Auxiliary Function Switches

This article shows how to set up which features are invoked from the transmitter’s auxiliary function switches. AC3.2.1 and earlier allowed channels 7 and 8 to be used as auxiliary switches. AC3.3 and higher supports channels 7 to 12.

Configuration

By default the auxiliary switches are disabled but you can assign features using the Mission Planner‘s Config/Tuning | Extended Tuning screen or by setting the CH7_OPT, CH8_OPT, CH9_OPT, CH10_OPT, CH11_OPT, or CH12_OPT parameters directly.

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Here are the options:

Option Description
Flip Vehicle will flip on its roll or pitch axis depending upon the pilot's roll and pitch stick position. Vehicle will rise for 1 second and then rapidly flip. The vehicle will not flip again until the switch is brought low and back to high. Give yourself at least 10m of altitude before trying flip for the first time!
Simple Mode

The copter moves left, right, forward and back as if it were facing in the same direction as when it took off regardless of the copter’s heading. See here for more details.

RTL

Invokes the Return-to-Launch flight mode when switch is pulled high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch.

Save Trim

Adjust the vehicle level position using the current roll and pitch stick inputs. See details here.

Save WP Save the current location (including altitude) as a waypoint in the mission. If in AUTO mode no waypoint will be saved, instead the vehicle will RTL
Multi Mode

This option has been removed from AC3.3 (and higher).

Ch6 tuning knob position controls which of the following 3 functions is invoked when ch7 or ch8 switch put in the on position.

  • Ch6 <1200 : Flip
  • Ch6 1201 ~ 1799 : RTL
  • Ch6 > 1800 : Save Waypoint
Camera Trigger

Camera shutter will be activated. See more details here.

Range Finder

RangeFinder is disabled when switch is in low position, enabled when in high position.

Fence Fence is disabled when switch is in low position, enabled when it high position.
ResetToArmedYaw This option has been removed from AC3.3 (and higher). Vehicle will turn to face the same direction that it was facing when it was first armed (e.g. at take-off). An alternative to simple mode when you've lost orientation and need to bring the craft home.
Super Simple Mode

Similar to simple mode except controls are relative to the home position. Move the pitch stick forward and the copter will fly away from home, pull pitch back and it will return. Move roll stick left or right and the copter to orbit home regardless of the copter’s actual heading. See here for more details.

If mapped to a three-position switch then the function will allow Super-Simple and Simple modes to be enabled using the high and middle switch positions, respectively (a two-position switch will enable/disable Super Simple mode only).

Acro Trainer

Turn on automatic leveling in the ACRO flight mode.

Sprayer

Turn on the crop sprayer when switch is pulled high.

Auto

Invokes the Auto flight mode when switch is pulled high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch.

AutoTune

Invokes the AutoTune flight mode when switch is pulled high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch.

Land

Invokes the Land flight mode when switch is pulled high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch.

Gripper

Operates the gripper. Switch pulled low releases the gripper, high closes or grabs.

Parachute Enable

Enables the automatic release of the parachute (this does not immediately trigger the release).

Parachute Release

Immediately triggers the release of the parachute as long as the vehicle is not landed or too low.

Parachute 3Pos

Switch pulled low disables the parachute. Switch in middle enables the parachute for automatic release. Switch pulled high triggers release of the parachute as long as vehicle is not landed or too low.

Mission Reset

Reset Auto to run the first mission command in the command list.

AttCon Feed Forward Turns on/off attitude controllers feed forward. For developers only.
AttCon Accel Limits Turns on/off attitude controller acceleration limits. For developers only.
Retract Mount

Move the camera mount to its retracted position.

Relay On/Off

Switch pulled low turns off the first relay, pulled high turns on the first relay.

Relay2 On/Off

Switch pulled low turns off the second relay, pulled high turns on the second relay.

Relay3 On/Off

Switch pulled low turns off the third relay, pulled high turns on the third relay.

Relay4 On/Off

Switch pulled low turns off the fourth relay, pulled high turns on the fourth relay.

Landing Gear

Retracts/Deploys landing gear. (AC3.3 and higher)
Lost Copter Alarm

Plays the lost copter alarm though the buzzer (AC3.3 and higher)

Emergency Stop Motors

Stops motors immediately (video). (AC3.3 and higher)

Motor Interlock

Opposite of Emergency stop (above) in that switch must be ON for motors to spin (video). (AC3.3 and higher)

Brake

Invokes the Brake flight mode when switch goes high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch. (AC3.3 and higher)

Throw

Invokes the Throw flight mode when switch goes high. Bringing switch back to low will return the vehicle to the mode indicated by the ch5 flight mode switch. (AC3.4 and higher)

ADSB-Avoidance

When switch is high, ADSB avoidance (avoidance of manned aircraft) is enabled, when switch is low, disabled. (AC3.4 and higher)

Precision Loiter

Turns on/off Precision Loiter. I.e. holding position above a target in Loiter mode using IR-Lock sensor. (AC3.5 and higher)

Object Avoidance

When switch is high, avoid objects using Lightware SF40c or TeraRanger Tower. (AC3.4 and higher)

Arm/Disarm

Arms the vehicle if the switch goes high (subject to arming checks). Disarms the vehicle if brought low. (AC3.5 and higher)

Check Ch7 & Ch8 PWM values reach 1800

Your channel 7 and/or channel 8 pwm value must reach at least 1800 PWM or the auxiliary function will not be activated. You can check that it surpasses this threshold using the Mission Planner’s radio config page.

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