Turnigy 9XR User Manual

Turnigy 9XR

User Manual

Table of Contents

Disclaimer…………………………………………………………………………
Introduction………………………………………………………………………

How it works…………………………………………………………………

Nomenclature ……………………………………………………………………

Edit buttons ………………………………………………………………………

Navigation …………………………………………………………………………

Editing and Saving ………………………………………………………………

On Startup– Quick Model Select …………………………………………………

Transmitter Layout ………………………………………………………………

Main Screen………………………………………………………………………

General V iew………………………………………………………………………

Statistics Screens Statistics Screens……………………………………………

General Settings…………………………………………………………………

Radio Setup (1/5) ………………………………………………………………

Trainer (2/5) ……………………………………………………………………

Diagnostics (3/5) …………………………………………………………………

Analog Inputs (4/5) ……………………………………………………………

Calibration (5/5) ………………………………………………………………

Model Setup……………………………………………………………………

Model Select (1/11) ………………………………………………………………

Model Setup (2/11) ………………………………………………………………

Heli Setup (3/11) ………………………………………………………………

Expo/Dr (4/11) …………………………………………………………………

Triple Dr Example…………………………………………

Mixer (5/11) ……………………………………………………………………

Main Screen……………………………………………………………………

Edit Mix……………………………………………………………………

Limits (6/11) ……………………………………………………………………

Reverse (7/11) ………………………………………………………………

Curves (8/11) ……………………………………………………………………

Custom Switches (9/11) ………………………………………………………

Safety Switches (10/11) ………………………………………………………
Templates (11/11) ………………………………………………………………

Examples…………………………………………………………………………

Programming a throttle cut………………………………………………………

Build and Program Instructions …………………………………………………

Building from Source…………………………………………………………

Flashing…………………………………………………………………………
Make targets……………………………………………………………………

Make options……………………………………………………………………

Software/Firmware Acknoledgements...............................................................

Disclaimer

THIS FIRMWARE IS PROVIDED ON AN "AS-IS" BASIS WITHOUT WARRANTY OF ANY KIND AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE DEVELOPER AND/OR AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO:
PERSONAL AND/OR PROPERTY DAMAGE) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS FIRMWARE, EVEN IF THE DEVELOPER AND/OR
AUTHOR. HAS BEEN ADVISED BY USER OF THE POSSIBILITY OF SUCH POTENTIAL LOSS OR DAMAGE.
USER AGREES TO HOLD THE DEVELOPER AND/OR AUTHOR. HARMLESS FROM AND AGAINST ANY
AND ALL CLAIMS, LOSSES, LIABILITIES AND EXPENSES.

Introduction

The 9XR is a computerized radio from Turnigy.
The transmitter is outfitted with a 128x64 pixel monochrome LCD, two x 2 axis gimbals, three
variable potentiometers (pots), six 2-position switches, one 3-position switch and some funky
Digital trims.

How it works

Bear with me here–some flow charts coming up:

What the heck was that?

The system receives 4 types of inputs:

1. Main Sticks

2. Potentiometers

3. Trims

4. Switches
The analog inputs (sticks and pots) go through a calibration phase. The sticks can also go through
Expo and Dr filters before going to the mixer.
The mixer does it all. It directs each input to the desired output (CH1..CH16). It controls how the
inputs are added. It also controls the timing of each function.
After the inputs are processed by the mixer they are directed to the relevant output channels. The
limit procedure takes over and makes sure no output goes too far.
Finally the channels are encoded and sent to the RF module to take that nice little hike through the

air to your model.

Nomenclature

(just so we understand each other)

Inputs:

1. RUD – Rudder.

2. ELE – Elevator.

3. THR – Throttle.

4. AIL – Aileron.

5. P1/P2/P3 – Pots.

6. Switches:
i. THR – Throttle cut switch, don't confuse this with the THR stick. The TH switch is located on the

back left side.

ii. RUD – Rudder Dual Rate switch.

iii. ELE – Elevator Dual Rate switch.

7. ID0, ID1, ID2 – Three position switch (Flight Mode switch). These 3 define the 3-position
switch. ID0 is the top position, ID1–mid position and ID2–bottom position.

8. AIL – Aileron Dual Rate switch.

9. GEA – Gear switch.

10. TRN – Trainer switch. This switch is spring loaded.

11. SW1..SW6 – Custom switches. More on these later.

It should be stated that every function in this Radio is assignable. There are no fixed switches.

You can choose the TRN switch to be throttle cut and use the triple switch to control Dr. The names
are useful since they are labeled like that on the Tx.

Edit buttons

There are 6 edit buttons on the Tx. In this manual they are noted with square brackets ([MENU]).
Some functions need the button to be pressed and held for a second or so. The are noted as
“long”presses like so: [MENU LONG]

The “!” sign. Whenever you see the “!” sign you can read that as “not” or “inverted”. Switches can
be“normal” or “inverted”. So when choosing the elevator d/r switch ELE is normal operation and
!ELE denotes inverted operation.

Navigation

As a general rule the [UP]/[DOWN]/[LEFT]/[RIGHT] move the cursor appropriately The [MENU] key
is used for selection and for editing. The [EXIT] key is used for exiting (surprise). Pressing [EXIT] will
generally bring the cursor to the top of the screen. Another press will exit the menu to the main
screen.

