Turnigy 9XR Pro Manual
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Turnigy 9XR Pro Manual

Ersky9x explained open source firmware
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Open Source Firmware
ErSky9x Explained
for the Turnigy 9XR Pro
This manual is based on version r204 of the
Ersky9x firmware, issued in May 2014. For more
information, see page 44.
Screen shots show a pre-production transmitter.
Ersky9x Explained – version 1

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  • Page 1 Open Source Firmware ErSky9x Explained for the Turnigy 9XR Pro This manual is based on version r204 of the Ersky9x firmware, issued in May 2014. For more information, see page 44. Screen shots show a pre-production transmitter. Ersky9x Explained – version 1...

  • Page 2: Table Of Contents

    Custom Switches (page 8/13)....................33 Safety Switches [and Voice Switches] (page 9/13)..............35 Telemetry (page 10/13)......................37 Telemetry 2 (page 11/13).......................39 Templates (page 12/13)......................41 Global Variables (page 13/13)....................43 Scalers........................... 43 Conclusion..........................44 Further Information........................45 9XR Pro Ersky9x Explained 2014-07-06.doc Ersky9x Explained – version 1...

  • Page 3: Introduction

    This manual provides a detailed overview of the ErSky9x open source firmware used in the Turnigy 9XR Pro transmitter. The great flexibility of this programming system means that there is a lot that needs to be described. You might see this as intimidating, but you don’t need to learn everything before you can enjoy flying with this transmitter.

  • Page 4: Navigating In Ersky9X

    Navigating in ErSky9x Button Navigation The transmitter has six input keys: a cruciform set of RIGHT/LEFT/UP/DOWN keys, plus contextual MENU and EXIT keys. The RIGHT/LEFT/UP/DOWN keys to the left of the screen move the cursor or pages in the appropriate directions. Note that short presses and long presses will produce different results. For example, when you turn your transmitter on it will start at one of five 'Home' pages.

  • Page 5: Navigation In A Menu

    Once on a page, short presses of LEFT and RIGHT step through the various items found there, such as physical and custom switches. Navigation in a Menu Navigation in a menu is straight forward: The UP/DOWN/RIGHT/LEFT keys will navigate between editable fields, or lines of fields depending on the screen.
  • Page 6 form the channel outputs. These bars reflect the outputs resulting from the programming for the particular model processing the inputs of the sticks, pots and switches. Note that just above the channel output graphic is a bar showing which channels are being displayed.
  • Page 7 Home Page 5 (Telemetry Series) In the fifth Home page (short press down from the previous one) the screen shows various sets of telemetry data. These may include Global Positioning System (GPS) data, voltage, temperature, rate of climb, battery capacity used or other information, depending on what sensors you have installed in your model.

  • Page 8: Statistics Screens

    There are various operations using the EXIT button. If the timer is beeping, a quick press of the EXIT key resets it and stops the beeping. If you are on a telemetry screen, a quick press of the EXIT key resets the telemetry.

  • Page 9: Radio General Settings

    The screen also shows information relating to the BIND reply if a DSM module is used and 'BT reply' (Bluetooth), if the necessary hardware is installed. Another short press of the UP key brings you back to the home page from whence you started. That’s it for navigation among the various Home, Telemetry and Statistics screens that mainly display data.
  • Page 10 Filter ADC: Analog to Digital Conversion The ARM processor in the 9XR Pro is 12-bit, giving 4096 resolution (compared to 10-bit, 1024 resolution for the 9X and 9XR AVR processors). Since the Ersky9x firmware uses 2048 resolution, conversion is necessary.
  • Page 11 Flash on Beep Set this ON if you want the screen to flash every time the transmitter beeps. Light Switch The back light can be set to turn ON via any of the transmitter physical switches (RUD, ID0, ELE etc.) or any of the virtual switches (SW1, SW2, etc.). Light Off After This may be set as OFF or in 5 second intervals up to 600 seconds.
  • Page 12 Scrolling The choice here is POT, STICK, BOTH or NONE. Pot Scroll means that two of the potentiometers can be used for control of the cursor when a menu is onscreen. The right pot scrolls the cursor up and down to choose the item, while the left pot adjusts the value. Likewise, Stick Scroll enables the elevator/rudder stick (mode 1) or elevator/aileron stick (mode 2) to move the cursor in a similar way.

  • Page 13: Boot Reason

    Mode (i.e., stick mode) Choose the Mode setting (1, 2, 3 or 4) to suit your preference and/or match local practice. Mode 1 (throttle and aileron on right stick, elevator and rudder on left) and Mode 2 (elevator and aileron on right stick, throttle and rudder on left) are by far the most popular stick configurations around the world.

  • Page 14: Sd Card Stat

    NOTE: It is essential to calibrate the transmitter initially and whenever there are any changes that could affect the stick or pot outputs (e.g., replacement of a stick assembly). With the 9XR Pro (unlike the 9XR) the calibration data are stored in General Settings, separate from model memories.

