yschaeff / hk-t6av2

Serial protocol desciption between computer and HK-T6Av2 RC remote

HK-T6Av2

Serial protocol description between computer and HK-T6Av2 RC remote

In this directory you will find a program to configure your Hobby King remote control from Linux. Further down in this document the full protocol specification is written down as sniffed from the wire by me.

Usage:

 python hkctrl.py [-h] [-t TTY] [-b BAUDRATE] [-u FILE | -d FILE]
 
 HK-T6A V2 configuration tool
 
 optional arguments:
   -h, --help            show this help message and exit
   -t TTY, --tty TTY     Serial port. Default /dev/ttyUSB0
   -b BAUDRATE, --baud BAUDRATE
                         Transmitter baudrate. Default 115200
   -u FILE, --upload FILE
                         Load config in to transmitter and exit. Make sure
                         transmitter is switched on prior to running program.
   -d FILE, --download FILE
                         Dump config from transmitter and exit. Make sure
                         transmitter is switched on prior to running program.

With the -d and -u options you can backup/restore transmitter settings. Without those arguments the program will launch a GUI. (I expect backup/restore to work on MS Windows as well.) Requirements: python, python-serial.

The software might work for:

• HobbyKing HK-T6A (tested by me)
• FlySky FS-CT6A, FS-CT6B
• Turborix TBXT6
• Exceed RC (tested by copterrichie)
• Storm ST-06TX
• CopterX CX-CT6A, CX-CT6B
• Jamara FCX 6

HK-T6Av2 Protocol

The serial port of the transmitter is set at 115200 baud. I've seen 4 messages so far. Pot-state message, parameter request, parameter dump, and parameter set.

Pot-state message

18 Bytes, TX->PC

• Byte [0,1]: Header, always [0x55, 0xFC]
• Byte [2-15]: Payload, Potmeter values.
  • [2] MSB [3] LSB CH1
  • [4] MSB [5] LSB CH2
  • [6] MSB [7] LSB CH3
  • [8] MSB [9] LSB CH4
  • [10] MSB [11] LSB CH5
  • [12] MSB [13] LSB CH6
  • [14] MSB [15] LSB CH4 but between 0 and 1000?
• Byte [16,17]: Checksum. All bytes of payload added up, MSB first.

Parameter Request

3 Bytes, PC->TX

• Byte [0,1]: Header, always [0x55, 0xFA]
• Byte [2]: UNKNOWN, always [0x00]

Parameter Dump

68 Bytes, TX->PC

• Byte [0,1]: Header, always [0x55, 0xFD]
• Byte [2-66]: payload, see Parameter section.
• Byte [67,68]: Checksum. All bytes of payload added up, MSB first.

Parameter Set

68 Bytes, PC->TX

• Byte [0,1]: Header. Always [0x55, 0xFF]
• Byte [2-66]: payload. See Parameter section.
• Byte [67,68]: Checksum. All bytes of payload added up, MSB first.

Parameters

65 Bytes, payload

• Byte [0] upper nibble: TX Model.
  • Resp. Model1-4
• Byte [0] lower nibble: Craft Type.
  • Resp. Acro, heli120, heli90, heli140
• Byte [1]: Reverse bitmask. Lower six bits
  • CH1 last LSB. 0: off, 1: on.
• Byte [2-7]: DR values [0-127]
  • [2] CH1, DR on value
  • [3] CH1, DR off value
  • [4] CH2, DR on value
  • [5] CH2, DR off value
  • [6] CH4, DR on value
  • [7] CH4, DR off value
• Byte [8-10]: Swash AFR [0-127]. Available in Heli modes only
  • [8] CH1
  • [9] CH2
  • [10] CH6
• Byte [11-22]: End points for potmeters, [0-127]
  • [11] Left [12] Right CH1
  • [13] Left [14] Right CH2
  • [15] Left [16] Right CH3
  • [17] Left [18] Right CH4
  • [19] Left [20] Right CH5
  • [21] Left [22] Right CH6
• Byte [23-32]: Throttle curve [0-127]. Available in Heli modes only
  • [23] Normal [24] ID EP0
  • [25] Normal [26] ID EP1
  • [27] Normal [28] ID EP2
  • [29] Normal [30] ID EP3
  • [31] Normal [32] ID EP4
• Byte [33-42]: Pitch curve [0-127]. