME(I or E:'T to allow you to move left or ri"ht. i"hli"ht the next s!a$e, !ress
E(TE and sele$t the $hara$ter. 6nd so on. The name you enter will show on the o!enin" s$reen at startu! if L#!lash (ame? is ( see below3.
Beeper There are six o!tions available for the duration of the bee!er soundA extra%lon", lon", normal, short, extra short, no%key and Huiet. 6s ea$h o!tion is sele$ted the bee!er makes the $orres!ondin" sound. The (oQey sele$tion eliminates the bee!s when editin" but allows alarms to sound. Ruiet means no sounds or alarms at all.
+ontrast, Screen contrast setting The hi"her the value the darker the s$reen.
Batter' -arning #ets the volta"e at whi$h a warnin" messa"e will be announ$ed, alertin" you to Clow batteryD. The volta"e you $hoose de!ends on the minimum safe level for the battery siFe and ty!e you have installed in the transmitter. The transmitter will work d own to about - volts, but you need time to land and your battery may have a mu$h hi"her minimum safe volta"e e."., about 9.+v for ;ie $hemistry and u! to 11v for ;i*o3. #ee the manual 'ntrodu$tion to the ardware for advi$e on batteries and settin"s.
nactivit' &arm, This reminds you to turn off the transmitter. 'f the transmitter is left turned on with no movement of the sti$ks for the !eriod of ina$tivity set here, this alarm will sound. 8alues $an be from 1 to 20 minutes. To reset the timer sim!ly move one of the sti$ks. To disable the alarm, set the value to Fero.
Fi&ter /+, na&og to /igita& +onversion The 6M !ro$essor in the 9: *ro i s 12%bit, "ivin" 409- resolution $om!ared to 10%bit, 1024 resolution for the 9: and 9: 68 ! ro$essors3. #in$e the Ersky9x firmware uses 2047 resolution, $onversion is ne$essary. There are three o!tions for the anal o" to di"ital $onversionA #'(/A #in"le $onversion. This is the fastest !ro$ess, sim!ly readin" the value on$e and dividin" by 2 to a$hieve the resolution reHuired by the firmware. #M*A versam!lin". This o!tion avera"es four $onse$utive values to smooth servo res!onse. 't?s only sli"htly slower than #'(/ and is the best $hoi$e for most users. ';TA iltered. This o!tion avera"es over a lon"er time to minimiFe $onversion noise and thereby redu$e servo @itter. 't will, however, in$rease laten$y by about 10 mse$.
$!rott&e everse nly if you fly with the throttle Cba$kwardsD i.e., with idle away from you and full throttle towards you3 should you set this to (. 't will also reverse the throttle warnin" on startu!.
Minute Beep #et this ( if you want a bee! or announ$ement to sound e very minute durin" timer o!eration.
Beep +ountdown #et this to ( if you want the timer to sound bee!s or announ$ements durin" the last minute of $ountdown.
F&as! on Beep #et this ( if you want the s$reen to flash every time the transmitter bee!s.
0ig!t Switc! The ba$k li"ht $an be set to turn ( via any of the transmitter !hysi$al swit$hes I, '0, E;E et$.3 or any of the virtual swit$hes #B1, #B2, et$.3.
0ig!t O ter This may be set as or in se$ond intervals u! to -00 se$onds.
0ig!t on Stick Movement This may be set as or in se$ond intervals u! to -00 se$onds.
Sp&as! Screen This may be set to ( or . The s!lash s$reen is dis!layed at start u! with an announ$ed wel$ome messa"e. 6n alternative is to have the model name announ$ed or some musi$ !layed. The s!lash s$reen and the announ$ements on start%u! $an be $ustomiFed usin" voi$e $ommands as ex!lained in a different !art of this manual.
Sp&as! Name This may be set to ( or . 'f (, the name set in Owner a!e above will be shown on the s!lash s$reen.
$!rott&e -arning 'f ( this will show a warnin" when throttle is not at idle when the transmitter is turned on. Th e transmitter will not out!ut a si"nal until su$h alerts are $leared.
&arm warning This will "ive you a Cheads u!D if the bee!er is silent. 'f ( and the bee!er is set to J0J Ruiet3 you will re$eive a warnin" on startu!.
Scro&&ing The $hoi$e here is *T, #T'5Q, )T or ((E. *ot #$roll means that two of the !otentiometers $an be used for $ontrol of the $ursor when a menu is ons$reen. The ri"ht !ot s$rolls the $ursor u! and down to $hoose the item, while the left !ot ad@usts the value. ;ikewise, #ti$k #$roll enables the elevatorrudder sti$k mode 13 or elevatoraileron sti$k mode 23 to move the $ursor in a similar way. (ote that #ti$k s$rollin" doesn?t work in menus where the sti$ks themselves are involved, su$h as the 6(6 !a"e, the 5alibration !a"e and the Ex!o !a"e. ;ikewise, *ot s$rollin" may not always workG for exam!le, you $an?t use it to $hoose an a$tion on the Model #ele$t !a"e. 'n these situations, you should use the navi"ation keys, whi$h al ways work. (ormally, sti$k!ot s$rollin" will work a"ain after the a few uses of the navi"ation keys. 'f not, you may have to turn s$rollin" off and ba$k on a"ain.
nterna& FrSk' &arm r#ky telemetry modules, when used with %series re$eivers, !rodu$e their own e$eived #i"nal #tren"th 'ndi$ation ##'3 alarm sounds see module instru$tions for details3. Bhere ##' alarms either voi$e or bee!er3 are set in the transmitter itself, the module alarms are normally turned , as shown in the !i$ture below. /enerally you don?t want to have the module bee!in" as well as the transmitterS
+ross $rim This allows you to swa! the trim buttons for ea$h sti$k swa!!ed to the o!!osite side of the transmitter, i.e., Elevator trim is next to the throttle sti$k. This $an make trim ad@ustment in fli"ht easier, !arti$ularly for Mode 2 fliers, for whom it allows aileron and elevator trim to be ad@usted with the left hand for another way to assist in the trimmin" of a new model, see Tri! Switch under Model #etu!, !a"e 203.
0anguage The o!tions $urrently available are ren$h, / erman, (orwe"ian and #wedish.
+!anne& Order This settin" determines the seHuen$e of the first four $hannels that will be used in settin" u! a new model or a!!lyin" a tem!late. This is the order in whi$h the out!uts will be available from the re$eiver. *o!ular $hannel orders in$lude T6E used for #M re$eivers, whi$h ty!i$ally !rovide throttle failsafe only on $hannel 13 and 6ET used by many manufa$turers3. (ote that Ersky9x !rovides $om!lete flexibility in sele$tin" $hannel order.
Mode (i.e. stick mode) 5hoose the Mode settin" 1, 2, + or 43 to suit your !referen$e andor mat$h lo $al !ra$ti$e. Mode 1 throttle and aileron on ri"ht sti$k, elevator and rudder on left3 and Mode 2 elevator and aileron on ri"ht sti$k, throttle and rudder on left3 are by far the most !o!ular sti$k $onfi"urations around the world. ;ess $ommon are Modes + and 4, whi$h are similar to modes 1 and 2 res!e$tively ex$e!t that they have aileron $ontrol on the left and rudder on the ri"ht.
To $han"e mode in the adio #etu! !a"e, move the $ursor to the number below LMode?, !ress ME(I and use the arrow keys. This wil l $han"e the sti$k assi"nments shown below the sti$k fun$tion dia"rams. The !hysi$al sti$k arran"ement of the "imbals must mat$h the $hosen mode. #!e$ifi$ally, the throttle sti$k is normally non%$enterin", usin" fri$tion or a rat$het to hold its !osition, while other axes use a s!rin" to return the sti$k to $enter. (ormally the transmitter is !ur$hased in the desired mode 1 or 2 !hysi$al $onfi"uration, but this $an be $han"ed by the user thou"h doin" so may void the warranty3. 5han"in" the sti$k mode reHuires removin" the ba$k of the transmitter, !artly disassemblin" ea$h sti$k unit and inter$han"in" the s!rin" $enterin" me$hanism on the verti$al axis of one with the fri$tion me$hanism on the other. 6 video showin" the !ro$ess in detail $an be found on the 'nternet.1 6lternatively, a !air of sti$k assemblies in the a!!ro!riate mode 1 or 23 $an be !ur$hased inex!ensively and substituted relatively easily for the existin" sti$ks. The other feature available in this area of adio #etu! is to be used (;> if the transmitter "imbals are u!"raded to a different ty!e. oin" so may reHuire that the o!eration of one or more sti$ks be reversed to a"ree with the dire$tion o f the $orres!ondin" trim swit$hes. To use this $a!ability, move the $ursor to the sti$k fun$tion dia"rams, !ress ME(I and h i"hli"ht the axes to be reversed. To $han"e ba$k to normal sti$k dire$tions, !ress ;ET re!eatedly. o not use this feature to a$hieve servo reversal. That?s the end of adio #etu!, the lon"est s$reen of all. ortunately, it isn?t ne$essary to $han"e these settin"s very often, and most $an be left on their default values. (ow to other !a"es that set !arameters or dis!lay information, startin" at the last.
Boot eason (page 11*11) Bith the $ursor on the to! li ne of the !revious s$reen, a short ;ET !ress moves to a s$reen whi$h shows how the transmitter was last started normally L*ower n?3. 'f you have an unex!lained start% u! or shut%down, this information may hel! in troubleshootin". 1
htt!sAwww.youtube.$omwat$hKvU+oi$2b$ ... redire$tU1
S/ +ard Stat (page 13*11) 6nother short !ress of the ;ET key brin"s u! this s$reen showin" information about usa"e of the memory on the Mi$ro%# $ard.