  • Page 15: Diag (Diagnostics)

    A1..A4 are the gimbals (sticks). A5..A7 are the pots. A8 is battery voltage. Values range from 0 to 0x7FF (0 to 2047 decimal). If you highlight the battery voltage, pressing LEFT/ RIGHT will adjust the value, enabling you to calibrate the reading to equal what you measure with a voltmeter at the battery itself. This screen also shows the current being used by the transmitter in milliamps (mA).

  • Page 16: Version

    Slave transmitter and the Master do not need to be the same, provided this screen is used to match them up correctly. The slave transmitter does not have to be a 9XR Pro: compatible transmitters include the 9XR, 9X and Spektrum. Transmitters such as Futaba can also be used but may require special cables.

  • Page 17: Memory Stat

    Multiplier: Adjusts PPMin values by a factor from 1.0 to 5.0. Normally left at 1. This is used to raise the incoming signal level if it is too low for the 9XR Pro. Cal: Center calibration for first 4 PPMin values.

  • Page 18: Radio Setup

    The amplification of a rotary encoder may be set here. The range of values is 1,2, and 4. This value depends on the make of the encoder. A rotary encoder is not included in the 9XR Pro but can be added as a DIY project.

  • Page 19: Model Setup Menus

    Model Setup Menus In the first screen of the Model Setup menus, all the 32 memory slots models are listed and any models that have already been created are shown. Once a model is selected, a series of screens defining its characteristics can be accessed. ModelSel (Model Select) Press LONG RIGHT from the Home pages to reach the Model Select screen.
  • Page 20 Press short RIGHT to enter the first of the Model Setup pages for the chosen model. Don’t be surprised if you see an ALERT screen telling you that switches need to be moved to safe positions. The default switch settings in Ersky9x are associated with individual models and thus may vary from one to another.

  • Page 21: Setup

    Setup XX (page 1/13) The Setup screen has many lines and presents a wide range of settings specific to the individual model that is currently active (Model Number XX). Select items in the menu using the UP and DOWN keys. Here are the first items: Name (model name) This item works like Owner Name in the Radio Setup page.
  • Page 22 Trigger B options are any physical switch or any virtual switch (more on those later). Both A and B switches can control either count up or count down. You can also enable voice announcements of time. 'Minute call' will say the time every full minute, while 'Beep countdown' will give announcements several more times during the last minute.
  • Page 23 NOTE: It is advisable to disable this function once initial trimming is completed as it can have seriously negative results if triggered accidentally! E. Limits Extended limits. Allows control limits to go to plus or minus 125% instead of the normal 100% maximum.
  • Page 24 The PXX setting can be selected for the newer FrSky X8R module. The DSM2 setting is used where an internal module extracted from a Spektrum transmitter is "hacked" into the 9XR Pro. Instructions for doing this can be found at: http://openrcforums.com/wiki/index.php/How_to_modify_your_9x_to_the_DSM_protocol The DSM2 setting may also be used with future DSM telemetry modules.

  • Page 25: Heli Setup

    Heli Setup (page 2/13) A short press of the RIGHT key will bring up the helicopter CCPM head mixer screen. This page allows setting swash plate type, and limiting the control authority through the Swash Ring setting. Note that many modern rotary wing models, whether flybarless helicopters or multirotor machines, use an on-board flight controller that cannot accept CCPM mixing.

  • Page 26: Modes (Flight Modes)

    Reducing the rate tilts the whole control curve, from the default 45° (50% stick movement produces 50% servo travel) to a lower slope for more gentle and precise control. On the 9XR Pro either dual or triple rates can be used. Ersky9x Explained – version 1...

  • Page 27: Mixer

    On the second line of Expo/DR screen you can select to which stick (RUD, ELE, THR, or AIL) the settings below apply. The graph changes as you enter values so you can see if you are adjusting the line in the correct way and get a sense of proportion. Here rudder is selected. For each control you can input values for both expo and D/R by highlighting the field and using the navigation buttons to change the value.
  • Page 28 Here’s what a simple mixer page might look like. This one has two channels for aileron (CH1 and CH2) to allow the two servos to be controlled separately. Both get their input from the aileron stick. The various channels numbered on the left of the screen are outputs from the mixer to the servo. For example CH1 is servo slot number 1 on your receiver.
  • Page 29 Editing the Mix We need to take a pause here and look closely at the choices available to us in setting up a mix. Here is where you can determine how the source (input) will be transformed into output that drives the servo(s) plugged into that receiver channel.
  • Page 30 x>0: The value of the source is carried through only if it is positive (greater than zero). If the source value is less than zero, a zero value is applied. x<0: Same but for negative values. |x|: The value is passed as an absolute value (-50 and +50 are both treated as 50). f>0: If the source is positive then the output value is “+weight”...
  • Page 31 Example of a Mix An electric powered glider usually flies a lot faster when climbing than when gliding. The extra speed generates more lift from the wings, so the model wants to do a large loop. A little down elevator is required to keep the nose from lifting.
  • Page 32 On the ground with motor disconnected, check that the elevator compensates in the correct direction (down). If not, invert the weight to minus 5. (i.e., just highlight the number and press both the RIGHT and LEFT keys simultaneously). Leave offset at the default zero. We don’t want to shift the point where the mix operates. Next to edit is the switch field, where we select GEA to serve as the throttle switch.

