Cleanflight Manual Rev.6
Code No. MD04001-00-0108
8
Servos tab
What we want to set up are the first 5 columns and the ‘Direction’ one (NOT columns ‘CH1’ to ‘A4):
0° is when the servo is all on one direction: this is normally around 1000 μs. However, we’ve found that for non-180 degrees servos,
the PWM for this servo angle is below 500 μs (see note below).
90° is when the servo arm is centered: this is normally around 1500 μs.
180° is when the servo arm is exactly in the opposite direction from 0 deg: this is normally around 2000 μs.
MIN/MAX limit deg is a software limitation in degree on the spin of the servo: MIN for the maximum travel BACKWARDS and MAX
for the maximum travel FORWARD. It’s a good idea to start with ±45° from the neutral position (therefore, if 90° is the vertical
motor position, ±45° means the travel of the arms will go from ‒45° to +135°). When you feel comfortable, you can increase the
arms travel.
NOTE
: During our tests of several servo brands and versions we found out that servos come calibrated in different ways, and
some can't even do a real full 180° (even forcing the PWM out of the recommended specs, especially digital ones, which are
limited by firmware). Therefore, it is very important to properly set up the ‘MIN limit deg’ and ‘MAX limit deg’, for instance to
45° or 60° and use a angle measuring tool to check the angulation (ideally a goniometer but a simple square sheet of paper
folded in diagonal will give you the 45° reference).
Direction: here you can reverse the servo rotation if you need to.