+a&i4ration (page 5*11) ;ET a"ain brin"s u! the s$reen that allows the firmware to re$o"niFe the l imits and $enterin" of the sti$ks, as well as the limits of the three !ots !otentiometers3. Vust follow the instru$tions on%s$reen, !ressin" ME(I to start, then $enterin" the sti$ks and !ressin" ME(I a"ain. inally, move the sti$ks to their full extent in all dire$tions don?t !ress hard a"ainst the sto!s3 and twist the !ots throu"h their full ran"e. *ress ME(I a"ain and you?re done.
(TEA 't is essential to $alibrate the transmitter initially and whenever there are any $han"es that $ould affe$t the sti$k or !ot out!uts e."., re!la$ement of a sti$k a ssembly3. Bith the 9: *ro unlike the 9:3 the $alibration data are stored i n /eneral #ettin"s, se!arate from model memories.
N (na&og nputs) (page 6*11) 6nother short !ress of the ;ET key brin"s u! a s$reen that shows the analo" in!uts sti$ks, !ots and battery volta"e3 in hexade$imal format to save s!a$e.
61..64 are the "imbals sti$ks3. 6..6 are the !ots. 67 is battery volta"e. 8alues ran"e from 0 to 0x 0 to 204 de$imal3. 'f you hi"hli"ht the battery volta"e, !ressin" ;ET '/T will ad@ust the value, enablin" you to $alibrate the readin" to eHual what you measure with a voltmeter at the battery itself. This s$reen also shows the $urrent bein" used by the transmitter in milliam!s m63.
/ (/iagnostics) (page 7*11) #hort !ressin" the ;ET key brin"s u! a s$reen that shows the !osition of every !hysi$al swit$h as seen by the transmitter. 'f a swit$h is u! or ba$k3, a Fero is shown. (ote that if, for exam!le, a swit$h has be$ome loose, this !a"e will tell you if it is mounted the ri"ht way u!. The a$tion of the trim swit$hes is also shown not the trim settin"s themselves3.
/ate8$ime (page 9*11) This is the s$reen where the transmitter?s real%time $lo$k is ad@usted to show the $urrent date and time. Ise the I*B( keys to navi"ate and the '/T;ET keys to ad@ust the values. (ote that the transmitter uses the 24%hour $lo$k.
The $alibration 5al3 value may be $han"ed to $orre$t ina$$ura$ies in the $lo$k.
:ersion (page %*11) This s$reen shows the version information for the $urrent firmwareA #8(A (ame of the $urrent release in the #ubversion mana"ement system. 8E#A 8ersion number used by the develo!er. 6TEA 5om!ile date for the $urrent firmware. T'MEA 5om!ile time for $urrent firmware. MA Main $ir$uit board model
#in$e Er#ky9xr is o!en sour$e, anyone who has !roblems is wel$ome to lo" on to the internet forums and seek hel!. Bhen you seek a solution, !lease use the release and version numbers shown in this s$reen here r20+, 8.+93. >our !arti$i!ation is what hel!s make the firmware better.
$rainer (page #*11) This menu is used when the transmitter is fun$tionin" as the Master in a Cbuddy boxD arran"ement the Master is the transmitter held by the instru$tor and is the one to whi$h the model?s re$eiver is bound3. The menu allows the **Min trainer3 in !uts $omin" by $able or wirelessly3 from the student #lave3 transmitter to be mat$hed to the $hannel setu! of the Master transmitter. The $hannel order of the #lave transmitter and the Master do not ne ed to be the same, !rovided this s$reen is used to mat$h them u! $orre$tly. The slave transmitter does not have to b e a 9: *roA $om!atible transmitters in$lude the 9:, 9: and #!ektrum. Transmitters su$h as utaba $an also be used but may reHuire s!e$ial $ables. Transfer of $ontrol to the student transmitter for a "iven $hannel is done by a$tivatin" the swit$h shown in the last $olumn. (ormally this would be T( the momentary to""le swit$h3 for all $hannels, thou"h sometimes instru$tors !refer to transfer $ontrol sele$tively with se!arate swit$hes for some $hannels. Bhen the Trainer #wit$h is held (, **Min from the #lave transmitter is substituted for in!ut "enerated by the Master transmitter itself and the student has $ontrol of the model. 6ll the mixes on the Master Tx are a!!lied to the student i n!uts. This in$ludes, for exam!le, ex!o or delta win" elevon3.
The !"ode# $olumn sele$ts how **Min is used when the Trainer #wit$h is a$tivatedA off Channel unused. (o in!ut from student sti$k $% &dd student sti$k value to instru$tor sti$k value sometimes used for trainin"3 '%
Replace instru$tor sti$k value with student sti$k value normal trainin" setu!3
The !(# entry a!!lies a wei"htin" to the **Min value from %100 to N100. Ise %100 to reverse the in!ut. 8alues $loser to 0 redu$e the studentWs $ontrol sensitivity. The Lsrc# entry sele$ts the **Min $hannel for the fun$tion. 'n this exam!le, the buddy box uses the #!ektrumV $hannel order of T6E, while the master uses ET6. The Ls)# entry sele$ts the swit$h used to a$tivate trainer o!eration, normally T(. *ultiplier A 6d@usts **Min values by a fa$tor from 1.0 to .0. (ormally left at 1. This is used to raise the in$omin" si"nal level if it is too low for the 9: *ro. CalA 5enter $alibration for first 4 **Min values. 6llows you to $alibrate the mid%!oint for $hannels 1 to 4. i"hli"htin" L5al? and !ressin" ME(I will ad@ust the in!uts from the slave to mat$h the master. (TEA There is an o!tion under Model #etu! to enable or disable the trainer fun$tion for that model. 'f you do not need a model to su!!ort trainer mode you may disable the fun$tion and use the trainer swit$h for somethin" else see !a"e 213. Bhile a trainer setu! normally uses only the first four $hannels, all **Min values are available to the mixer if reHuired.
Memor' Stat (page "*11) This !a"e "ives the hexade$imal address for the start and end of ea$h model in memory.
adio Setup 2 (page 2*11) This !a"e deals with a number of additional settin"s.
:o&ume This value may be set from 0 to 2+. The volume of the bee!s as you $han"e the settin" shows the new value. (ote that within Model #etu!, further $ontrol of volume $an also be assi"ned to one of the three !ots *1, *2, *+3 or a /lobal value /84 to /83.
Speaker Pitc! 8alues from 1 to 100 may be set. The !it$h varies one tone u! for every five value in$rements.
Haptic Strengt! 8alues from 0 to may be set. This !arameter determines the stren"th of the vibration.
Brig!tness This refers to the s$reen bri"htness when the ba$kli"ht is swit$hed on. 8alues from 0 fully dark3 to 100 very bri"ht3 may be set.
+apacit' &arm Bhen the battery $a!a$ity used sin$e last reset rea$hes this value an alert messa"e will be announ$ed. )attery $a!a$ity used may be viewed and reset on the )attery s$reen one lon" !ress I* from any of the ome s$reens3.
Bt Baudrate #!eed settin" for )luetooth $ommuni$ations )luetooth reHuires additional hardware3.
otar' /ivisor The am!lifi$ation of a rotary en$oder may b e set here. The ran"e of values is 1,2, and 4. This value de!ends on the make of the en$oder. 6 rotary en$oder is not in $luded in the 9: *ro but $an be added as a '> !ro@e$t.
Stick ain This is only needed if another ty!e of sti$k "imbal, su$h as 6urora 9, is fitted to the transmitter. L;8? means ;eft 8erti$al, et$. 'f ne$essary, individual sti$ks $an be reversed in the Mode se$tion of the adio #etu! menu.
*odel Setup *enus 'n the first s$reen of the Model #etu! menus, all the +2 memory slots models are l isted and any models that have already been $reated are shown. n$e a model is sele$ted, a series of s$reens definin" its $hara$teristi$s $an be a$$essed.
Mode&Se& (Mode& Se&ect) *ress ;(/ '/T from the ome !a"es to rea$h the Model #ele$t s$reen. n this s$reen, models stored in the transmitter?s EE*M memory are listed and $an be sele$ted, $o!ied, moved, or deleted. 'n addition, individual models $an be ba$ked u! to the Mi$ro%# $ard and subseHuently restored to the transmitter.
n$e a model slot has been hi"hli"hted, #E;E5T, 5*>, M8E, E;ETE and )65QI* $ommands be$ome available, as shown below. Move the $ursor u sin" the I* or B( key and !i$k the o!tion by !ressin" the ME(I key.
ctive Mode& 6n asterisk next to the model number indi$ates that this is the $urrently a$tive model. nly the a$tive model $an be edited. To #E;E5T a model or memory slot, hi"hli" ht it, !ress ME(I, $hoose #E;E5T and !ress ME(I a"ain to make it the a$tive model.
*ress short '/T to enter the first of the Model #etu! !a"es for the $hosen model. on?t be sur!rised if you see a n 6;ET s$reen tellin" you that swit$hes need to be moved to safe !ositions. The default swit$h settin"s in Ersky9x are asso$iated with indi vidual models and thus may vary from one to another. They are $he$ked every time you $han"e models, not @ust when the transmitter is turned on. This is an im!ortant safety feature but $an be turned off if desired. Th e throttle !osition is also $he$ked when the a $tive model is $han"ed. 'f a blank memory slot is made the a$tive model, a basi$ fixed win" model based on the sim!le four% $hannel tem!late see !a"e 413 is $reated by definin" standard mixes for $hannels 1 throu"h 4. The new model is initially named ME; ::, where :: is the slot number.
