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Servo set up with CLI.

If possible, do this initial setup before installing servos to the frame. This makes measuring servo arm deflection easier.

• Use set servo_pwm_rate to set the update frequency for all servos. Modern digital servos typically use 200-333Hz.

• Configure initial values for each servo type: 1520us or 760us.

  Servo #1 is 1520us cyclis servo: servo 1 1520 -500 500 500 0 0

  Servo #4 is 760us tail servo: servo 4 760 -250 250 250 0 0

• Attach servo arms

• Check that servos are connected correctly (movement & correct ports)

  Set servo #1 position to +50%: servo override 1 500

  Set servo #1 position to -50%: servo override 1 -500

• Adjust servo center to level the arms

  Force all servos to center: servo override 0

  E.g. servo #1 arm is level at 1450us: servo 1 1450 -500 500 500 0 0

• OPTIONAL: Check correct scale, 100% should give 60deg deflection, or 50% should give 30deg.

  Set servo #1 to 100%: servo override 1 1000

  Measure deflection - adjust multiplier if needed:

  Set scale to 490: servo 1 1450 -500 500 490 0 0

• Install servos to the frame

• Check correct direction - reverse if needed

  Set servo position to +50%: servo override 1 500

  Reverse servo #1: servo reverse 1

• Check free movement range - adjust limits

  Set limits to +/-400: servo 1 1450 -400 400 -490 0 0

• OPTIONAL: use servo trim to level the swashplate

  Do this only if you don't have adjustable servo to swash linkages

  Set servo #1 trim to -30: servo trim 1 -30

• Save new settings

NOTE! Servo limits are for avoiding mechanical issues!

DO NOT use servo limits for adjusting maximum roll/pitch/collective. Use mixer min/max for this.

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