I have the Taranis X9D+2019 set up with logical switches in order to obtain 6 mode possibilities with two three-position switches, as per the recommended setup in the general arducopter documentation here:
which is to say, 6 different pwm values on Channel 5.
The mode switching works successfully. However, during the act of switching the receiver to the desired mode, the receiver briefly sends out a pwm value of 2012 before settling on the new, proper value. For example, I have Loiter Mode at 988 and Auto Mode at 1306. When moving the switch between the two, however, I get a brief moment of 2012 and the AP thinks I want to go into Throw mode. Now, switching to Throw mode naturally fails because the appropriate conditions aren’t met, but it’s still not ideal because I get mavlink error messages, error messages in my log, etc.
I have tried two different methods for implementing the mode-switching within the Taranis.
Method 1) using six different logical switches, and on the mixer page including those logical switches with different offsets and weights
Method 2) using six different logical switches, leaving the mixer for ch5 empty, and adding 6 special functions that override channel five based on which logical switch is activated.
On method 1, I get a spurious signal that is 100% output to Ch5; for method 2, I get a spurious signal that is 0% output (middle) to Ch5.
For both methods, I have tried inserting delays into the Taranis, without success. I have tried placing delays on Ch5 in the mixer page for method 1. I have tried placing delays in the logical switches for method 1. I have tried placing delays in the logical switches for method 2. When I place a “delay up” on each of the entries in the mixer screen, it makes the situation worse–it immediately goes to the spurious value (either HIGH or MIDDLE) and then delays at that spurious value for the defined time before going to the appropriate value.
So, two courses of questions:
a) Is there a parameter in AP that permits a defined delay before accepting the new mode pwm value, to implement a time filter on switch changes?
b) if not, how do I get my Taranis to cooperate?