Ot!er +ommands (ote that the $ommands in the Model #ele$t menu #E;E5T, 5*>, et$.3 a!!ly to the model whose number you have hi"hli"hted whi$h may not be the a$tive model3. To 5*> a model, hi"hli"ht it and !ress ME(I. 5hoose 5*> and !ress ME(I a"ai n to $onfirm that you want to !ro$eed with the du!li$ation. The $o!y will be $reated in the first available blank slot. To M8E a model, hi"hli"ht it and !ress ME(I. 5hoose M8E, !ress ME(I a"ain. Ise the I*B( keys to move it to a di fferent memory slot and !ress ME(I to dro! the model there. Movin" a model will not overwrite other models. To E;ETE a model, hi"hli"ht it and !ress ME(I. 5hoose E;ETE and !ress ME(I. >ou wil l be asked to $onfirm. eletin" a model moves u! the models below it in the list. (ote that you $annot delete the a$tive modelG you first need to make another model the a$tive one. To )65QI* a model to the Mi$ro%# $ard, hi"hli" ht it, !ress ME(I and $hoose )65QI*. *ress ME(I to $om!lete the a$tion. >ou will see CME##6/EA ME; #68ED on the transmitter s$reen. To E#TE a model from a ba$ku! file, hi"hli"ht a blank memory slot, !ress ME(I and $hoose E#TE. i"hli"ht the model you want to restore and !ress ME(I. >ou will see CME##6/EA ME; E#TED on the transmitter s$reen. (ote that you $anWt use estore to re!la$e an existin" model without first deletin" that model.
)a$ku! files are saved on the # $ard with a C.ee!mD extension in a folder $alled ME;#. They $an be $o!ied to the $om!uter via I#) or by usin" the # $ard for the transfer see "o!!unicating with a "o!puter 3. 'n addition, .ee!m files whi$h $ontain a sin"le model3 $an be im!orted from the # $ard into the Ee!skye !ro"ram. There they $an be edited and saved to the # $ard, the $om!uter or the transmitter?s EE*M file. #ee the manual #sing Eepskye.
Setup ;; (page 1*1") The #etu! s$reen has many lines and !resents a wide ran"e of settin"s s!e$ifi$ to the individual model that is $urrently a$tive Model (umber ::3. #ele$t items in the menu usin" the I* and B( keys. ere are the first itemsA
Name (mode& name) This item works like wner (ame in the adio #etu! !a"e. 5hoose a s!a$e where a letter is reHuired and !ress ME(I to hi"hli"ht it. B hen the I* or B( key is !ressed the followin" are shown in seHuen$eA a blank s!a$e, u!!er $ase letters, lower $ase letters, numerals, JPJ and J% Jand J.J. Bhen you have the $orre$t letter or n umeral in !la$e, !ress ME(I or E:'T to re"ain the ability to move left and ri"ht. Ise B( to "et to the next item.
:oice nde< ere you s!e$ify the voi$e file that will be announ$ed when the model is sele$ted. i"hli"htin" the number and !ressin" ME(I will $ause the voi$e file to be !layed. The ran"e of numbers is 2-0 to +09 &.if you don?t want a name to be announ$ed, @ust assi"n a number that doesn?t have a voi$e file asso$iated with it !robably a hi"h number3. or more on this see ErSky9x $oice Exp%ained .
$imer 1 $imer 2 There are two fully !ro"rammable timers, that $an $ount either u! or down. )y default, the timers are set to and are not o!erational.
$rigger $rigger B Two tri""ers are available to start and sto! ea$h timer. !tions for Tri""er 6 referred to as sim!ly Tri""er in the s$reen3 are , 6)#, Ts, T, or $1 to $24. 6)# $ounts u! all the time, Ts runs whenever the throttle sti$k is not at idle, T $ounts u! at a s!eed !ro!ortional to the throttle sti$k !osition, i.e., at 0 throttle the timer runs at 0 of full s!eed. The o!tion of $1 throu"h to $24 means the !ro!ortional out!ut of any $hannel from 1 to 24.
Tri""er ) o!tions are any !hysi$al swit$h or any virtual swit$h more on those later3. )oth 6 and ) swit$hes $an $ontrol either $ount u! or $ount d own. >ou $an also enable voi$e announ$ements of time. JMinute $allJ will say the time every full minute, while J)ee! $ountdownJ will "ive announ$ements several more times durin" the last minute. These $an be a$tivated on !a"e 111 of the adio #etu! menu.
$8$rim ($!rott&e $rim) This is a useful feature for fuel%!owered models. Bhen a$tivated 13 the $entre detent for the throttle trim is removed and 23 throttle trim affe$ts only the Clo wD side of the throttle ran"e. That means you $an use the trim for settin" idle while full throttle remains un$han"ed. Bhen not a$tivated, throttle trim has no effe$t.
9. $8=
$rim nc ($rim increments) This settin" determines how the a$tive trims behave. 1. Ex! & Ex!onential & trims are fine near the $entre and "et $oa rser further out. 2. Exine & Extra fine & 1 trim ste! !er $li$k. +. ine & 2 ste!s !er $li$k. 4. Medium & 4 ste!s !er $li$k. . 5oarse & 7 ste!s !er $li$k. 6d@ustin" the trims !rodu$es a series of tones that rise in !it$h as trim in$reases in either dire$tion. The $enter !oint of the trim ran"e is si"naled by a ha!ti$ buFF.
$rim Switc! (>nsta$rim?) Bhen this swit$h is a$tivated, the $urrent !osition of the sti$ks is $o!ied to the subtrim settin"s ;imits !a"e3. 5hoose a swit$h that is easily rea$hed but unlikely to be fli!!ed a$$identally e."., I3. The fun$tion is tri""ered by movin" the swit$h from its default !osition. To tri""er it a"ain, the swit$h must first be moved ba$k to its de fault !osition. This fun$tion is very useful for first fli"hts, as it avoids the need to take your hands off the sti$k to !ress the trim buttons. #im!ly hold the !lane level with the sti$ks and fli$k the sele$ted Trim #wit$h. 'mmediately $entre the sti$ks and the !lane is trimmed. ine trimmin" $an still be done with the trim buttons.
(TEA 't is advisable to disable this fun$tion on$e initial trimmin" is $om!leted as it $an have seriously ne"ative results if tri""ered a$$identallyS
=. 0imits Extended limits. 6llows $ontrol limits to "o to !lus or minus 12 instead of the normal 100 maximum. *lease test to make sure this does not $ause unwanted mixin" between $hannels or ex$eed servo me$hani$al limits. (ote that 100 on the Ersky9x firmware already $orres!onds to 12 on most other transmitters, so extended limits should not normally b e reHuired.
$rainer Trainer ( or . This allows you to sele$t whether for this !arti$ular model the trainer in!uts are available from a $onne$ted student transmitter. This is for use when the transmitter is servin" as Master in a buddy box arran"ement. #ee !a"e 14 for an ex!lanation of the Trainer fun$tion. #ele$tin" frees u! a swit$h, usually T(, for other !ur!oses.
uto 0imits This settin" allows #ubtrim to override the ;i mits settin" so that servo throw remains the same on both sides of $enter. The value here determines the maximum amount the limits $an be ex$eeded e."., a settin" of 10.0 allows a limit set at 100 to "o as hi"h as 1103. )e $areful when usin" this feature as the $ontrol limit values are no lon"er absolute and $ould allow a servo to ex$eed a me$hani$al limit.
Switc! -arning 'f ( will show a warnin" when the swit$hes are not at their default !ositions when the transmitter is turned on with this model sele$ted or when the sele$ted model is $han"ed to this one. The transmitter will not out!ut a si"n al until the alert is $leared.
/eau&t Switc! #ets the default swit$h !ositions at start%u!. #et the swit$hes in the desired !ositions, then !ress the Menu key. The swit$hes in the Lon? !osition u!ba$k3 will show as bla$k on white, while those that are Loff? downforward3 will show as white o n bla$k.
:o&ume +ontro& This $an be set to use one of the three !otentiometers *1, *2, *+3 or a /lobal 8ariable /84 to /83. The volume $ontrol only works after you exit the menus.
Beep +nt (Beep +entre) ere you $an set in!uts to bee! when $entered. ET612+ $orres!onds toA I, E;E, T, 6';, *1, *2, *+ in!uts. This is useful for lo$atin" the $entre of the !ots without lookin" e."., while flyin"S3. *ress ME(I to turn on $entre bee!in" for an in!ut.
Proto (encoding protoco&) **M is the !roto$ol used for many !lu"%in modules in$ludin" the ran"e: #M2#M: and the r#ky VT3. >ou $an set the number of $hannels to en$ode and the !ulse s!a$in", but in most $ases, the settin"s should not be $han"ed. 'f you use a #!ektrum M9 module, set s!a$in" to +0u#e$ for more a$$urate $enterin".3 The *:: settin" $an be sele$ted for the newer r#ky :7 module. The #M2 settin" is used where an internal module extra$ted from a #!ektrum transmitter is Xha$kedX into the 9: *ro. 'nstru$tions for doin" this $an be found atA htt!Ao!enr$forums.$omwikiindex.!h!owPtoPmodifyPyourP9xPtoPtheP#MP!roto$ol The #M2 settin" may also be used with future #M telemetry modules. (oteA Ea$h of the *roto settin"s o!ens u! a different set of o!tions. The followin" a!!lies only to the **M settin". or *:: and #M2 see do$umentation for that a!!li$ation.
Start +!anne& This is the $hannel whi$h is first in the **M stream and is usually left at 1. ther start numbers may be needed when usin" a fli"ht $ontroller whi$h a$$e!ts the raw **M.
