Quick Configuration and Tuning Notes
AeroEgg Technology firmware download: https://download.aeroeggtech.com/
Accelerometer calibration
Please place vehicle LEVEL -- bottom side down
Please place vehicle LEFT -- left side down
Please place vehicle RIGHT -- right side down
Please place vehicle NOSEDOWN -- nose down
Please place vehicle NOSEUP -- tail down
Please place vehicle BACK -- top side down
ARMING_CHECK 0 (Important: use this setting only for ground testing. Never disable all pre-arm checks for actual flight, as this can result in loss of the aircraft.)
Disables all pre-arm checks and ignores all arming requirements.
With the throttle at minimum, hold full right yaw for 6 seconds to arm the flight controller. The motors will run when throttle is applied.
To retain pre-arm checks for selected critical functions, enable the required checks according to the actual installation.
Compass compass module 4
Barometer barometer module 2
GPS Lock GPS fix acquired 8
RC Channels radio channel signal input 64
Example: To require a valid GPS fix and confirm that the barometer is healthy before arming, enter 10
(8 + 2), then write and save the parameter.
ARMING_RUDDER 2
After landing, hold full left yaw for 6 seconds to disarm the flight controller. The motors will not run when throttle is applied.
DJI air unit: configure UART1 (corresponding to serial1) for the DJI air unit.
SERIAL1_BAUDRTE 115
SERIAL1_OPTIONS 0
SERIAL1_PROTOCOL 42 (DJI G2/G3/N3 goggles, Caddx Avatar HD, OPENIPC-MSP DISP)
For DJI V1 goggles used with a VISTA air unit or original DJI air unit, set this parameter to 33.
OSD_TYPE 5 (DJI G2/G3/N3 goggles, Caddx Avatar HD, OPENIPC-MSP DISP); default: 1
For DJI V1 goggles used with a VISTA air unit or original DJI air unit, set this parameter to 3.
MSP_OPTION 4 (DJI G2/G3/N3 goggles, Caddx Avatar HD, OPENIPC-MSP DISP)
OSD1_TXT_RES 1 (DJI G2/G3/N3 goggles, Caddx Avatar HD, OPENIPC-MSP DISP)
OSD_OPTION 32 (DJI G2/G3/N3 goggles, Caddx Avatar HD)
GPS: configure UART2 (corresponding to serial2) for a GPS module without a compass.
SERIAL2_BAND 38
SERIAL2_OPTIONS 0
SERIAL2_PROTOCOL 5
ELRS/CRSF: configure UART6 (corresponding to serial6) for an ELRS or CRSF receiver.
SERIAL6_BAUDRTE 115
SERIAL6_OPTIONS 0
SERIAL6_PROTOCOL 23
RC_PROTOCOL 9 Sets the preferred receiver signal input type recognized by the flight controller.
Using an SBUS receiver
SERIAL6_BAUDRTE 57
SERIAL6_OPTIONS 0
SERIAL6_PROTOCOL 23
ROLL_LIMIT_DEG 60
Maximum commanded roll angle in FBWA mode; default: 45.
LIM_PITCH_MAX 35
Maximum commanded positive pitch angle in FBWA mode; default: 20.
LIM_PITCH_MIN -25
Maximum commanded negative pitch angle in FBWA mode; default: -25.
FBWB_CLIMB_RATE 5 m/s Maximum permitted climb rate in cruise mode; default: 2m/s.
MIXING_GAIN 0.8 (Flight controller mixer gain, 0.5~1.0; default: 0.5. Adjustment is recommended for flying-wing aircraft.)
Settings for excessive RTL throttle:
CONFIG/TUNING --- Basic Tuning --- Throttle 0-100%
Cruise 32; minimum 30; maximum 80; slew rate 70.
Recommended six-position switch modes:
RTL mode
FBWA stabilized mode
CRUISE mode
AUTO waypoint mode
LOITER mode
MANUAL mode
Parameters for common modes assigned to independent switches
4: ModeRTL RTL mode
16: ModeAuto waypoint mode
51: ModeManual manual mode
56: ModeLoiter position-hold loiter mode
58: Clear Waypoints
72: ModeCircle circle mode
77: ModeTakeoff hand-launch mode
92: FBWA stabilized mode
150: CRUISE altitude-and-heading hold mode
153: ArmDisarm arm/disarm switch
Use the radio transmitter channel 8 three-position switch, the flight controller default, for mode selection.
