Mike Shellim
Last updated 12 May 2022
OpenTX is a wonderfully flexible operating system. However if you've come from a brand like Futaba or Spektrum, it can seem strange and difficult. My aim with this article is to explain how OpenTX works, and how to design your own setups.
I'll cover the following topics:
Examples will be illustrated with screenshots and text.
Okay, so let's start at the beginning.
Like all RC systems, OpenTX executes a processing loop several times a second. With each pass, the control positions are read, mixing is applied, and channel values are calculated. All this is done fast enough to provide the illusion of a smooth response.
The graphic below illustrates the processes and data flows:
In the graphic above,
The boxes represent the three stages of processing:
All computer programs need data to work with. With OpenTX, the data are your sticks, switches, inputs, trims and so on. The general term for these is sources.
Each source has a unique identifier, for example:
Each source carries a value between -100 and 100 according to its position. Zero represents the centre. Examples:
You can monitor the values of analog sources (that is, sources using potentiometers) in the SYS->HARDWARE menu - this is useful for checking that they're calibrated correctly.
In the following sections, we'll see how these source values are collected, transformed and finally output as PWM values, one for each servo channel.
Before we leave the topic of source, I'll mention a couple of special ones:
Mixers are the brains of your setup - they determine how your stick movements are converted into channel commands.
Mixers are managed in the MIXERS menu. Unlike other radios, there's only one type of mixer in OpenTX, and it's extremely simple:
You can think of it as the ultimate 'free mix'! A setup will contain anything from a couple (for a simple RE sailplane) to dozens of mixer (for an F3X ship).
The screenshot below shows a single mixer. The source is the aileron stick, and the output is Channel 1. You can read the line as "Channel 1 is affected by the aileron stick, with 100% effect":
Try programming it in your trasmitter! As you move the aileron stick, the servo on CH1 will move in response.
We've seen that mixers send their output to a channel, so let's say a few words about these. (Note that the terms channels and outputs are often used interchangeably.)
In OpenTX, a channel has a wider meaning than with other systems. Key points:
In the screenshot below, we've reserved channels 1, 2 and 3 as servo outputs:
Each channel is given a name. The columns to the right of the name refer to centre and end point adjustments. That's all we'll say about the OUTPUTS menu for now - we'll be revisiting them again later.
In this section we'll look at the three basic mixing schemes. These will form the building blocks of your setup.
The simplest scenario. We've already seen this, where a single source drives a single output. In this case, the source is the aileron stick, and the output is CH1:
In this scenario, a single source drives multiple outputs.
The example below is for dual aileron servos. The source is the aileron stick, and the outputs are CH1 and CH5. The negative sign on CH5 indicates that the mixer effect is reversed (ailerons travel in opposite directions).
In this scenario, a single servo is driven simultaneously by more than one stick.
This example shows a V-tail servo on CH5 being driven by both the rudder and elevator sticks:
The '+' sign against the Ele line indicates that mixer outputs are added. In other words, each stick makes an independent, additive contribution to CH5.
In this section, I'll describe a simple method of designing a setup, in four steps. In fact, the same method can be applied to any model, regardless of complexity!
The basic idea is to identify all the interactions between stick and output channels, and to convert these into mixer definitions.
We'll use the example of a flying wing. This has two channels for elevons. The elevator stick drives them in the same direction, the aileron stick in opposite directions.
The first step is to name the channels. We can do this directly in the OUTPUTS menu.
Next, we identify the interactions between sticks and channels. For each stick, we make a list of the channels which are affected when moving the stick.
Starting with the aileron stick:
- Ail -> CH1
- Ail -> CH2
Similarly, for the elevator stick:
- Ele -> CH1
- Ele -> CH2
At this stage, we're not interested in directions and rates.
Next, write the interactions in reverse format:
- CH1 <- Ail
- CH2 <- Ail
- CH1 <- Ele
- CH2 <- Ele
So now, each line reads as "[channel] is affected by [source]". This corresponds to the way mixers are entered.
Finally, in the MIXER menu, create a mix for each interaction. (If you want to try this, just set the source parameter, leave the other fields at their defaults.)
The '+=' means on each line shows that the mixes are additive.
That's it, done!
Except, there's just one problem: we haven't taken into account the differences between pitch the elevator and aileron responses. We could do this by adjusting the mixer weights, but it would mean two adjustments for the aileron stick, and two for the elevator stick. A much better way is to use an aileron input. We'll look at this in the next section.
Inputs are based on sticks and sliders. The difference is that inputs incorporate rates and expo. While in theory their use is optional, in practice they are essential for the main flight controls (aileron, elevator and rudder).
Inputs are not built in - they must be created using the INPUTS menu. Each input has a name (max 3 characters), a source (stick, slider etc.), a weight, and optionally an expo value. The names are shown with a prefix of '[I]' in the menus, to distinguish them from the raw sources.
Did I say you have to create your own inputs? Well conveniently, when you create a new model, OpenTX creates four inputs [I]Ail, [I]Thr, [I]Rud and [I]Ele.
Using our flying wing example, we'll define a couple of inputs for the aileron and elevator controls. We'll assign a weight of 90% to the aileron stick, and 30% for the elevator. We'll set the expo to 10%. The INPUTS menu will look like this:
Next, we must go back and edit the mixers, so the source refers to these inputs:
To alter the aileron rate, we only need to alter a single input, instead of two mixers.
Note that OpenTX precedes the input names with an 'I', to distinguish them from regular sources.
Note also that I have set the mixer rates to 100%. This is good practice when when the source of a mix is an input.