PPM Fr0en (Frame &engt!), The len"th of ea$h frame within the **M train. (ormally need not be $han"ed.
S!it Se& (S!it se&ect) *#(E/. #ele$t si"nal shift. *#itive or (E/ative. ;eave at *# if in doubt.
PPM2 Start +!anne& Bhere two re$eivers are used for extra $hannels, **M 1 is set to mat$h the $a!ability of the first re$eiver, while **M 2 is set for the se$ond re$eiver. 'f first re$eiver is an 7 %$hannel unit, then the se$ond re$eiver will normally start at $hannel 9. The o!tions areA Lollow? or a s!e$ifi$ $hannel from 1 throu"h 1.
PPM2 +!anne&s The o!tions are 4 throu"h to 1- $hannels in 2%$hannel in$rements. This de!ends on the number of $hannels your se$ond re$eiver or fli"ht $ontroller $an handle and how many $hannels you need to send.
He&i Setup (page 2*1") 6 short !ress of the '/T key will brin" u! the heli$o!ter 55*M head mixer s$reen. This !a"e allows settin" swash !late ty!e, and limitin" the $ontrol authority throu"h the #wash in" settin". (ote that many modern rotary win" models, whether flybarless heli$o!ters or multirotor ma$hines, use an on%board fli"ht $ontroller that $annot a$$e!t 55*M mixin". ;ikewise, $oaxial heli$o!ters ty!i$ally reHuire only sim!le fixed win" ty!e in!uts for the rotors aileron, elevator, rudder3 and throttle to $ontrol $limb and des$ent. or su$h models, you $an i"nore this !a"e.
The in!uts to the 55*M mixer are the 6'; and E;E sti$ks, !lus the in!ut o r virtual $hannel sele$ted in X5olle$tiveX whi$h has entries on the M':E !a"e for one or more !it$h $urves3. ere are the detailsA
Swas! This defines the ty!e of swash !late used by the heliA +,-A C#tandardD 120 de"ree swash !late. The C!it$hD servo is towards the frontba$k. +,-XA #ame 120 de"ree swash !late b ut turned 90Y so the !it$h servo is on one side. +.-A ;ess $ommon 140 de"ree swash !late & the C!it$hD servo is towards the frontba$k. 9-A )asi$ally a sim!le 90 de"ree setu! where a sin"le servo o!erates the $olle$tive !it$h dire$tly and aileron and elevator servos tilt the swash. May be used for fixed !it$h helis.
+o&&ective This defines the sour$e of the $olle$tive in !ut. The idea is that you $an $reate a mix in a virtual $hannel above those sent to the re$eiver3 in$or!oratin" all the reHuired $urves and swit$hes, then sim!ly use it as the in!ut here to mix with the other in!uts.
Swas! ing 6s the name im!lies, this feature limits sti$k movement @ust like a !hysi$al swash rin". (oti$e that this feature only works on 6'; and E;E, re "ardless of radio mode sele$ted.
=0=*0*+O0 /irection These allow the dire$tion of the in!ut fun$tions to be inverted. Ise them to make the $ontrols move the $orre$t way when settin" u! your heli. The out!uts of the 55*M mixer are 5>51, 5>52 and 5>5+. These need to be assi"ned on the M':E !a"e to the $hannels that will drive the swash servos. The settin"s made here have no effe$t unless you use the 5>51, 5>52 and 5>5+ out!uts.
6s noted above, a multirotor or flybarless heli$o!ter whi$h uses onboard $om!utersmixers will (T use the 55*M mixer or these out!uts. or more information on setu! !lease $onsult forums devoted to the relevant ty!e of heli$o!ter.
Modes (F&ig!t Modes) (Page "*1") 6 short !ress of the '/T key will brin" u! the fli"ht modes s$reen. #even fli"ht modes are availableA the default mode M0, !lus M1 to M0-. Ea$h $an be named and has a sele$table a$tivation swit$h !hysi$al or lo"i$al3, a trim sele$tion array, and slow u!down !arameters for smooth transitions between modes. ne main reason for usin" li "ht Modes, rather than @ust !ro"rammin" the reHuired features dire$tly, is to allow se!arate trims for different modes. Bhen shown, , E, T andor 6 mean that a mode has its own trim settin" for that $ontrol see below3G ea$h $an be $han"ed to a number $orres!ondin" to another M and thus use the same trim values as that mode. The other main use of M is to determine whi$h mixes are turned on for ea$h mode. The !riority of the fli"ht modes is su$h that the first M that has its swit$h ( is the a$tive one. Bhen none has its swit$h (, the default M0 is a$tive.
=
n the se$ond line of Ex!o s$reen you $an sele$t to whi$h sti$k I, E;E, T, o r 6';3 the settin"s below a!!ly. The "ra!h $han"es as you enter values so you $an see if you are ad@ustin" the line in the $orre$t way and "et a sense of !ro!ortion. ere rudder is sele$ted.
or ea$h $ontrol you $an in!ut values for both ex!o and by hi"hli"htin" the field and usin" the navi"ation buttons to $han"e the value. or exam!le, to edit an ex!o value, !ress the B( key until the $ursor blinks on the ex!o value. Then use the ;ET'/T keys to $han"e the value. 'f the sti$k is in its $entre !osition, both ex!o values will blink and any entry will ad@ust the ex!o eHually both sides of $entre. owever, if, for exam!le, you hold the sti$k left of $entre, only the left value of ex!o will blink, and the keys will $han"e only the left side of the "ra!h and left side of sti$k travel. 'n this way you $an have a different ex!o $urve on one side $om!ared to the other.
or ea$h $ontrol you $an set two swit$hes. or a dual rate arran"ement, sim!ly $hose the a!!ro!riate swit$h say E;E3 for r#w1 and leave r#w2 blank. To have the swit$h work in the reverse dire$tion, $hoose the CnotD form SE;E3. or a tri!le rate arran"ement you $an us two swit$hes. The main swit$h $han"es between hi"h and mid%rate. 'f the main swit$h is ClowD i.e., mid%rate3 the se$ond swit$h $an then swit$h between mid and low rate. The three !osition swit$h '0, '1, '23 swit$h $an also be used for tri!le rates. or r#w1 enter CS '2D remember the ex$lamation mark means CnotD3 and for the r#w2 enter CS'1D. The lo"i$ is that #w1 is not '2 so it must be either '0 or '1. ;ikewise if #w2 is not '1 it must be '2.
Mi
ere?s what a sim!le mixer !a"e mi"ht look like. This one has two $hannels for aileron 51 and 523 to allow the two servos to be $ontrolled se!arately. )oth "et their in!ut from the aileron sti$k.
The various $hannels numbered on the left of the s$reen are out!uts from the mixer to the servo. or exam!le 51 is servo slot number 1 on your re$eiver. 52 is servo slot number 2, and so on. Bhat this s$reen is tellin" you is, for exam!le, that the rudder sti$k in!ut is bein" routed by the mixer, with a Jwei"htJ of 100, to the servo !lu""ed into 54 on the re$eiver. #imilarly for the elevator, throttle and aileron $hannels. 'n this $ase, the swit$h $olumn is em!ty, meanin" that the mixes are turned on all the time the usual situation for the sti$k in!uts in a sim!le model3. The $urve $olumn shows that $1 a nd $2 are bein" a!!lied to 51 and 52, the two aileron $hannels in this setu!. They are !rovidin" aileron differential meanin" that the Lu!? aileron moves more than the Ldown? aileron. 6 $hannel without a mixer $ommand line su$h as 5- here3 will sim!ly $entre any servo $onne$ted to it. The servo will not move at all as it has no variable in!ut.
Edit *ix ;et?s assume you have hi"hli"hted a $hannel in the s$reen shown above and "iven a lon" !ress of the ME(I key. >ou see this s$reenA
Then you sele$t Edit and "et thisA
=diting t!e Mi< Be need to take a !ause here and look $losely at the $hoi$es available to us in settin" u! a mix. ere is where you $an determine how the sour$e in!ut3 will be transformed into out!ut that drives the servos3 !lu""ed into that re$eiver $hannel. 't?s im!ortant to understand that in the Ersky9x kind of !ro"rammin", the only way anythin" $an be $ontrolled is throu"h an ex!li$it mix. 'n many other radios, most of the mixes are built%in but hiddenG here they are fully visible and editable, "ivin" the radio enormous flexibility and !ower, but reHuirin" that you $reate the mixes. ere are the available o!tions for ea$h mix A
1. SourceA This is the in!ut for the mix. 't $an be any of the followin"A Stick or potentio"eter I, E;E, T, 6';, *1, *2, *+3. /&01A ut!ut is either 0 or Bei"ht. 't is $ontrolled by the desi"nated swit$h see -3. 1200A ut!ut is either %Bei"ht if the swit$h is or NBei"ht if the swit$h is (. 3P4SA The Three *osition #wit$h '0, '1, '2. as three valuesA wei"ht, 0, %wei"ht. 5entre !osition is 0 unless an offset has been defined. C5C+6 C5C,6 C5C3A The three out!uts of the heli swash%!late mix. n$e swash mixin" is turned on eli #etu!, !a"e +103 these mix in!uts be$ome a$tive and refle$t the result of the swash mix. PP*+77PP*8' These are fed by the **M in!ut or Ctrainer !ortD. They $an be used to $onfi"ure a buddy system or to sim!ly extend the radio with more fun$tions like head tra$kin" for you *8 "uys3. (ote that the Trainer !a"e under adio #etu! deals only with 51 & 4. **M in!ut offers a more flexible means to share $ontrol of u! to ei"ht $hannels with a slave transmitter. C/+77C/,.A ut!uts of the mixes on virtual $hannels $hannels not sent to the re$eiver3. This $a!ability $an be used to $hain mixes for more $om!lex behavior. +77:A The values of the /lobal 8ariables T/ISA 6 sour$e that re!resents the $ombination of all mixes for the $hannel to this !oint. 2. ;eightA This value multi!lies the value from the in!ut. 't $an ran"e from %12 to N12. efault is 100. +. 4ffsetA This value is added to the value from the in!ut. 't $an ran"e from %12 to 12. efault is 0. 4. Tri"A Bhen this is (, the trim value if it exists3 will be $arried throu"h the mix. Bhen any trim value is i"nored.
