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Main Rotor Direction Looking from the top of the helicopter this is the rotor direction. The majority of helicopters this will be set to Clockwise.

Swashplate type Assign as per the swashplate type for your helicopter.

• Angle - This is the angle between the elevator and each of the aileron servos. The options currently in the configurator are 120^o , 135^o and 140^o. This is dependent on the helicopters design.

• Elevator - Some helicopters the elevator servo (inline with tail and nose) is at the front of the heli, while others are at the rear. Choose the one applicable to your helicopter.

• 90deg Fixed Pitch - For fixed pitch helicopters with Pitch and Roll servos at 90^o

• 45deg Fixed Pitch - For fixed pitch helicopters with Pitch and Roll servos at 45^o

• Passthrough - Passthrough can be used where no mixing is required. The individual stabilised controls (SR, SP, SC, SY) are just passed through to the servos (S1, S2, S3, S4). This option could be used for SITL simulations or where mechanical or or other external electronic mixing is used.

• Custom mixing - This option will be visible after if a custom mix has been configured directly via the CLI. This option is extremely flexible and can be used for a wide range of different configurations. More details for this feature are available at Mixer Rules for Different Swashplate Types

Swashring The swashring limits the maximum angle the swashplate can reach in order to prevent binding. Pitch and Roll axis should be configured individually (via the Mixer input and scaling) to the desired pitch angles (without binding). If however, both the maximum Pitch and Roll are commanded at the same time, the Swashplate will have to deflect to a larger angle than either axis individually. This may result in the swashplate binding on the main shaft.

Increasing the value of Swashring will limit the maximum Swashplate angle when both Pitch and Roll are maximum.

Tail Rotor type

• Motorised - Motorised tail
• Variable - This is a variable pitch tail controlled by a servo (Servo 4)
• Bi-directional - Motorised tail operating in bi-directional mode. This is still under development

Motor idle throttle This is the minimum signal sent to the tail motor. This should be set just high enough that the tail motor does not stop even when commanded at minimum

Mixer Input The mixer input min/max are for setting the range for the flight controls, i.e. maximum allowed roll/pitch/yaw/collective.

NOTE! THIS IS THE RIGHT PLACE to limit your controls!

The mixer input rate is for setting the scaling factors to match the mechanical head setup. As every rotor head is different, different scaling values are needed for each setup. For example, when the flight controller requests 10deg collective, the scaling must be adjusted so that the blade angle actually is 10deg. See Mixer Calibration or via CLI manual Mixer Calibration.

• Minimum - Set the minimum angle you wish the blade to reach when commanded.
• Maximum - Set the maximum angle you wish the blade to reach when commanded.
• Scaling - Increase or decrease the scaling value until the helicopter blades match the commanded angle (i.e. at minimum setting of -12 the helicopter blades are physically at -12 degrees pitch).

For helicopter setup a mixer override function is provided. This enables the swashplate and servos to be configured to the correct servo range. This is required for testing and mixer calibration.

• From the System tab select Mixer Override.

• On the Mixer tab there is now an additional mixer override section
• Close the channel to override by the Enable switch then move the slider to the desired position.

For calibrating the mixer scaling, please follow the steps below.

1. Complete servo set up before doing the mixer set up.

2. Turn on mixer input override as shown above. This will force all inputs to a constant value.

3. Set override on the axis to be calibrated (e.g. collective in the following example). Move the slider to the maximum angle configured in the mixer input.

4. Measure the blade collective angle.

5. Adjust the scaling rate until blade angle is the same angle as commanded in step 3.

6. Repeat for all stabilized control axis

   • ROLL (SR)
   • PITCH (SP)
   • COLLECTIVE (SC)
   • YAW (SY)

7. Save / store new settings

NOTE! For a motorised tail the Yaw axis is not valid and does not need to be configured. For a variable pitch tail the Yaw axis is rather difficult to measure, so a best guess is usually enough and it's not necessary to get it spot on, unlike the other axis.