# PWM Triggering

<mark style="color:green;">This document covers the channel mapping for the PWM out signals from the UPI and what corresponding servo channel handles each PWM. Using the servo channel, the PWM can be mapped to a channel on the Herelink or Jeti controllers to be controlled by a specified button, switch or dial.</mark>

### Overview <a href="#peemd8pnwb90" id="peemd8pnwb90"></a>

PWM coming from the UPI will be set to a channel by mapping the Servo # function parameter. For example, a UPI with PWM 1 pinned will correspond to SERVO9\_FUNCTION. Set this parameter to RCIN7 to control channel 7 with the PWM signal. Channel 7 would then be mapped on the controller to the button you would like to trigger the signal.&#x20;

{% hint style="danger" %}

#### <mark style="color:red;">WARNING: RC Inputs 1-6 are reserved for the motor signals, set all channels for manual control starting at</mark> <mark style="color:red;"></mark>*<mark style="color:red;">channel 7 or higher to avoid issues</mark>*<mark style="color:red;">.</mark>

{% endhint %}

### Set Servo Channels <a href="#fn3x4ypb54rq" id="fn3x4ypb54rq"></a>

Depending on which PWM is pinned from the UPI, use the following chart to determine the correct Servo Channel #.

### UPI PWM -> Servo Output Maps <a href="#jl3ui487ozdc" id="jl3ui487ozdc"></a>

| **UPI Pin**   | **Servo Channel** | **Parameter**     |
| ------------- | ----------------- | ----------------- |
| Pin 1 - PWM 1 | 9                 | SERVO9\_FUNCTION  |
| Pin 2 - PWM 2 | 10                | SERVO10\_FUNCTION |
| Pin 3 - PWM 3 | 11                | SERVO11\_FUNCTION |
| Pin 4 - PWM 4 | 12                | SERVO12\_FUNCTION |
| Pin 7 -PWM 7  | 7                 | SERVO7\_FUNCTION  |
| Pin 8 - PWM 8 | 8                 | SERVO8\_FUNCTION  |

### Set Radio Controls <a href="#tyjlu3jvnkhu" id="tyjlu3jvnkhu"></a>

**Start by configuring the setup with your vehicle powered off and device unplugged.**

### Jeti DS12 <a href="#riyg5dh8u6jb" id="riyg5dh8u6jb"></a>

<figure><img src="/files/wuhSkF3eeL05Rxncq7IO" alt=""><figcaption></figcaption></figure>

1. Power on the Jeti controller and hit the **Menu Button**, navigate to: **Model** > **Functions Assignment**. <mark style="color:blue;">(Figure 1)</mark>

   <figure><img src="/files/ugUvaRu6yYhAPhsXSiOm" alt=""><figcaption></figcaption></figure>
2. Press the **+ icon** (**Button 3)** to bring up the **Edit** menu to add a new function.

* Enter the name for your new function by scrolling using the **Select Wheel**, then press **OK** (Button 5) to proceed. <mark style="color:blue;">(Figure 3)</mark>

  <figure><img src="/files/Cste5SA4DkPjlJHRzMa7" alt=""><figcaption></figcaption></figure>

3. Select your created channel using the **Select Wheel** and pressing the **Wheel Button.** (Don’t worry about the number to the left, the actual channel output will be mapped in a later step) <mark style="color:blue;">(Figure 4)</mark>

* Use the **Select Wheel** to highlight the **Control** option and press the **Wheel Button**. Flip the switch on the controller you’d like to use as the control. It will populate the option and show the value. Hit the **OK** (Button 5) to proceed. (The PWM values can be fine-tuned in a later step) <mark style="color:blue;">(Figure 5)</mark>

  <figure><img src="/files/amuIt3KCwndqzRg8VTXD" alt=""><figcaption></figcaption></figure>

4. Hit the **ESC Button** to return to the **Model** menu and scroll down to **Servo Assignment** and use the **Select Wheel** to open. <mark style="color:blue;">(Figures 6 & 7)</mark>

   <figure><img src="/files/qBS2mKdn1O0gJWrckuQ5" alt=""><figcaption></figcaption></figure>

* The ACFT uses RCIN channels 1-6 for motor control. Starting at channel 7 we can map PWM signal outs. Scroll to Channel 7 or 8 using the **Select Wheel** and **Wheel Button,** then choose your newly created channel from the dropdown menu.  <mark style="color:orange;">**DO NOT map channels 1-6 to switches. This will cause the ACFT to receive unwanted input for the motors.**</mark>
* Navigate back to the **Model** menu and scroll down to **Servo Setup** to proceed to the next step. **Servo Setup** will be used to fine tune the PWM values using **Mission Planner** to see the exact values. Use the **Select Wheel** to select your **Servo No**. from the dropdown and scroll to select the newly created channel. Use the **Max Positive** and **Max Negative** values to adjust the PWM value. (This value will be seen in exact numbers in step 5) <mark style="color:blue;">(Figure 8)</mark>

<figure><img src="/files/ph2q9BUHUhwg6gFzWAQ9" alt=""><figcaption></figcaption></figure>