. CurveA This a!!lies a fun$tion or $urve to modify the a!!li$ation of the sour$e value.
x<-A The value of the sour$e is $arried throu"h only if it is !ositive "reater than Fero3. 'f the sour$e value is less than Fero, a Fero value is a!!lied. x=-A #ame but for ne"ative values. >x>A The value is !assed as an absolute value %0 and N0 are both treated as 03. f<-A 'f the sour$e is !ositive then the out!ut value is CNwei"htD otherwise it is 0. f=-A 'f sour$e is ne"ative then the out!ut value is C%wei"htD otherwise it is 0. >f>A ut!ut is either CNwei"htD or C%wei"htD de!endin" on the si"n of the sour$e. c+77c+?A 5ustom 5urves. These are defined in the C5I8E# -73D s$reen. >ou $an !ress ME(I to edit the $urve dire$tly. Bhen you are finished makin" the $urve, short !ress the E:'T key to return to the E'T M': menu. #ee the &%ossary o' Ter!s for an ex!lanation of the mathemati$al relationshi!s used above. *ressin" ME(I when J$urveJ is hi"hli"hted $han"es this fun$tion to allow the sour$e value to be modified by a differential value. Isin" the B( key hi"hli"hts the value under the word JdiffJJ. The ;ET and '/T keys ad@ust the value. The ran"e of !ossible values is 0 to N% 100. This value is the !er$enta"e redu$tion in servo travel one side or the other of $entre.
-. S)itchA ere you sele$t the swit$h that $ontrols the mix. 'f a swit$h is not sele$ted then the mix is ( by default. . ;arningA ere you $an sele$t an audible warnin" that will sound whenever a mix is turned on only works when a swit$h is defined3. >ou have an o!tion of 1, 2 or + bee!s. The warnin"s will sound in su$$ession so you $an hear them individually. 7. *ultpx multi!lex3A This value defines how the mix will affe$t the $hannel. &ddA This is the default value. Bith this value the mix is added to the !revious values in the same $hannel. *ultiplyA Ise this to multi!ly the !revious values in the same $hannel. ReplaceA This value is used in $on@un$tion with a swit$h. Bhen the swit$h is off the value is i"nored. Bhen the swit$h is on the value dis$ards the !revious values and !la$es its own value in the $hannel. 9. @elay @o)nA2pA Ise this to delay a!!li$ation of the mix. Isually used with a swit$h. Bhen the swit$h is turned ( or the mixer will wait the s!e$ified number of se$onds before $han"in" the value. 10. Slo) @o)nA2pA #low the rate of $han"e in the $hannel. Bhen not Fero these will determine the maximum s!eed with whi$h the value $an $han"e. The s!e$ified value is the number of se$onds to "o between &100 and 100.
Exa"ple of a *ix 6n ele$tri$ !owered "lider usually flies a lot faster when $limbin" than when "lidin". The extra s!eed "enerates more lift from the win"s, so the model wants to do a lar"e loo!. 6 little down elevator is reHuired to kee! the nose from liftin". Be need a mix to do this automati$ally. 6ssume the throttle is o!erated by a swit$h and therefore full !ower is a!!lied instantly. The /ear swit$h /E63 is bein" used to $ontrol the motor and is on 5, as shown belowA
Bhen the /E6 swit$h is fli!!ed to (, the si"nal to the E#5 via 5 "oes from %100 to N100 be$ause that?s how the I;; in!ut worksA the value is either &wei"ht or Nwei"ht. 'n order to have this !ower%u! $ommand affe$t not on ly the motor via the E#5 but a lso the elevator servo, we need the /E6 swit$h to $ontrol a mix in the Elevator servo $hannel 5+3. )ut we only want a small effe$t, say wei"ht. To $reate this mix navi"ate down the M':E !a"e to hi"hli"ht the Elevator $hannel and !ress ME(I. 'n the resultin" !o!%u! menu sele$t '(#ET. This $reates a new mix line. *ress ME(I. This takes you into the edit menu for the new line. 'n this menu, the first field asks for the sour$e of the mix. )e$ause we are usin" a swit$h and not a sti$k we want the sour$e to be I; ; or 6;. 6 swit$h has no intrinsi$ value unless a sour$e is assi"ned to it. Two !ossibilities are available for our !ur!oseA
I;; o!erates from %%100 to N 100. 6; o!erates from 0 to N100. or the elevator we $hoose 6; be$ause we only want Fero or ne"ative movement down3. The next field is the wei"ht. 'f we entered 100 the elevator out!ut would move from 0 with the swit$h to N 100 with it (. This is $learly too mu$h movement. 6s we need only a fine ad@ustment letJs try a wei"ht of . 6fter the test fli"ht this $an be in$reased or de$reased.
n the "round with motor dis$onne$ted, $he$k that the e levator $om!ensates in the $orre$t dire$tion down3. 'f not, invert the wei"ht to minus . i.e., @ ust hi"hli"ht the number and !ress both the '/T and ;ET keys simultaneously3. ;eave offset at the default Fero. Be don?t want to shift the !oint where the mix o!erates. (ext to edit is the swit$h field, where we sele$t /E6 to serve as the throttle swit$h. The Jmult!xJ field determines how mixes intera$t. )y default it is set to JaddJ, whi$h in our $ase is what we want to do, i.e., add this small elevator servo movement to whatever in!uts $ome from the elevator sti$k. Those are the standard mix elements. (ow for somethin" a little more so!histi$ated. 5onsider the behavior of the model when you a!!ly throttle. Even with the motor swit$hed to full throttle, the model will take time to a$$elerate and make the win"s "enerate mu$h extra lift. #o we need to delay the a!!li$ation of lift $om!ensation down elevator3, let?s say by one se$ond. #o we enter 1 into the Jdelay u!J field. JI!J refers to the in$reasin" in!ut to the motor, not to elevator movement. )ut the model will not a$hieve full s!eed until sometime later, say +. se$onds. To a !!ly the elevator $orre$tion "radually, therefore, we enter +. in the Jslow u!J field. The result is that when the throttle swit$h is a$tivated, the motor starts immediately, but the down elevator lift $om!ensation does not start for 1 se$ond, and then takes +. se$onds for full de!loyment. (ow $onsider what ha!!ens at the to! of the $limb. The throttle swit$h instantly $uts the !ower. The model will be "oin" fast so down elevator is still reHuired to !revent the model from !it$hin" u!wards. Be need to delay the return of the elevator to Fero by let?s say 2 se$onds to allow the model to slow down. Enter 2.0 in the Ldelay down? field. To avoid an abru!t $han"e in the air$raft?s attitude we $an also slow the e levator movement so it takes say 1 se$ond to return to neutral for the "lide. 'nsert 1.0 in the Jslow downJ field. ere?s what the mix s$reen looks like with these $han"esA
Be now have a mix line in the elevator $hannel, usin" the throttle swit$h as the sour$e, whi$h "ives down to $om!ensate for the extra lift " enerated under !ower. Be have a 1 se$ond delay before the elevator $om!ensation starts and a +. se$ond !eriod for it to rea$h full de!loyment. 6t throttle off, we have a delay of 2 se$onds while the model slows and then a 1 se$ond !eriod durin" whi$h the elevator resumes the neutral !osition for the "lid e. (ow we test the model by flyin" it to see if the settin"s are $orre$t and $han"e them as ne$essary to "ive a strai"ht $limb tra@e$tory and smooth transition to the "lide.
0imits (page 9*1") ;imits o!erate on the out!ut $hannels. 'n the ;'M'T# menu you $an set the $entre !oint subtrim3, set the limits both left and ri"ht3 and reverse the out!ut of the $hannel '(8 for invert3. Ise the ME(I key to a$tivate a field and then use the '/T or ;ET keys to in$rease or de$rease the value. Ise E:'T to finish editin".
Ea$h $hannel here $orres!onds to a $hannel in the re$eiver. The limits you set on a line a!!ly to that $hannel only. ere?s what you see in this s$reenA
+o&umns, suBTA #ubtrim first $olumn3 This sets the $hannelJs $entre !oint. The values of subT $an be %100 to 100. 'n$rements are 0.1, "ivin" fine resolution when settin" the $entre for ea$h $hannel. >ou $an also use the sti$k to set the $entre !oint. Bhile subT is hi"hli"hted hold the sti$k so the surfa$e is $entred. ;on" !ress ME(I and the !osition will be re$orded. *inA*axA ;imits se$ond and third $olumns3 These set the end!oints of the $hannel. 6n arrow indi$ates whi$h side is a$tiveG it $han"es as you move the sti$k or other in!ut. Ea$h limit $an ran"e between %100 and N100. The settin"s not only im!ose absolute limits on servo throw but ad@ust the "ain and thereby maintain !ro!ortional $ontrol throu"hout the servo movement. INA 'nvert. fourth $olumn3 This reverses the out!ut of the $hannel. 5hoi$es are L%%%L or L'(8?.