  • Page 33: Limits

    Limits (page 6/13) Limits operate on the output channels. In the LIMITS menu you can set the centre point (subtrim), set the limits (both left and right) and reverse the output of the channel (INV for invert). Use the MENU key to activate a field and then use the RIGHT or LEFT keys to increase or decrease the value.

  • Page 34: Curves

    trims will be converted into subtrim values, and the trim positions shown on the ‘Home’ pages will all be returned to centre. Note that InstaTrim (controlled by the switch selected as ‘Trim Switch’) offers another approach to trimming by converting stick positions to subtrim in flight (see page 20). The two methods are complementary.

  • Page 35: Custom Switches

    Custom Switches (page 8/13) These are logic switches that are used to compare values and combine various conditions. More precisely, they are a set of logical functions that can be used as switches. There are 24 such custom switches in ErSky9x. The first column shows the "operation", listing several arithmetic, logical and differential operations.

  • Page 36: Safety Switches [And Voice Switches]

    For example to turn on the timer with the THR switch and have the time announced every 30 seconds: TimeOff The last field (THR) is the AND condition. The timer only runs when the THR switch is ON. To finish the job, a voice switch needs to be set. More on that in the next section. Latch and Flip-Flop Functions Two special functions available in custom switches are helpful when it is necessary to use a brief input to trigger a persistent state.
  • Page 37 Safety Switches There are four types of safety switch: S (Safety): Replaces the existing value for the channel when a switch is on. X (Sticky Safety): Overwrites the existing value for a particular channel. A (Audio): Plays a sound or haptic vibration chosen from a list. V (Voice): Plays a voice file.

  • Page 38: Telemetry

    For example: This will say “Flaps second position” when the 3-position switch is full down. For full control of voice announcements, use a Voice Switch, as explained below. Voice Switches Following the 24 Safety Switches (CH1 to 24) are, by default, 8 Voice Switches (VS 25 to 32) that trigger the playing of a particular voice file and determine the conditions and manner in which it is played.
  • Page 39 using analog inputs. For more detail on this and the digital approach being used increasingly, go to: http://www.eflightwiki.com/eflightwiki/index.php?title=FrSky_Telemetry. Ersky9x also supports the Winged Shadow How Hi unit and will accept input from DSM telemetry when available. The first item on the page is ‘UsrProto’, where you select between WSHhi (Winged Shadow How Hi), FrHub (FrSky Telemetry Hub) and DSMx (DSM2 or DSMX Telemetry).
  • Page 40 The lowercase ‘v’ following the Range value represents one of four scaling factors used in converting the telemetry number (0-255) into a suitable read-out value. The ‘v’ setting corresponds to a read-out range of 0 to 25.5 volts, while a ‘V’ setting gives 0 to 51 volts (at reduced resolution). Set to ‘A’...
  • Page 41 RSSI Alarms: TxRSSIalrm and RxRSSIalrm refer to the levels at which warning beeps are produced directly by the FrSky module (see page 10). The numbers here are read from the transmitter module. If you have modified a FrSky DJT module in accordance with the instructions in the manual Introduction to the Hardware, these numbers may not appear.

  • Page 42: Templates

    the TELEMETRY 2 screen as the mAh Alarm. The capacity calculation is made in steps of 64 mAh. The display will change accordingly. T1, T2: Temperature sensors 1 and 2 Spd, Dist, GAlt: GPS speed, distance from starting point and GPS altitude Cell: Lowest cell on FLVS-01 Cels: Sum of all cells on FLVS-01 Vfas: FAS-40/100 voltage measurement...
  • Page 43 At the bottom of the list (most quickly reached by pressing UP from the first item in the list) we find the option to clear all mixes in the Mixer screen. 01 Simple 4-CH Creates a basic four channel fixed wing model with 100% weighting on each of the channels. Channel order is determined by the setting in Radio Setup page 1/11.

  • Page 44: Global Variables

    06 Heli Setup Sets up basic CCPM mixes for a collective pitch flybar-type helicopter with the common 120° swash arrangement. The three swash servo output channels are CYC1, CYC2, CYC3. Flight Modes are controlled by the 3-position switch. Curves c1, c2, c3 are used for throttle on CH5, while c4, c5, c6 are used for pitch on CH 11 (in this case a “virtual”...

  • Page 45: Scalers

    Conclusion There’s a lot to learn about Ersky9x if you want to get the most out of your 9XR Pro. It may all look quite intimidating, but most of it you don’t need initially (or perhaps ever) and can learn as you go along.
  • Page 46 Note on Firmware Versions This manual is based on version r204 of the Ersky9x firmware, issued in May 2014 and installed in production models of the 9XR Pro with serial number 3001 or higher. Radios with serial number 1-3000 come equipped with version r202.

  • Page 47: Further Information

    9XR Pro Manuals The following manuals are designed to help you get the most out of your Turnigy 9XR Pro. They are available at: http://openrcforums.com/forum/viewforum.php?f=7 1. 9XR Pro: Introduction to the Hardware 2.

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