cleanflight/docs/Controls.md

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.)

Stick Positions

The three stick positions are:

Position	Approx. Channel Input
LOW	1000
CENTER	1500
HIGH	2000

The stick positions are combined to activate different functions:

Function	Throttle	Yaw	Pitch	Roll
ARM	LOW	HIGH	CENTER	CENTER
DISARM	LOW	LOW	CENTER	CENTER
Profile 1	LOW	LOW	CENTER	LOW
Profile 2	LOW	LOW	HIGH	CENTER
Profile 3	LOW	LOW	CENTER	HIGH
Calibrate Gyro	LOW	LOW	LOW	CENTER
Calibrate Acc	HIGH	LOW	LOW	CENTER
Calibrate Mag/Compass	HIGH	HIGH	LOW	CENTER
Inflight calibration controls	LOW	LOW	HIGH	HIGH
Trim Acc Left	HIGH	CENTER	CENTER	LOW
Trim Acc Right	HIGH	CENTER	CENTER	HIGH
Trim Acc Forwards	HIGH	CENTER	HIGH	CENTER
Trim Acc Backwards	HIGH	CENTER	LOW	CENTER
Disable LCD Page Cycling	LOW	CENTER	HIGH	LOW
Enable LCD Page Cycling	LOW	CENTER	HIGH	HIGH
Save setting	LOW	LOW	LOW	HIGH

Download a graphic cheat sheet with Tx stick commands (the latest version can always be found here).

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 1 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?
	Disarmed		Armed
	Throttle low	Throttle normal	Throttle low	Throttle normal
tri_unarmed_servo = 0	No	No	No	Yes
	No	No	No	Yes
tri_unarmed_servo = 1	Yes	Yes	Yes	Yes
	Yes	Yes	Yes	Yes