6t the very bottom of the ;'M'T# s$reen is the o!tionA 5*> T'M
trims will be $onverted into subtrim values, and the trim !ositions shown on the Lome? !a"es will all be returned to $entre. (ote that 'nstaTrim $ontrolled by the swit$h sele$ted as LTrim #wit$h?3 offers another a!!roa$h to trimmin" by $onvertin" sti$k !ositions to subtrim in fli"ht see !a"e 203. The two methods are $om!lementary.
+urves (page 7*1") 5urves tell your servo how to move i n res!onse to your sti$k movement. 'n Er#ky9x there are ei"ht %!oint $urves and ei"ht 9%!oint $urves.
6 !t $urve is a $urve you $an edit at !ositionsA %100, %0, 0, 0, 100. 6 9!t $urve is a $urve you $an edit at !ositionsA %100, %, %0, %2, 0, 2, 0, , 100. 5urves 581 to 587 are %!oint, while 58 9%1- are 9%!oint. ere is an exam!le of a %!oint $urveA
#$roll down to the $urve you wish to modify and !ress ME(I or '/T. This will brin" u! the s$reen for editin" the $urveA
>ou will see or 9 editable !oints with the values initially set a Fero. #$roll throu"h the !oints with I*B(. 5han"e the value with ;ET'/T. 'f you sele$t the C*E#ETD entry, !ressin" ;ET or '/T will !o!ulate the values with a linear $urve i.e., strai"ht line3 that is a "ood startin" !oint. ;ET "ives lines slo!in" u! from left to ri"ht. '/T "ives lines slo!in" the other way. *ressin" the key re!eatedly $han"es the slo!e. The individual !oints $an be edited by hi"hli"htin", !ressin" ME(I and then usin" the '/T;ET keys to ad@ust the value. *ress E:'T to navi"ate to the next !oint. The "ra!h will show the sha!e of the $urve as you edit the !oints.
+ustom Switc!es (page 6*1") These are lo"i$ swit$hes that are used to $om!are values and $ombine various $onditions. More !re$isely, they are a set of lo"i$al fun$tions that $an be used as swit$hes. There are 24 su$h $ustom swit$hes in Er#ky9x.
The first $olumn shows the Xo!erationX, listin" several arithmeti$, lo"i$al and differential o!erations. 'n arithmeti$al o!erations, v+ and v, re!resent variables, v re!resents a value, and ofs re!resents an offset i.e., a $onstant3. 8ariables $an be any sour$e, i.e., all those available in mixers, !lus the seven "lobal variables and all telemetry values. 'n lo"i$al o!erations the available sour$es are all the !hysi$al swit$hes an d the other $ustom swit$hes. ifferential fun$tions $om!are the $han"es in a variable sin$e it was last mat$hed to another value. n$e the defined $ondition is met, the val ue of the swit$h will be C(D.
Setting @p a +ustom Switc! irst we define the $ondition or o!eration. This $an beA an arithmeti$ fun$tion, or a lo"i$al $ondition, or an evaluation between two sour$es. 1. 'f youJve sele$ted a regular condition vZoffset, v[offset, \v\Zoffset or \v\[offset3, you need to s!e$ify a sour$e for the value and an offsetA
The sour$e $an be a sti$k, !ot, **M in!ut, out!ut $hannel or telemetry value. The offset $an be anywhere between %100 and N100. 't will be the test !oint for the $ondition. or exam!leA swit$h C(D only if throttle is above 0 T Z 03 2. 'f youJve sele$ted a logical condition 6(, , :, ;at$h, %lo!3, the $onditions o f the two sele$ted swit$hes are evaluated.
or exam!leA swit$h C(D if either '1 or '2 is ( '1 '23. +. 'f youJve sele$ted an evaluation CUUD, CZD, C[D, et$...3, you need to sele$t the two sour$es to be $om!ared.
or exam!leA #wit$h C(D only if 51 is less than I 81[82 51 I3 N/ Function 5ustom swit$hes also offer an extra &N@ $ondition. 'f this is sele$ted in the first $olumn, it must be ( for the $ustom swit$h to be$ome a$tive.
or exam!le to turn on the timer with the T swit$h and have the time announ$ed every +0 se$ondsA #2
Timeff
2
(
T
The last field T3 is the 6( $ondition. The timer only runs when the T swit$h is (. To finish the @ob, a voi$e swit$h needs to be set. More on that in the next se$tion.
0atc! and F&ip8F&op Functions Two s!e$ial fun$tions available in $ustom swit$hes are hel!ful when it is ne$essary to u se a brief in!ut to tri""er a !ersistent state.
The 0atch fun$tion allows a state or event to be $a!tured and held for as lon" as reHuired. or exam!le, the maximum altitude rea$hed by a "lider $an be retained until it is desired to measure a new maximum. Two swit$hes are used as in!ut to the ;at$h fun$tion. Turnin" ( the first sets the $ustom swit$h out!ut to (. Bhen the first swit$h is (, the se$ond swit$h has no effe$t, but when the first is , turnin" the se$ond will reset the $ustom swit$h to . or exam!le, the followin" $auses #B+ to turn ( when the T( swit$h is !ulled and off if the I swit$h is turned ( but only if the T( swit$h is released to 3. #+
;at$h
T(
I
The 1lip1lop D11lop fun$tion CremembersD the in!ut state and !rovides it as the out!ut. 6"ain, two swit$hes are used for in!ut, one as the tri""er and the other to ! rovide the CdataD. #o, for exam!le, if the momentary T( swit$h is used as the tri""er, !ullin" it ( sets the out!ut of the $ustom swit$h to the $urrent state of the se$ond in!ut. or exam!le, the followin" entry $auses the value of $ustom swit$h 4 to $han"e every time the trainer swit$h is !ulled, as the se$ond in!ut is defined as o!!osite to the $urrent state. #4
%lo! T(
S#B4
Saet' Switc!es Aand :oice Switc!es (page 5*1") This !a"e allows you to define safety swit$hes that will overwrite the existin" value for a !arti$ular $hannel. 't also in$ludes !rovision for audio warnin" swit$hes and voi$e swit$hes to announ$e events.
Saet' Switc!es There are four ty!es of safety swit$hA
S #afety3A e!la$es the existin" value for the $hannel when a swit$h is on. X #ti$ky #afety3A verwrites the existin" value for a !arti$ular $hannel. & 6udio3A *lays a sound or ha!ti$ vibration $hosen from a list. 8oi$e3A *lays a voi$e file. To use the basi$ Stype safety swit$h, su!!ose you want to set a sim!le safety swit$h to lo$k the Ele$troni$ #!eed 5ontrol E#53 of an ele$tri$ model at Fero throttle. 'f 5hannel 1 is throttle, and full low throttle is %100, then what you need isA 51
#
T
%100
This means that when the T swit$h is ( the safety swit$h ensures that value of 5hannel 1 is always %100, re"ardless of the !osition of the throttle $ontrol. Bhen the T swit$h is JJ the $hannel works normally ty!i$ally $ontrolled by the throttle sti$k3. 'n the s$reen below, the first $olumn is the $hannel to whi$h the safety swit$h a!!lies, L#? identifies this as a safety swit$h and T identifies the !hysi$al swit$h.
Barnin"S Bhen a safety swit$h is a$tive, the out!ut of the $hannel is re!la$ed by the defined safety swit$h value here %1003. The value of the $hannel, however, $ontinues to be determined by the throttle sti$k !osition and any other mixes that feed into it3. 'f you were to have a mix to feed in down elevator in !ro!ortion to the throttle settin", $uttin" off the motor at full throttle with the safety swit$h would leave the elevator still in its down !osition. The Xtype safety swit$h works exa$tly like the basi$ safety swit$h, ex$e!t that it is Csti$kyD. )efore the $hannel $an fun$tion normally a"ain, the throttle sti$k must be returned to full low %1003. 'n other words, the :%ty!e safety swit$h !erforms the same fun$tion as the #ti$ky T %5ut tem!late thou"h the latter works in a different way3. The &type safety swit$h for 6udio3 at 4 se$ond i ntervals !lays a sound or ha!ti$ vibration $hosen from the followin" listA Barn1, Barn2, 5hee!, in", #$ii, obot, 5hir!, Tada, #iren, 6lm5lk, atata, Ti$k, a!t$1, a!t$2, a!t$+. ere?s an exam!leA 52
6
6';
in"
This will $ause a double rin" sound every four se$onds whenever the 6ileron swit$h is (. The type safety swit$h will !lay a voi$e file every 4 se$onds when the swit$h is (.
or exam!leA 5-
8
'2
1+
This will say Cla!s se$ond !ositionD when the +%!osition swit$h is full down. or full $ontrol of voi$e announ$ements, use a 8oi$e #wit$h, as ex!lained below.
:oice Switc!es ollowin" the 24 #afety #wit$hes 51 to 243 are, by default, 7 8oi$e #wit$hes 8# 2 to +23 that tri""er the !layin" of a !arti$ular voi$e file and determine the $onditions and manner in whi$h it is !layed. 'f more than ei"ht 8oi$e #wit$hes are reHuired, #afety #wit$hes $an be $onverted into 8oi$e #wit$hes. 6t the to! of the s$reen the value of L(umber 8oi$e #w? $an be ad@usted to in$rease the default 7 u! to a maximum of all +2 swit$hes. The followin" !i$ture shows the lower !ortion of the list, where #afety #wit$hes "ive way to 8oi$e #wit$hes. 'f the number of voi$e #wit$hes were in$reased to, for exam!le, 10, then 52+ and 524 would be$ome 8#2+ and 8#24.