You don't alway have to use inputs. Sometimes it's more appropriate to use the regular sticks directly.
Inputs are an important part of OpenTx, and you can read more about them here.
In this section, you'll learn how your commands are processed. A good understanding is useful for troubleshooting your setups.
The first thing to remember is that weights are applied cumulatively from inputs to mixers to outputs.
Let's take the flying wing example. We'll consider just the inputs and mixers:
Taking the inputs first:
Next, the inputs are aggregated in the Mixers:
So let's see what happens as we move the sticks:
| S T I C K S | M I X E R O U T P U T S | ||
| Ail stick | Ele stick | CH1 | CH2 |
| (centre) 0 | (centre) 0 | 0 | 0 |
| (full right) 100% | (centre) 0 | 90+0=90 | -90+0=-90 |
| (full left) -100% | (centre) 0 | -90+0=-90 | 90+0=90 |
| (centre) 0 | (full forward) 100% | 0+30=30 | 0+30=30 |
| (half right) 50% | (half forward) 50% | 45+15=60 | -45+15=-30 |
| (full right) 100% | (full forward) 100% | 90+30=120 | -90+30=-60 |
The last line shows the effect of "stick in the corner": the mixer output for Channel 1 is 120. In fact, mixer outputs are clipped to +/- 100 in the OUTPUT stage. More on that later.
Once you've designed your setup, you'll want to check that it works as intended. You can do this on the transmitter, or in the in Companion simulator, using the Mixers monitor.
On the X9D, To activate the mixers monitor, go to the splash screen press and press {Page} until you get to the channels monitor, then press Enter.
The values are percentages of available travel on each channel. The available travel is set later in the OUTPUTS.
Don't be concerned about the linkages or left/right imbalances when designing your mixers - these will be dealt with when you calibrate the Outputs.
The Outputs stage is the final stage of processing prior to transmission. the process is controlled in the OUTPUTS menu is where you adjust the direction, end points and centres of each servo.
Another way of thinking about the outputs: it's where your mixer logic hits the real world of servos and linkages.
There are two processes involved in the Outputs stage:
Let's look at each step in more detail:
Recall how mixer outputs are aggregated from individual mixer lines:
CHx_MixOutput = SUM (CHx_MixLine1, CHx_MixLine2, ...)
If several mixers are active, and aggressive stick movements are applied, then clearly the command could exceed the mechanical limits of the servo. To prevent this, the Outputs stage clips mixer values which exceed bounds of -100 and +100.
Next, the clipped channels are mapped to PWM values according to the parameters in the the Outputs menu:
The key parameters are Min, Max, Subtrim and Direction. Together these define a three-point curve.
Since the incoming channel values are clipped to +/−100%, Min and Max also represent absolute servo limits - think of these as electronic end stops.
You may have noticed that Min, Max and Subtrim are entered as percentages, while they actually represent PWM values. The relationship between the units is as follows:
| Min/Max/Subtrim | PWM |
| -150% | 732 μs |
| -100% | 988 μs |
| 0% | 1500 μs |
| 100% | 2012 μs |
| 150% | 2268 μs |
PWM values outside the range 988 - 2012 μs are only available if Extended Limits are enabled (in the Model menu).
To calibrate your servo limits, generate mixer values of -100 and +100, then adjust Min and Max as required. Similarly to calibrate the servo centre, generate a mixer value of zero, then adjust Subtrim.
You can monitor the final output values using the Channels monitor.
We've seen how mixer line values are aggregated via addition. In fact OpenTx offers a lot more flexibility, by means of Multiply and Replace operators. The operator is specified in the Multiplex parameter:
Okay, so let's see how these operators are applied.
At the start of each processing loop, the channel values for all channels are reset to zero. Then, as each mixer is processed, its parent channel is updated as follows:
Note: if a mix is disabled (e.g. via a switch), it's ignored entirely.
The following examples illustrate the effect of the various operators. Note the importance of mixer order when using 'REPL' and 'MULT'!
Src = I1, op=ADD
Src = I2, op=ADD
result = I1 + I2
Src = I1, op=ADD
Src = I2, op=ADD
Src = I3, op=MULT
result = (I1 + I2) * I3
Src = I1, op=ADD
Src = I2, op=MULT
Src = I3, op=ADD
result = (I1 * I2) + I3
Src = I1, op=ADD
Src = I2, op=MULT (disabled)
Src = I3, op=ADD
result = I1 + I3
Src = I1, op=ADD
Src = I2, op=REPL
Src = I3, op=ADD
result = I2 + I3
Src = I1, op=ADD
Src = I2, op=REPL
Src = I3, op=MULT
result = I2 * I3
Src = I1, op=ADD (disabled)
result = 0
MAX is a special source which doesn't correspond to a physical control. Instead, MAX supplies a fixed value of +100. In conjunction with weight, it can be used to simulate the effect of a fixed stick position.
Src = MAX, wt =100 -- output = 100%
Src = MAX, wt=50 -- output = 50%
Src = MAX, wt=-100 -- output = -100%
Here's a simple example, showing a crude motor arming system. The motor is armed when SA is down.
MIXERS menu
CH7 (motor)
Src = Thr, wt=100%,
Src = MAX, wt=-100%, switch=!SA_down, multiplex = REPL
If you're familiar with F3X sailplanes, you may wish to look at interactions and mixes for F3X sailplanes. Such a scheme will normally be optimised by means of Inputs (described later in this article), GVARs and cascading mixers.
LapinFou has produced some useful data flow diagrams which describe the internal workings of OpenTx (Note: at the time of writing, there are one or two errors in the order of processing of curves).
