FrSKY S6R Alternative Flight Mode Switching

Please note, I have not yet tested this with an actual receiver. However, all the channel outputs of the Taranis are working as they are supposed to. In theory, this should work, but as I've not tested myself yet, you use this at your own risk.

Also note that this set up is based on the regular aircraft model in the S6R, not a flying wing. The channel positions are different for both types of model.

I've ordered a FrSKY S6R receiver for my EFlite Extra 260, but didn't like the way the switches are setup with switches being mapped directly to the output channels. To me it seemed all to easy to put it in a mode you didn't want to (such as hover or knife edge when you want normal flight) and if you want to go from stabilised flight to auto level, or vice versa, you have to go through unstabilised (normal) flight, which to me seems wrong. Using the advanced features of the Taranis, I have come up with a solution where switch SB functions as Auto-Level, - Stabilised, and Normal flight, and switch SC (optional) functions as Knife Edge, - Off, and Hover. I have also added a parameter which states SB must be in (normal flight) for the Knife Edge or Hover modes to work. If you don’t want to use the Knife Edge or Hover features of the S6R

Step 1 - Mapping the switches

Our first step is to create Logical Switches to determine which flight mode we want to be in, based on the position of our SB & SC switches.

Logical Switches setup for S6R flight modes

L01 creates the condition for the Auto-Level flight mode. If SB reads less than 50 (Switch in the position), switch L01 is active. I have put Auto-level in the up position because it's easier to flick the switch up if you get in trouble than try to pull the switch down.

L02 creates the condition for the stabilised flight mode, SB-.

L03 creates the condition for the normal flight mode SB↓.

L04 creates the condition for the Hover flight mode. This mode only goes active if SC↓ and L03 is active.

L05 creates the condition for the Knife Edge flight mode. This mode only goes active if SC↑ and L03 is active.

Step 2 - Create the flight modes

You don't really need to do this step, however I find it adds some clarity and also enables you to make changes for each mode, for example, you could have different rates and expo on the hover mode.

Flight Modes set up for the S6R

Give each Flight Mode a Name, which will be displayed on the screen of the Taranis when the mode is selected, and for modes 1 to 4, set the Switch to the appropriate Logical Switch.

Step 3 - Name the Outputs

This step, again, is not essential, but it helps for clarity in the next step. Set the names of Outputs 9, 10, 11, & 12.

Outputs setup for S6R

Step 4 - Create the Special Functions

The last 3 steps have really be setting up for this, this is where the magic happens and we output the correct values for the modes using our switches. There are 2 parts to this, part A does all the work, and part B is optional audio confirmation of the modes changing.

A) Modifying the Channels

We need to create some channel override Special Functions and map them to our Logical Switches. These overrides create the correct output on channels 10 and 11 to map our logical switches to the desired flight mode.

Special Functions for S6R flight modes - channel output

You'll notice that each Logical Switch, with the exception of L03, have an override of both channels 10 & 11, whereas L03 (normal flight) just requires Ch 10 to be in the middle position. If you run this through the simulator in OpenTX Companion, you will see the channel outputs changing with the switch movements and can compare them to the expected channel outputs in the S6R documentation.

B) Adding audible feedback

This is the last part, optional audio feedback when you change Flight Modes. I have created flight mode audio tracks and pre-installed them on my Taranis. There are plenty of tutorials on YouTube for creating audio tracks for the Taranis, so I won't cover that here.

Special Functions for S6R flight modes - audio feedback

I use the Flight Mode to create the Special Function, however if you chose not to set the flight modes, you can use the Logical Switches in the same way.

There you have it. This should get the S6R functionality working with, I feel, a better switch combination, a fail-safe on the Knife Edge and Hover modes, with visual and audible feedback. As one last note on the S6R, I have mapped my S2 dial to the deflection gain of the stabiliser. Go to the Mixes screen, double click on Channel 9 and use the following settings to use the full range of the S2 dial, rather than just middle to low or high. You could map this to either of the dials or triggers, however I found the dials more accurate than the triggers.

S6R gain dial mixer settings