'n this s$reen, the first $olumn identifies the 8oi$e #wit$h number. The se$ond $olumn may $ontain any !hysi$al or virtual swit$h su$h as I, E;E, '0, '1.....#B1, #B2, #B+,...et$. The third $olumn may $ontain (,, )T, 1 se$, +0 se$, -0 se$, and 8aribl. ( means that when the swit$h is a$tivated, the item in the fourth $olumn will be announ$ed. L)T? is a means of a$tivatin" both ( and voi$e swit$hes from the one $ommand line !rovided the two voi$e files are $onse$utively numbered and are $onse$utively ( and files. or exam!le, the $ommandA 8#2-
/E6
)T -
means that when the /E6 swit$h is a$tivated the transmitter !lays file - L/ear I! ? and when the swit$h is dea$tivated it !lays file L/ear own?. The fourth $olumn may $ontain a voi$e file number, a telemetry value, Timer 1 or Timer 2 value, or the value of a /lobal 8ariable see !a"e 423.
$e&emetr' (page 13*1") 't is beyond the s$o!e of this manual to !rovide a detailed ex!lanation of the details of usin" any !arti$ular telemetry system, but the followin" !rovides an introdu$tion to the b asi$ r#ky a!!roa$h
usin" analo" in!uts. or more detail on this and the di"ital a!!roa$h bein" used in$reasin"ly, "o toA htt!Awww.efli"htwiki.$omefli"htwikiindex.!h!KtitleUr#kyPTelemetry. Ersky9x also su!!orts the Winged Shadow How Hi u nit and will a$$e!t in!ut from #M telemetry when available.
The first item on the !a"e i s LIsr*roto?, where you sele$t between B#hi Winged Shadow How Hi 3, rub FrSky Te%e!etry Hu(3 and #Mx )S*+ or )S*X Te%e!etry 3. n the same line you $an sele$t either Metri$ or 'm!erial units. 61 and 62 on this s$reen refer to the two analo" in!uts available on r#ky %series re$eivers. These in!uts $an a$$e!t a maximum of +.+v. To measure hi"her volta"es, therefore, a volta"e divider $onsistin" of a !air of resistors must be u sed. or exam!le, a divider with 4A1 ratio will measure volta"es u! to 1+.2v 4 x +.+v3. The 61 in!ut is normally used to measure re$eiver volta"e. 6ll of the r#ky %series and :%series re$eivers do this by $onne$tin" the 61 in !ut by way of a built%in 4A1 divider. The 62 !ort does not !rovide an internal volta"e divider. 5onseHuently, to measure volta"es above +.+v, an external divider must be used as a volta"e sensor. or exam!le, to measure the volta"e of a 4%$ell ;i*o battery maximum 1-.7v fully $har"ed3, a -A1 divider $an be usedG this will a$$e!t volta"es u! to - x +.+v U 19.7v. Bith su$h a divider, 1-.7v will be seen as 1-.7v- U 2.7v as in!ut to the re$eiver telemetry. (ote that the r#ky :7 re$eivers only have onl y one analo" in!ut, 61, whi$h i s $onne$ted internally to measure the volta"e of the re$eiver !ower su!!ly. 6 $onverter is available to e nable analo" in!uts 623 to the di"ital #.*ort of the :7. The :- re$eivers have an external 61 !ort like that on most %series re$eivers. Bithin the telemetry $ir$uits of the re$eiver, the value of the analo" in!ut between 0 a nd +.+v3 is $onverted to a number between 0 and 2. This is en$oded di"itally and sent to the transmitter, where it is $onverted ba$k to a number re!resentin" the volta"e to do this the transmitter must be "iven the divider ratio3. 'n the s$reen shot above, the numbers immediately to the ri"ht of C61 $hannelD and C62 $ha nnelD re!resent the measurement Range, whi$h de!ends on the divider ratio of the volta"e sensor. or the 4A1 ratio used to measure re$eiver volta"e, this value should be set to 1+.2 i.e., +.+ x 43. or a -A1 ratio sensor, the ran"e would be 19.7. The number in the ri"ht hand $olumn .2 in the !i$ture3 re!resents the final Tele"etry read%out. 'f it does not a"ree exa$tly with the a$tual value measured with a voltmeter, the ran"e value $an be ad@usted sli"htly. The usual $ause of i na$$ura$ies in the readin" is the toleran$e of the resistors used in the volta"e divider.
The lower$ase Lv? followin" the an"e value re!resents one of four scaling factors used in $onvertin" the telemetry number 0%23 into a suitable read%out value. The Lv? settin" $orres!onds to a read%out ran"e of 0 to 2. volts, while a L8? settin" "ives 0 to 1 volts at redu$ed resolution3. #et to L6? for $urrent measurement, the telemetry number is $onverted to a ran"e of 0 to - 6m!s. inally, the L%L settin" dis!lays the un$onverted telemetry number 0%23, whi$h $an be used for !arameters other than volta"e or $urrent, su$h as tem!erature or *M, de!endin" on the sensor. The 62 read%out works in the same fashion. The an"e settin" will de!end on the sensor bein" used. or the )8#%01 volta"e sensor, usin" the de fault ratio of 1A-, the ran"e settin" would be 19.7v. uel level, /*# !osition, 6ltitude, 5urrent and *M may also be measured usin" r#ky sensors whi$h !lu" into a hub. The hub !rodu$es a stream of si"nal out!uts suitable for the serial !ort on some %series re$eivers. Bhen usin" third !arty sensors, the s$alin" fa$tor of the volta"e divider de!ends on the ty!e of sensor installed and the ma"nitude of the values bein" measured. efer to the instru$tions whi$h $ome with the sensor for details on h ow to install and $alibrate it. X;owX and X5riti$alX alarms for 61 and 62 wil l tri""er audio warnin"s bee!s3 when the measured value "oes below the defined le vels. These are defined as >ellow, ran"e and ed. to differentiate amon" the various bee! !atterns. 8oi$e warnin"s $an be enabled for 61 and 62 values if a $ustom swit$h is used to dete$t the alarm $ondition and a voi$e swit$h is used to !lay an a!!ro!riate tra$k.
#imilarly audio alarms will be tri""ered at Cwarnin"D and C$riti$alD levels if the re$eived si"nal stren"th indi$ation ##'3 or the re$eiver volta"e falls below the set levels. These settin"s, at the bottom of the Telemetry !a"e, are shown above.
$e&emetr' 2 (page 11*1") This !a"e $ontinues the telemetry settin"sA
RSSI ,%ar!sA Tx##'alrm and x##'alrm refer to the levels at whi$h warnin" bee!s are !rodu$ed dire$tly by the r#ky module see !a"e 103. The numbers here are read from the transmitter module. 'f you have modified a r#ky VT module in a$$ordan$e with the instru$tions in the manual Introduction to the Hardware- these numbers may not a!!ear. They are normally set to Fero turned off3, as shown above, to avoid $onfli$t with the ##' alarms set on the Telemetry !a"e,. !,h ,%ar!. This warns when a set amount of battery $a!a$ity has been used. 6 $urrent sensor must be used to !rovide the ne$essary in!ut. Th e sound or ha!ti$ buFF used for the warnin" $an be sele$ted from the list !rovided. This value is used for the $al$ulation of the !er$enta"e $a!a$ity used and $an be dis!layed on the $ustom telemetry dis!lay. u! /%adesA (umber of blades for the *M sensor. ,%t,%ar! is the altitude alarm. 6ltitude is measured by a barometri$ devi$e in the Winged Shadow How Hi u nit. 6 freHuently used settin" is 122 metres whi$h will dis!lay as 400 feet if L'm!erial? is sele$ted on the !revious telemetry !a"e3. $o%tage Thresh Threshold3A 6llows the alarm threshold to be $hosen. &ps,%t*ain is the /lobal *ositionin" #ystem /*#3 determination of altitude and may be turned ( or . 'f (, the barometri$ altitude readin" is re!la$ed by /*# altitude.
Tele"etry , Custo" @isplay #hort !resses of the B( key will take you to the $ustom telemetry dis!lay s$reen. I! to six telemetry variables $an be di s!layed on a sin"le s$reen in the order you sele$t. i"hli"ht the blank line and usin" the ;ET or '/T keys sele$t from the o!tions available. >ou must have the $orres!ondin" telemetry sensors and hub installed in your model. )T )luetooth3 . Telemetry may be or (.
