# Controls

## Arming​

When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons, that is not recommended).

By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a switch to arm.)

Some conditions will disable arming. In this case the Warning LED on the board will flash a certain number of times, indicating what the condition is:

Reason for disabled ArmingLED Flashes
CLI is active in the configurator2
Failsafe mode is active3
The aircraft has landed in failsafe mode3
Maximum arming angle is exceeded4
Calibration is active5

## Stick Positions​

The three stick positions are:

PositionApprox. Channel Input
LOW1000
CENTER1500
HIGH2000

The stick positions are combined to activate different functions:

FunctionThrottleYawPitchRoll
ARMLOWHIGHCENTERCENTER
DISARMLOWLOWCENTERCENTER
Profile 1LOWLOWCENTERLOW
Profile 2LOWLOWHIGHCENTER
Profile 3LOWLOWCENTERHIGH
Calibrate GyroLOWLOWLOWCENTER
Calibrate AccHIGHLOWLOWCENTER
Calibrate Mag/CompassHIGHHIGHLOWCENTER
Inflight calibration controlsLOWLOWHIGHHIGH
Trim Acc LeftHIGHCENTERCENTERLOW
Trim Acc RightHIGHCENTERCENTERHIGH
Trim Acc ForwardsHIGHCENTERHIGHCENTER
Trim Acc BackwardsHIGHCENTERLOWCENTER
Disable LCD Page CyclingLOWCENTERHIGHLOW
Enable LCD Page CyclingLOWCENTERHIGHHIGH
Save settingLOWLOWLOWHIGH

### History​

Intial stick commands, came from MultiWII but the original code no-longer has direct links.

The original documents as listed below can be found here https://code.google.com/archive/p/multiwii/source/default/source

• svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf
• multiwii/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.odp

## Yaw control​

While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the min_check setting).

For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tail servo is working correctly before takeoff. You can do this by setting tri_unarmed_servo to ON on the CLI (this is the default). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to 0 instead. Check this table to decide which setting will suit you:

Is yaw control of the tricopter allowed?
DisarmedArmed
Throttle lowThrottle normalThrottle lowThrottle normal
tri_unarmed_servo = OFFNoNoNoYes
NoNoNoYes
tri_unarmed_servo = ONYesYesYesYes
YesYesYesYes

## Throttle settings and their interaction​

min_command - With motor stop enabled this is the command sent to the esc's when the throttle is below min_check or disarmed. With motor stop disabled, this is the command sent only when the copter is disarmed. This must be set well below motors spinning for safety.

min_check - With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's

min_throttle - Typically set to just above reliable spin up of all motors. Sometimes this is set slightly higher for prop stall prevention during advanced maneuvers or sometimes considerably higher to produce a desired result. When armed with motor stop off, your motors will spin at this command so keep that in mind from a safety stand point.

max_check - Throttle positions above this level will send max_command to the esc's.

max_throttle - This is the max command to the esc's from the flight controller.

In depth videos explaining these terms are available from Joshua Bardwell here:

deadband - Applied to roll, pitch.
yaw_deadband Only applied to yaw.