PWM Triggering

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.

Overview

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.

WARNING: RC Inputs 1-6 are reserved for the motor signals, set all channels for manual control starting at channel 7 or higher to avoid issues.

Set Servo Channels

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

UPI PWM -> Servo Output Maps

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

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

Jeti DS12

1. Power on the Jeti controller and hit the Menu Button, navigate to: Model > Functions Assignment. (Figure 1)

   
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. (Figure 3)

  

1. 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) (Figure 4)

• 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) (Figure 5)

  

1. Hit the ESC Button to return to the Model menu and scroll down to Servo Assignment and use the Select Wheel to open. (Figures 6 & 7)

   

• 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. DO NOT map channels 1-6 to switches. This will cause the ACFT to receive unwanted input for the motors.

• 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) (Figure 8)

DO NOT map channels 1-6 to switches. This will cause the ACFT to receive unwanted input for the motors.

1. 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. (Figure 9)

UPI PWM -> Servo Output Maps Chart

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. (Figure 9)

• 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 (Figure 9), 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.(Figure 10)

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

HereLink

The A & B buttons are reserved for flight modes, changing these can result in vehicle instability and is not recommended.

1. Open the HereLink Settings App (Figure 1)

   

• Navigate to the BUTTONS tab, select New to create a new config profile, give it a name and press OK to continue. (Figures 2 & 3)

  
• 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. (Figure 4)

  
• 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. (Figure 5)

• 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. (Figure 5)

1. 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 (Figure 6)

• 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. (Figure 6)

UPI PWM -> Servo Output Maps Chart

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