When configuring the switch, assign each switch position to the corresponding mode:
FBWA stabilized mode
FBWA stabilized mode
CRUISE altitude-and-heading hold mode
CRUISE altitude-and-heading hold mode
LOTIER position-hold loiter mode
LOTIER position-hold loiter mode
Use a two-position switch on radio channel 5 for TAKEOFF hand-launch mode. In Full Parameter List, set RC5_OPTION to 77.
Use a two-position switch on radio channel 6 for RTL mode. In Full Parameter List, set RC6_OPTION to 4.
Use a three-position switch on radio channel 7 for AUTO waypoint mode. In Full Parameter List, set RC7_OPTION to 16.
Hand-launch mode settings TK
TKOFF_ALT 100 (Sets the target altitude in takeoff mode to 100m.)
TKOFF_DIST 400 (Sets the maximum takeoff-mode distance to 400m.)
TKOFF_LVL_ALT 50 (Keeps the wings level until the specified altitude after hand launch; default: 20.)
TKOFF_LVL_PITCH 25 (Sets the maximum climb angle in takeoff mode to 25°.)
TKOFF_THR_MAX 100 (Sets the maximum throttle in takeoff mode to 100%.)
TKOFF_THR_MINACC 3 (Enables throttle output in takeoff mode when the flight controller detects instantaneous aircraft acceleration of 3m/s.)
Failsafe check FS
FS_SHORT_TIMEOUT 1.5 (The flight controller executes the short failsafe action after receiver throttle output has been lost for 1.5 seconds.)
FS_SHORT_ACTN 1 (Short failsafe action: enter CIRCLE and wait. Default: 0, no action.)
FS_LONG_TIMEOUT 5 (If no throttle output signal is received within 5 seconds after the short failsafe begins, the flight controller executes the long failsafe action.)
FS_LONG_ACTH 1 (Long failsafe action: execute RTH. Default: 0, continue the current action.)
ALT_HOLD_RTL 12000 cm Loiter altitude after RTL reaches the launch point; default: 10000 cm. RTL_ALTITUDE
WP_LOITER_RAD 80 Loiter radius; default: 60m.
RSSI_TYPE 3 (ELRS, CRSF) RSSI_TYPE 2 (SIYI)
Refresh parameters
For a SIYI receiver, set RSSI_CHANNEL to 16.
For a CRSF receiver, set RSSI_CHANNEL to 12.
For an ELRS receiver, set RSSI_CHANNEL to 15.
After radio transmitter calibration, check the RC15 channel value by searching for RC15.
Use RC15 for an ELRS receiver. For a SIYI receiver, select RC16.
RC15_MAX 2000
RC15_MIN 1000
Airspeed sensor
ARSPD_TYPE 1
After writing the parameter, disconnect the flight controller, refresh, and reconnect.
ARSPD_OPTIONS 15
ARSPD_AUTOCAL 1
ARSPD_SKIP_CAL 1
For initial calibration, switch to loti loiter mode and fly in a circle for 10 minutes.
After landing, disable automatic airspeed sensor calibration.
