@ -28,7 +28,6 @@ The following adjustments can be made in flight as well as on the ground.
* Throttle Expo
* Pitch, Roll, Yaw Rates
* Pitch, Roll, Yaw PIDs
* Rate profile
* Manual rates
* FW cruise_throttle, pitch2thr, min_throttle_down_pitch_angle
* Board alignment
@ -62,7 +61,7 @@ Hint: With OpenTX transmitters you can combine two momentary OFF-ON switches to
The CLI command `adjrange` is used to configure adjustment ranges.
1 2 adjustment ranges can be defined.
20 adjustment ranges can be defined.
4 adjustments can be made at the same time, each simultaneous adjustment requires an adjustment slot.
Show the current ranges using:
@ -77,12 +76,12 @@ Configure a range using:
| Argument | Value | Meaning |
| -------- | ----- |-------- |
| Index | 0 - 11 | Select the adjustment range to configure |
| Index | 0 - 19 | Select the adjustment range to configure |
| Slot | 0 - 3 | Select the adjustment slot to use |
| Range Channel | 0 based index, AUX1 = 0, AUX2 = 1 | The AUX channel to use to select an adjustment for a switch/pot |
| Range Start | 900 - 2100. Steps of 25, e.g. 900, 925, 950... | Start of range |
| Range End | 900 - 2100 | End of range |
| Adjustment function | 0 - 11 | See Adjustment function table |
| Adjustment function | 0 - 56 | See Adjustment function table |
| Adjustment channel | 0 based index, AUX1 = 0, AUX2 = 1 | The channel that is controlled by a 3 Position switch/Pot |
Range Start/End values should match the values sent by your receiver.
@ -100,8 +99,8 @@ this reason ensure that you define enough ranges to cover the range channel's us
### Adjustment function
| Value | Adjustment | Notes |
| ----- | ---------- |------ |
| Value | Adjustment |
| ----- | ---------- |
| 0 | None |
| 1 | RC RATE |
| 2 | RC_EXPO |
@ -111,47 +110,54 @@ this reason ensure that you define enough ranges to cover the range channel's us
| 6 | PITCH_ROLL_P |
| 7 | PITCH_ROLL_I |
| 8 | PITCH_ROLL_D |
| 9 | YAW_P |
| 10 | YAW_I |
| 11 | YAW_D_FF |
| 12 | RATE_PROFILE | Switch between 3 rate profiles using a 3 position switch. |
| 13 | PITCH_RATE |
| 14 | ROLL_RATE |
| 15 | PITCH_P |
| 16 | PITCH_I |
| 17 | PITCH_D_FF |
| 18 | ROLL_P |
| 19 | ROLL_I |
| 20 | ROLL_D_FF |
| 21 | RC_YAW_EXPO |
| 22 | MANUAL_RC_EXPO |
| 23 | MANUAL_RC_YAW_EXPO |
| 24 | MANUAL_PITCH_ROLL_RATE |
| 25 | MANUAL_ROLL_RATE |
| 26 | MANUAL_PITCH_RATE |
| 27 | MANUAL_YAW_RATE |
| 28 | NAV_FW_CRUISE_THROTTLE |
| 29 | NAV_FW_PITCH2THR |
| 30 | ROLL_BOARD_ALIGNMENT |
| 31 | PITCH_BOARD_ALIGNMENT |
| 32 | LEVEL_P |
| 33 | LEVEL_I |
| 34 | LEVEL_D |
| 35 | POS_XY_P |
| 36 | POS_XY_I |
| 37 | POS_XY_D |
| 38 | POS_Z_P |
| 39 | POS_Z_I |
| 40 | POS_Z_D |
| 41 | HEADING_P |
| 42 | VEL_XY_P |
| 43 | VEL_XY_I |
| 44 | VEL_XY_D |
| 45 | VEL_Z_P |
| 46 | VEL_Z_I |
| 47 | VEL_Z_D |
| 48 | FW_MIN_THROTTLE_DOWN_PITCH_ANGLE |
| 49 | ADJUSTMENT_VTX_POWER_LEVEL |
| 9 | PITCH_ROLL_FF |
| 10 | PITCH_P |
| 11 | PITCH_I |
| 12 | PITCH_D |
| 13 | PITCH_FF |
| 14 | ROLL_P |