{% hint style="danger" %} <mark style="color:red;">**DO NOT map channels 1-6 to switches. This will cause the ACFT to receive unwanted input for the motors.**</mark>
{% endhint %}

5. Power on the ACFT and connect to **Mission** **Planner** to set PWM values for your servo channels.

* Navigate to the **Setup** tab then to **Mandatory Hardware** > **Servo Output**
* For your UPI pinout, choose the appropriate channel (based on the **UPI PWM** > **Servo Output Maps Chart** chart) and set the RC Input to match the channel from the **Servo Assignment** step. In our example, the **Servo Assignment** was set to **channel 7** and will correspond to **RCIN7.** <mark style="color:blue;">(Figure 9)</mark>

#### UPI PWM -> Servo Output Maps Chart <a href="#id-878lcm2l9ate" id="id-878lcm2l9ate"></a>

| **UPI Pin**   | **Servo Output** |
| ------------- | ---------------- |
| Pin 1 - PWM 1 | 9                |
| Pin 2 - PWM 2 | 10               |
| Pin 3 - PWM 3 | 11               |
| Pin 4 - PWM 4 | 12               |
| Pin 7 -PWM 7  | 7                |
| Pin 8 - PWM 8 | 8                |

* From the **Servo Output** menu in **Mission Planner**, choose the **Servo Output** that corresponds to your **UPI Pin PWM** and select RCIN# to match the channel from the Jeti controller. <mark style="color:blue;">(Figure 9)</mark>

<figure><img src="/files/DSgfCZSSYiA5Uvz0Ffhg" alt=""><figcaption></figcaption></figure>

* Use the **Servo Setup** tab in the hand controller to verify the values of your switch by activating and deactivating to see the values in the **Servo Output** tab and use the **Max Positive** and **Max Negative** sliders on the controller to set the exact range. In the picture above <mark style="color:blue;">(Figure 9)</mark>, we have PWM 1 from the UPI (Servo Channel 9) set to RCIN7 and the Jeti controller using the SF switch on channel 7. Fine tune the values by adjusting the **Max Positive** and **Max Negative** values and flipping your switch to see the value in the **Servo Output.**<mark style="color:blue;">(Figure 10)</mark>

<figure><img src="/files/uaYvZS2hRioU00hfsZo6" alt=""><figcaption></figcaption></figure>

* Double check your PWM and verify the channels are correct before plugging in your device.

### HereLink <a href="#id-1h87a84e9o8l" id="id-1h87a84e9o8l"></a>

{% hint style="warning" %}
**The A & B buttons are reserved for flight modes, changing these can result in vehicle instability and is not recommended.**
{% endhint %}

1. Open the HereLink Settings App <mark style="color:blue;">(Figure 1)</mark>

   <figure><img src="/files/pU8wrI5VExxmuQ7fpbyw" alt=""><figcaption></figcaption></figure>

* Navigate to the **BUTTONS** tab, select **New** to create a new config profile, give it a name and press **OK** to continue. <mark style="color:blue;">(Figures 2 & 3)</mark>

  <figure><img src="/files/BDD2550XLOIVPfNrB4gY" alt=""><figcaption></figcaption></figure>
* Using the dropdown menu, select the button configuration you’d like to use and press the **ADD** button. For this example, we will add a **C short press** configuration. <mark style="color:blue;">(Figure 4)</mark>

  <figure><img src="/files/xbIi1t60FSFwN6aftRf3" alt=""><figcaption></figcaption></figure>
* Select **M** for Momentary or **T** for Toggle. Momentary will hold the active value as long as the button is held down. Toggle will act as a switch between the active and default values. <mark style="color:blue;">(Figure 5)</mark>
* Set the Default Value and Active value by swiping the numbers to the left or right. Set the channel (starting at channel 7 or higher) to match the RCIN# that will be set in **Mission Planner** to match the **Servo Output Chart**. <mark style="color:blue;">(Figure 5)</mark>

<figure><img src="/files/RNCR2m6UHfuLJfIOEyoP" alt=""><figcaption></figcaption></figure>

2. Power on the ACFT and connect to **Mission** **Planner** to set PWM values for your servo channels.

   <figure><img src="/files/gtkjVONN9tkuvQ7hAR2x" alt=""><figcaption></figcaption></figure>

* Navigate to the **Setup** tab then to **Mandatory Hardware** > **Servo Output** <mark style="color:blue;">(Figure 6)</mark>
* For your UPI pinout, choose the appropriate channel (based on the **UPI PWM > Servo Output Maps Chart** chart) and set the RC Input to match the channel # for your button configuration. In our example, the channel was set to **channel 7** and will correspond to **RCIN7.** <mark style="color:blue;">(Figure 6)</mark>

#### UPI PWM -> Servo Output Maps Chart <a href="#gufvv9ejfm65" id="gufvv9ejfm65"></a>

| **UPI Pin**   | **Servo Output** |
| ------------- | ---------------- |
| Pin 1 - PWM 1 | 9                |
| Pin 2 - PWM 2 | 10               |
| Pin 3 - PWM 3 | 11               |
| Pin 4 - PWM 4 | 12               |
| Pin 7 -PWM 7  | 7                |
| Pin 8 - PWM 8 | 8                |


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