ARSPD_AUTOCAL 0
Analog video OSD field reference
BAT_VOLT battery voltage
CELLVOLT per-cell battery voltage
CURRENT current
POWER current system power
BATUSED consumed capacity
RSSI radio signal strength
SATS GPS satellite count
FLTMODE current mode
MESSAGE system message
HORIZON artificial horizon
HOME distance from home
DIST flight distance
HEADING bearing from home
THROTTLE current throttle value
COMPASS compass heading
GPSLAT GPS latitude
GPSLONG GPS longitude
ROLL roll value
PITCH pitch value
ALTITUDE current altitude
GSPEED current ground speed
VSPEED current vertical speed m/S
DJI digital video system (V1/V2 goggles) OSD reference, including XY coordinates:
HOMEDIR home-direction arrow 15 13
HOMEDIST distance from home 2 13
CRSSHAIR crosshair 14 8
PITCH pitch angle 19 14
ROLL roll angle 19 13
GPSLONG longitude 0 0
GPSLAT latitude 0 1
VSPEED vertical speed 23 8
GSPEED GPS speed 4 7
MESSAGE flight mode 1 14
SATS GPS satellite count 8 14
BATUSED battery capacity consumed 13 14
CURRENT current 4 8
RSSI current radio signal strength 9 13
BAT_VOLT battery voltage 13 13
ALTITUDE altitude 21 7
DJI V1 root WTFOS OSD reference, including XY coordinates:
FLTIME armed flight time 33 17
DIST flight distance 5 17
PITCH pitch value 41 15
ROLL roll value 41 14
GPSLONG GPS longitude 35 1
GPSLAT GPS latitude 35 0
VSPEED current vertical speed 41 11
COMPASS compass heading 26 0
THROTTLE current throttle value 5 11
HEADING bearing from home 25 1
HOME distance from home 5 16
HORIZON artificial horizon 27 10
GSPEED current ground speed 5 10
MESSAGE system message 16 6
FLTMODE current mode 34 16
SATS GPS satellite count 7 1
BATUSED consumed capacity 25 17
CURRENT current 16 17
RSSI radio signal strength 16 16
BAT_VOLT battery voltage 25 16
ALTITUDE current altitude 40 10
Caddx Avatar digital video system, including XY coordinates
FLTIME armed flight time 31 17
DIST flight distance 2 17
PITCH pitch value 47 17
ROLL roll value 47 16
GPSLONG GPS longitude 41 0
GPSLAT GPS latitude 41 1
VSPEED current vertical speed 44 11
COMPASS compass heading 26 0
THROTTLE current throttle value 5 11
HEADING bearing from home 25 1
HOME distance from home 2 16
HORIZON artificial horizon 26 10
GSPEED current ground speed 4 10
MESSAGE system message 19 6
FLTMODE current mode 40 17
SATS GPS satellite count 2 0
BATUSED consumed capacity 17 17
CURRENT current 12 17
RSSI radio signal strength 8 0
BAT_VOLT battery voltage 24 17
ALTITUDE current altitude 43 10
DJI G2 goggles OSD layout, including XY coordinates
FLTIME armed flight time 31 17
DIST flight distance 5 19
PITCH pitch value 47 16
ROLL roll value 47 15
GPSLONG GPS longitude 0 0
GPSLAT GPS latitude 40 0
VSPEED current vertical speed 41 11
COMPASS compass heading 26 0
THROTTLE current throttle value 30 18
HEADING bearing from home 25 1
HOME distance from home 5 18
HORIZON artificial horizon 26 10
GSPEED current ground speed 5 11
MESSAGE system message 18 7
FLTMODE current mode 25 19
SATS GPS satellite count 12 1
BATUSED consumed capacity 14 19
CURRENT current 32 19
RSSI radio signal strength 14 18
BAT_VOLT battery voltage 24 18
ALTITUDE current altitude 40 10
Configure the OSD to display per-cell voltage correctly:
In OSD Options, enable OSD1_AVGCELLV.
Full Parameter List: OSD1_AVGCELLV 1 default: 0
OSD_CELL_COUNT Enter the battery cell count (S).
Using a WS2812 LED strip SERVO6_FUNCTION 120 (Default: 0. SERVO X corresponds to the PWM output number.)
NTF_LED_LEN 8 (8 is the number of LEDs connected in the strip. The theoretical maximum is 32; the practical maximum has not been fully tested.)
NTF_LED_TYPE 455
NTF_LED_OVERRIDE 0 (Armed: LED steady blue. Disarmed: LED flashing blue.)
2 (Armed: LED steady red. Disarmed: LED steady green.)
3 (Armed: LED flashing red. Disarmed: LED flashing yellow.)
Curve settings required for an OpenTX six-position switch
-100 -60 -20 20 60 100
-85 -45 -15 15 45 85
Configure six flight-mode positions in OPENTX using a two-position switch plus a three-position switch
(Use radio channel 12 as the mode-selection channel, with the SB three-position switch and SA two-position switch.)
CH12 26 SB
+= 39 SA