| 15 | ROLL_I |
| 16 | ROLL_D |
| 17 | ROL_FF |
| 18 | YAW_P |
| 19 | YAW_I |
| 20 | YAW_D |
| 21 | YAW_FF
| 22 | Unused |
| 23 | PITCH_RATE |
| 24 | ROLL_RATE |
| 25 | RC_YAW_EXPO |
| 26 | MANUAL_RC_EXPO |
| 27 | MANUAL_RC_YAW_EXPO |
| 28 | MANUAL_PITCH_ROLL_RATE |
| 29 | MANUAL_ROLL_RATE |
| 30 | MANUAL_PITCH_RATE |
| 31 | MANUAL_YAW_RATE |
| 32 | NAV_FW_CRUISE_THROTTLE |
| 33 | NAV_FW_PITCH2THR |
| 34 | ROLL_BOARD_ALIGNMENT |
| 35 | PITCH_BOARD_ALIGNMENT |
| 36 | LEVEL_P |
| 37 | LEVEL_I |
| 38 | LEVEL_D |
| 39 | POS_XY_P |
| 40 | POS_XY_I |
| 41 | POS_XY_D |
| 42 | POS_Z_P |
| 43 | POS_Z_I |
| 44 | POS_Z_D |
| 45 | HEADING_P |
| 46 | VEL_XY_P |
| 47 | VEL_XY_I |
| 48 | VEL_XY_D |
| 49 | VEL_Z_P |
| 50 | VEL_Z_I |
| 51 | VEL_Z_D |
| 52 | FW_MIN_THROTTLE_DOWN_PITCH_ANGLE |
| 53 | ADJUSTMENT_VTX_POWER_LEVEL |
| 54 | TPA |
| 55 | TPA_BREAKPOINT |
| 56 | NAV_FW_CONTROL_SMOOTHNESS |
## Examples
@ -193,9 +199,9 @@ range.
adjrange 3 2 1 900 1150 6 3
adjrange 4 2 1 1150 1300 7 3
adjrange 5 2 1 1300 1500 8 3
adjrange 6 2 1 1500 1700 9 3
adjrange 7 2 1 1700 1850 10 3
adjrange 8 2 1 1850 2100 11 3
adjrange 6 2 1 1500 1700 18 3
adjrange 7 2 1 1700 1850 19 3
adjrange 8 2 1 1850 2100 20 3
```
explained:
@ -210,38 +216,19 @@ explained:
(1) in the range 1300-1500 then use adjustment Pitch/Roll D (8) when aux 4
(3) is in the appropriate position.
* configure adjrange 6 to use adjustment slot 3 (2) so that when aux2
(1) in the range 1500-1700 then use adjustment Yaw P (9 ) when aux 4
(1) in the range 1500-1700 then use adjustment Yaw P (18 ) when aux 4
(3) is in the appropriate position.
* configure adjrange 7 to use adjustment slot 3 (2) so that when aux2
(1) in the range 1700-1850 then use adjustment Yaw I (10 ) when aux 4
(1) in the range 1700-1850 then use adjustment Yaw I (19 ) when aux 4
(3) is in the appropriate position.
* configure adjrange 8 to use adjustment slot 3 (2) so that when aux2
(1) in the range 1850-2100 then use adjustment Yaw D (11 ) when aux 4
(1) in the range 1850-2100 then use adjustment Yaw D (20 ) when aux 4
(3) is in the appropriate position.
### Example 4 - Use a single 3 position switch to change between 3 different rate profiles
adjrange 11 3 3 900 2100 12 3
explained:
* configure adjrange 11 to use adjustment slot 4 (3) so that when aux4
(3) in the range 900-2100 then use adjustment Rate Profile (12) when aux 4
(3) is in the appropriate position.
When the switch is low, rate profile 0 is selcted.
When the switch is medium, rate profile 1 is selcted.
When the switch is high, rate profile 2 is selcted.
### Configurator examples
The following 5 images show valid configurations. In all cases the entire usable range for the Range Channel is used.
---
---
@ -263,4 +250,4 @@ The following examples shows __incorrect__ configurations - the entire usable ra
In the following example, the incorrect configuraton (above) has been corrected by adding a range that makes 'No changes'.
Darren Lines
3 years ago
GitHub