Table of contents
- Before you start
- Beginner's Guide
- Downloads
- Configuration
- Compatibility
- Telemetry
- WHOOP Section
- Troubleshooting
- SilverHardware
- Go Brushless
- Tuning a quad
- Quadcopter mods
- Merchandise
- Links
This is an old revision of the document!
This info is for flying with the stock transmitter.
How to switch between the level and the acro flight modes:
There are 2 ways you can do this, you can use “gestures” or you can use the trim switches on the stock tx. Gestures is the default setup in the firmware, so no changes to the firmware are needed. To use a trim switch some changes need to be made in config.h, scroll down this page for instructions on how to set up a trim switch to change the flight mode.
Gestures is a series of stick movements, left/left/down and right/right/down, that switch a virtual channel AUX 1 in the firmware. This AUX 1 channel can be used to switch from level to acro mode and back again.
There are some conditions to using gestures:
Config.h settings for gestures
The default settings in the firmware are with gestures enabled to switch between acro and level modes, so no changes are needed. This is the line where AUX 1 is enabled as the level/acro switch, and the default firmware setting looks like this:
// level / acro mode switch #define LEVELMODE CH_AUX1
The code below determines whether AUX 1 is on or off at powerup. For example, if your quad powers up in acro mode, and you want it to power up in level mode, then comment or uncomment this line:
// aux1 channel starts on if this is defined, otherwise off. #define AUX1_START_ON
Note for H8 mini blue board firmware - this firmware has a gestures1 or gestures2 option. For our purposes here, we want the gestures2 option selected, which is the default setting and looks like this: (gestures1 will do the accel cal only)
// Gestures enable ( gestures 1 = acc only) //#define GESTURES1_ENABLE #define GESTURES2_ENABLE
Using a trim switch to switch between the level and the acro flight modes
Before reading any further, this feature is not available in H8 mini blue code or CG023 code at this point in time (Oct2016). It is available only in the H8 mini green and H101 firmwares.
You can set up a trim switch, either the roll trim switch or the pitch trim switch, to switch between level and acro. This will enable switching on the ground or during flight, but the main advantage is that it is more convenient than using gestures. Here's an example of how to set the roll trim switch to change the flight mode:
In config.h, change this line from this:
// level / acro mode switch \\ #define LEVELMODE CH_AUX1
to this:
// level / acro mode switch \\ #define LEVELMODE CH_RLL_TRIM
Also make sure the line “#define USE_STOCK_TX” is uncommented or it won't work:
// comment out if not using ( disables trim as channels, will still work with stock tx except that feature ) \\ // devo/tx module incompatible \\ #define USE_STOCK_TX
Then rebuild the code (“Rebuild Target” in Keil) and reflash the quad.
You can use any trim switch you like, just select it from this list in config.h:
// CH_PIT_TRIM - 6 - Pitch trims \\ // CH_RLL_TRIM - 7 - Roll trims \\ // CH_THR_TRIM - 8 - Throttle trims \\ // CH_YAW_TRIM - 9 - Yaw trims
Also, you can assign the rates to another trim switch, for exxample, the pitch trim switch could be set up like this:
// rates / expert mode \\ #define RATES CH_PIT_TRIM