Pressing [EXIT LONG] will exit immediately to the main screen.

Pressing [MENU] from the main screen will take you back to the last menu.

From the main screen you can press [RIGHT LONG] to enter the model setup pages. Pressing [LEFT
LONG] will enter the general setup menus.

Once in the menus you can navigate between different screens using the [LEFT]/[RIGHT] keys as
long as the cursor is at the top right position of the screen.

Editing and Saving

As a rule once a value is changed it is saved. You can turn off your Tx and turn it back on and the
values will be saved. The values are saved internally in the MCU's eeprom. However there is a
slight delay sometimes so it's probably a good idea to wait a couple of seconds before turning off.
There is no undo functionality. Once something is erased/changed it's changed for good.

Generally, when a value is highlighted and you cannot move left or right then pressing
[UP]/[DOWN] will change that value.

When moving left or right is possible you need to press [MENU] to edit that value. Edit-mode is
displayed by the cursor blinking.

To exi t edi t -mode press either [MENU] or [EXIT].

Also, it is possible to change values with the P3 pot (the one at the front of the Tx called PIT.
TRIM/AUX 2).

On Startup- Quick Model Select

On startup holding a certain key will load an associated model memory. This is useful for quickly
changing between model memories:

• Holding [MENU] Will load Model memory #1

• Holding [EXIT] Will load Model memory #2

• Holding [DOWN] Will load Model memory #3

• Holding [UP] Will load Model memory #4

• Holding [RIGHT] Will load Model memory #5

• Holding [LEFT] Will load Model memory #6

Transmitter Layout

Main Screen

General view
The main view is split into top and bottom. The top contains the following:

• The current model's name. (GOOFI in this case and yes, it's a real airplane)

• The battery voltage.

• Trim increment information.

• Timer and timer trigger information. Pressing [EXIT LONG] resets the timer.

• Throttle trim activation information.

The bottom consists of three screens. You can flip between these with the [UP]/[DOWN] keys.

The 3 screens are:
Value bars – these show the output values for the first 8 channels.
Input values – Stick position and switch indicators.
Elapsed timer – Timer that may be started, stopped [MENU] or reset to zero [MENU LONG].

Statistics Screens

From the main screen pressing [UP LONG]/[DOWN LONG] will enter the statistics screen.

The first shows some available timers and traces the throttle stick as well.

The second shows general timing of the Tx. The value “tmain” shows how long the math takes. This
will increase as you add more mixers. It can be very large sometimes depending on eeprom writes.
The Stack value shows the unused space, in hexadecimal, between the end of used Ram memory
and the lowest point the stack has reached. You can reset the timers by pressing [MENU].

STAT 08:02 TOT
TME 08:02 00:00 TSW
STK 00:00 00:00 ST%

STAT2
tmr 1Lat max 5 us
tmr 1Lat min 5 us
tmr 1 Jitter 0 us
tmain 6,31 ms
Stack 0123 b
[MENU] to refr

esh

General Settings

From the main screen pressing [LEFT LONG] will enter the general settings menus. Here you can
set up settings that will be the same regardless of chosen model.

The menus are as follows:

• Radio Setup

• Trainer settings and PPM In Calibration

• Diagnostics

• Analog Inputs

• Calibration

Radio Setup (1/5)

Use this screen to set up general functions for the Tx:

1. Owner Name: The radio owner's name. You... Unless.... (hmmm...)

This will also be displayed on the splash screen.

2. Beeper: Sets Beeping levels
i. Quiet. No beeping at all. No warning – nada. If the kids are sleeping and you must setup the
model in your living room this is the mode to use. Just remember that the Tx will not even warn
you when the battery is low. If you're using a Lipo watch out!

ii. No keys. The beeps are normal but edit keys are silent.
iii. Normal. Normal beeping.
iv. Long beeps. For those who want to annoy other people.

v. Extra long beeps....

3. Contrast: The LCD's contrast. The values can be 20..45.

The higher the value the darker the screen.

4. Battery warning: Battery voltage warning. When the connected battery's voltage drops below

this voltage the Tx will beep.
Though the Tx will continue to function normally it's really advisable to land as soon as possible.

5. Inactivity alarm: This will set up a warning that will beep if the Tx is left unattended for the

specified amount of time. The default value is 10 minutes. To turn off the Inactivity timer – set
the value to zero. Also, when running on USB power, the alarm is inactive. Values can be from 1
to 250 minutes. To reset the timer simply move one of the sticks.

6. Filter ADC:

i. SING: Single conversion. This is the fastest conversion but base resolution is 1024.

ii. OSMP: Oversampling. This uses extra samples to increase resolution to 2048. Just slightly slower

than SING.

iii. FILT: Filtered. This is in case you have excessive noise from the conversion (servo jitters).This will

filter the input and prevent that noise. It will, however, increase latency by~30msec.

7. Throttle reverse: This is for all you wacky people who fly with the throttle backwards (e.i. idle is

far from you and full is close to you). Though I personally don't understand how you fly like that

RADIO SETUP 1/5
Owner Name ME OF COURSE
Beeper

Quiet

Contrast

25

BAT Warning

9.0v

Inactivity Alarm

0m

Mode ↔☼ ↕☼

☼↕ ☼↔

2 RUD THR ELE AIL