Modes - rotorflight/rotorflight GitHub Wiki

Rotorflight Modes

The mode selector tab enables several modes and functions to be enabled or disabled via the TX. This is done by configuring a channel on the TX, such as a switch, that you wish to use for operating the mode. From the Modes tab, select the required Mode you wish to assign and click Add Range, then select the Aux channel matching your TX switch and set a range where you wish the mode to be active. If the mode you wish to use is not visible deselect "Hide unused modes".

Modes

  • In the example below Aux1 is assigned to a 3 position switch on the TX.
  • Horizon mode has been assigned to the Aux1 Range when the middle position of Aux1 switch.
  • Angle mode is assigned to Aux1 at full up position of the Aux1 switch.
  • Nothing is assigned when Aux1 switch fully down. This means the Heli is in Normal or Acro mode.

Modes

ARM

All flight controllers need to be enabled before the motors are able to spool up. Once the Arming mode is configured (as shown above) the flight controller can be Armed ready for flight. If the flight controller detects an unsafe condition Arming will be disabled. If this occurs you can look at the Arming flag status on the Status Tab to identify what is preventing Arming being enabled.

Arming flag Status

You can find out a description of these flags from the List of Arming prevention flags

This function can also provide the ability to prevent arming of the heli unless the correct model has been selected on your transmitter (if your RX does not have this functionality). This is done by adjusting the endpoint of your AUX channel to a different value for each model and setting the ARM range to enable the FC only for that model.

Rescue

Enable Rescue mode from the tabs. Allocate the Aux channel and range to suit. When activated the heli will level to the closest orientation (either upright or inverted). Collective will be applied to rapidly gain some altitude. After a delay period it will swap to a slower collective rate. If the heli is currently inverted it will now roll to upright.

After enabling Rescue mode configure the rescue settings from the Profiles Tab:

Modes

Rescue Climb Collective - Values 0-1000. How fast the heli will raise in rescue mode after the delay expires (slow speed)

Initial Climb Duration - Values 0.0-25.5. This is the time delay for rapid collective. If inverted the heli will now roll to upright. Value is in seconds. Setting to 25.5 will disable the non inverted rescue so if rescuing from inverted it will stay inverted.

Initial Climb Collective Boost - Values 0-1000. extra collective added to Rescue Climb Collective for rapid mode.

Generally the aim is to set the Rescue Climb Collective to very slowly gain altitude. Add a value to 'Initial Climb Collective Boost' so the heli rapidly gains some altitude altitude (especially if inverted) for the delay period specified. This means that after a rescue the helicopter is still quite close and visible and there is plenty of time to regain composure before regaining control.

6G flight modes

There are 3 types of self leveling stabilisation modes available in Rototflight. 6G modes (unlike the normal Acro) will auto level when the transmitter sticks are released. These modes make the heli fly more like a drone.

Modes

  • Horizon - Horizon mode provides attitude stabilisation which will level the helicopter when the transmitter sticks are let go. Constant stick input is required to keep the helicopter moving.

Horizon Mode leveling gain - Gain to define how aggressively the helicopter levels while in Horizon mode.

  • Angle - Angle mode provides similar functionality to Horizon mode with the addition of limiting the helicopter attitude to the angle specified.

Angle Mode leveling gain - Gain to define how aggressively the helicopter levels while at the Angle limit.

Angle Mode maximum angle - Limit the helicopter to a maximum of this angle while in Angle mode.

  • Acro Trainer - Acro trainer mode does not provide self leveling of the helicopter. It does however limit the angle the helicopter can reach.

Acro Trainer gain - Gain to define how aggressively the helicopter corrects while at the level limit.

Acro Trainer level limit - Limit the helicopter to a maximum of this angle while in Acro trainer mode.