r#ky *ort refers to the !ort used to $onne$t the r#ky telemetry hub to the re$eiver. 't may be either !ort 1 or !ort 2 Ea$h field in the $ustom dis!lay $an be one of the various availab le !arameters as followsA
T!r0-+ A )oth timers in the transmitter RSSI A ;owest of the ##' values from the radio and re$eiver in 7 mode ,0- ,+ A 6nalo" !orts on re$eivers 6ltA )arometri$ altitude sensor Rp!A En"ine s!eed, number of blades is ad@usted in the settin"s above Fue% A uel level, m6h $onsumed1 The dis!lay is in !er$enta"e used. Bhen the r#ky fuel $a!a$ity sensor is used the $ustom telemetry s$reen dis!lays 100, , 0, 2, and 0 !er$ent. 'f a $urrent sour$e is sele$ted, the dis!lay is in !er$enta"e of the value set on
the TE;EMET> 2 s$reen as the m6h 6larm. The $a!a$ity $al$ulation is made in ste!s of -4 m6h. The dis!lay will $han"e a$$ordin"ly. T0- T+ A Tem!erature sensors 1 and 2 Spd- )ist- &,%t A /*# s!eed, distan$e from startin" !oint and /*# altitude "e%% A ;owest $ell on ;8#%01 "e%sA #um of all $ells on ;8#%01 $'asA 6#%40100 volta"e measurement "urr A 5urrent, sour$e $onfi"ured in the settin"s above 6# or analo"3 "nspA m6h $onsumed in total needs $urrent sour$e $onfi"ured $orre$tly3 Powr A *ower, volta"e and $urrent sour$es $onfi"ured above ,ccX- 2- 3. 6$$eleration values from T6#%01 Hdg. /*# headin" $spd. 8erti$al s!eed either $al$ulated by the radio or re!orted by the sensor, de!endin" on the sensor ty!e $hosen above3 'n the $ustom telemetry dis!lay, when !ressin" ;(/ ME(IA
'f 6;T is dis!layed, set to 0. 'f 61 or 62 is dis!layed, and is measurin" $urrent, use the !resent value as an offset, thus settin" the dis!layed value to Fero. 'f a #56;E is dis!layed see !a"e 4+3 and its sour$e is 6;T, the 6;T value is used as an offset to set the 6;T value dis!layed to Fero. The followin" is an exam!le of a $ustom telemetry !a"eA
$emp&ates (page 12*1") The tem!lates are Xstartin" !ointsX for model setu!s. Bhen sele$ted with ME(I ;(/ they will either add to or re!la$e the $urrent modelJs mixes and settin"s with standard ones for a !arti$ular usa"e s$enario. They are best a!!lied to a newly $reated model. They $an be tweaked to a$hieve the desired result, or sim!ly used to " et an idea of whatJs reHuired for the !arti$ular model ty!e.
6t the bottom of the list most Hui$kly rea$hed by !ressin" I* from the first item in the list3 we find the o!tion to $lear all mixes in the Mixer s$reen.
31 Simp&e #8+H 5reates a basi$ four $hannel fixed win" model with 100 wei"htin" on ea$h of the $hannels. 5hannel order is determined by the settin" in adio #etu! !a"e 111. (ote that a!!lyin" this tem!late overwrites anythin" already set for $hannels 1 to 4 .
32 $8+ut 'nserts a mix line for the throttle $hannel that re!la$es throttle sti$k in!ut by %100 when the T.5IT swit$h is (. Bhen the swit$h is , the throttle sti$k is immediately a$tive.
3" Stick' $8+ut e!la$es throttle sti$k in!ut by %100 when the T.5IT swit$h is (. Bhen the swit$h is moved to , the throttle sti$k remains ina$tive until moved to the throttle $losed !osition. The Csti$kyD me$hanism is lo$ated on 514, whi$h is not sent to the re$eiver.3
3# :8$ai& 'nserts mixes for both rudder and elevator in!ut into the two $hannels used for the tail servos. Bhen the elevator sti$k is moved u!, both surfa$es move u!. Bhen the rudder sti$k is moved ri"ht, the left surfa$e "oes u!ri"ht and the ri"ht surfa$e "oes downri"ht. (ote that this mix may overwrite existin" mixes.
3% =&evon*/e&ta #imilar to 8%Tail but inserts mixes for aileron and elevator into the $hannels that $ontrol the elevon servos. Bhen the elevator sti$k is moved u!, both surfa$es move u!. Bhen the aileron sti$k is moved ri"ht, the left surfa$e "oes down and the ri"ht surfa$e "oes u!. (ote that this mix may overwrite existin" mixes.
39 He&i Setup #ets u! basi$ 55*M mixes for a $olle$tive !it$h flybar%ty!e heli$o!ter with the $ommon 120Y swash arran"ement. The three swash servo out!ut $hannels are 5>51, 5>52, 5>5+. l i"ht Modes are $ontrolled by the +%!osition swit$h. 5urves $1, $2, $+ are used for throttle on 5, while $4, $, $are used for !it$h on 5 11 in this $ase a CvirtualD $hannel not sent to the re$eiver3. (ote that this mix may overwrite existin" mixes.
37 'ro Setup 5reates ad@ustable out!uts on 5- $ontrolled by !otentiometer *2 and the /ear swit$h to set the "yro "ain for a heli$o!ter.
36 Servo $est Ises mixes on $hannel 1- to "enerate an out!ut on $hannel 1 that slowly varies from %100 to N100 and ba$k a"ain. To a!!ly this out!ut to another $hannel, set u! a mix with 51 as the sour$e.
35 ange $est /enerates a varyin" out!ut on $hannel 24 that $an be used to drive servos on other $hannels and thus allow ran"e testin" with the transmitter in a fixed lo$ation and the model $arried to a distan$e. Maximum ran"e is indi$ated by servos $easin" to $y$le smoothly. (oteA The built%in tem!lates $annot be edited o r re!la$ed. 6s a startin" !oint for new models, you may wish to $reate "eneri$ models and store them either on the $om!uter usin" Ee!skye3, or in unused model memories of the transmitter, or on the # $ard.. >ou $an then sim!ly $o!y, rename and ada!t a suitable model as reHuired.
&o4a& :aria4&es (page 1"*1") /lobal variables are values that $an be substituted for the usual number on an y Bei"ht, ffset, ifferential or Ex!o settin". Their main use is to "rou! the ad@ustment of several !arameters that should have the same value. or exam!le, a ileron differential on a "lider with four surfa$es res!ondin" to the aileron fun$tion. Bhen tryin" to find the sweet s!ot for the differential value, instead of havin" to se!arately edit the differential value in the mixers, all four $an be set to use a "lobal variable i.e., /81 $an be sele$ted by a ;(/ !ress of the ME(I key on the ifferential field3. Then ad@ustin" /81 on this !a"e is all it takes for all four differentials to be u!dated simultaneously.
or exam!le, to use a "lobal variable in the E:* menu, hi"hli"ht the Ex!o or value and then lon" !ress ME(I key. >ou will then have the ability to sele$t /81 throu"h to /8. Then in the /;)6; 86# s$reen above3 define the /8x, whi$h you $hose to be any of the !otentiometers, *1, *2 or *+. /o ba$k to the E:* s$reen. 6s you ad@ust the !otentiometer, the value of the Ex!o $han"es and the sha!e of the "ra!h $han"es.
Sca&ers 6 s$aler is a fun$tion that takes an in!ut value and a!!lies an offset and s$alin" multi!li$ation or division by a fixed ratio3. The result may be used forA dis!lay on the $ustom telemetry s$reen, voi$e out!ut, as the sour$e for a mix, or as a $om!arison value for a $ustom swit$h. or telemetry dis!lay !ur!oses ea$h s$aler may be "iven a four $hara$ter name. or both telemetry dis!lay and voi$e usa"e, the units may be sele$ted, to"ether with the number of im!li$it de$imal !la$es. The !arameters for a s$aler areA #our$eA #ti$k!ot value, trainer in!ut, $hannel out!ut or telemetry value. ffsetA %12 to N12. Multi!lierA 1 to 2-. ivisorA 1 to 2-. InitA #ele$t from eet, 8olts, e"P5, e"P, m6h, 6m!s, Metre, Batts. (e"ateA 5han"e the si"n of the result *re$isionA (umber of de$imal !la$es 0, 1 or 2. ffset 6tA efine whether the offset is a!!lied irst, or after the multi!lier and divisor. (ameA four%$hara$ter, user%edited name. (ote that the out!ut of a s$aler $an be used as an in!ut sour$e3 for the vario sensor telemetry value or for a "lobal variable /863.
Conclusion There?s a lot to learn about Ersky9x if you want to "et the most out of your 9: *ro. 't may all look Huite intimidatin", but most of it you don?t need initially or !erha!s ever3 and $an learn as you "o alon". *ro"rammin" a sim!le model is not very diffi$ult and you $an leave the more $om!lex $a!abilities of the firmware until you really need them. )ut do visit the do$umentation from time to time to remind yourself of the amaFin" $a!abilities o f this !ro"rammin" system. >ou will find somethin" new and useful every time. 'nitially, !eo!le who have worked with other transmitters may find this one very different. )ut most !eo!le find that on$e they C"etD the Ersky9x a!!roa$h, !ro"rammin" models is often Hui$ker and easier than with the a!!roa$h used by traditional transmitters. 6nd $ertainly when they "et to more $om!lex models, the !ower and o!enness of the Ersky9x a!!roa$h makes thin"s easy that are hard or im!ossible on many traditional transmitters. Be ho!e this manual will hel! you understand Ersky9x and that !ro"rammin" the firmware will be$ome a ma@or !art of your en@oyment of our hobby. ne last thou"ht. o ex!lore Eepskye on your $om!uter. (ot only does this !ro"ram offer an easy way to $reate new models and fine tune existin" ones, but it will hel! you u!date the firmware and ba$ku! your models to the $om!uter.
Note on 1ir")are ersions This manual is based on version r204 of the Ersky9x firmware, issued in May 2014 and installed in !rodu$tion models of the 9: *ro with serial number +001 or hi"her. adios with serial number 1%+000 $ome eHui!!ed with version r202. The only si"nifi$ant differen$e is that r202 does not in$lude the ;at$h and li!%lo! fun$tions, do$umented in this manual on !a"e +4, or the default of e i"ht voi$e swit$hes in the #afety #wit$hes menu see !a"e +-3. To $he$k your version number, see !a"e 14 of this manual. 'nstru$tions for flashin" an u!date $an be found in the manual 5ommuni$atin" with a 5om!uter. 'f you use the ee!skye !ro"ram on your $om!uter, it $an automati$ally $he$k for u!dates and download the latest file ready for flashin". The latest firmware file $an be obtained fromA htt!sA$ode."oo"le.$om!ersky9xsour$ebrowsetrunkersky9xrProm.bin
