Basic Setup

Configure your ornithopter for first flight.

Pre-Flight Checklist

Before anything else:

• [ ] Flight controller flashed with OrniFlight
• [ ] Receiver bound to transmitter
• [ ] Servos connected to correct PWM outputs
• [ ] Battery connected (wings secured!)

Receiver Setup

CRSF (Recommended)

1. Ports tab: Set UART (e.g. UART1) to “Serial RX”
2. Configuration tab: Receiver Mode = “Serial-based receiver”, Provider = “CRSF”
3. Power cycle, verify channel inputs move in Receiver tab

SBUS / Other

Same process — select appropriate protocol in Configuration tab.

Servo Mapping

In the Servos tab:

Adjust min/max/middle to match your servo’s range. Test with “Override” to verify direction.

Flight Mode Selection

In the Modes tab:

1. ARM: Assign to a switch (safety!)
2. ORNITHOPTER INDEPENDENT or ORNITHOPTER GLIDE: Choose your primary flight mode
3. ORNITHOPTER PROFILE: Optional — assign for in-flight profile switching

ONDAS First Tuning

Go to Advanced → ONDAS sub-tab:

1. Cadence Gain: Start at 50 (mid). This is the most important parameter.
2. Ferocity D Gain: Start at 30. This is your primary stabilization.
3. Ferocity P Gain: Start at 20 for roll/pitch, 0 for yaw.
4. Balance Gain: 0 (centered).

Hook up a battery, secure the ornithopter firmly, and ARM. Observe servo movement — it should be smooth, sinusoidal flapping.

First Flight

1. Start with a gentle toss into wind
2. Use GLIDE mode for natural soaring feel
3. Use INDEPENDENT mode when you want direct frequency control
4. Land, adjust ONDAS, repeat

Next: ONDAS Tuning Guide →