Controls
OrniFlight uses standard RC stick mapping with ornithopter-specific extensions.
Stick Mapping
| Stick | Axis | Primary Effect |
|---|---|---|
| Throttle (Left, vertical) | Throttle | Flapping amplitude / thrust |
| Yaw (Left, horizontal) | Yaw | Differential wing thrust for turning |
| Pitch (Right, vertical) | Pitch | Forward/backward tilt |
| Roll (Right, horizontal) | Roll | Left/right banking |
Flight Modes
| Mode | Stick Behavior |
|---|---|
| ACRO | Sticks control angular rate — no auto level |
| ANGLE | Sticks control angle — auto-level when released |
| HORIZON | ANGLE near center, ACRO at full deflection |
ACRO is recommended for experienced pilots. ANGLE is good for first flights and thermal soaring.
Ornithopter-Specific Controls
INDEPENDENT Mode
When INDEPENDENT mode is active, each wing servo responds independently: - Left stick → left wing servos - Right stick → right wing servos - Enables asymmetric flapping for aggressive maneuvers
GLIDE Mode
GLIDE mode locks both wings in horizontal position. The ornithopter becomes a glider: - Throttle has no effect on wing position - Pitch/Roll/Yaw still influence tail control surfaces (if equipped)
Profile Switching
In-flight profile switching via AUX channel allows changing PID/ONDAS parameters mid-flight: - Profile 1: Standard cruise settings - Profile 2: High-agility settings - Profile 3: Efficiency/glide settings
Rates
Configure rates in the PID Tuning tab. For ornithopters, start with conservative rates — flapping dynamics amplify control inputs: - RC Rate: 0.80–1.00 - Super Rate: 0.60–0.70 - Expo: 0.20–0.40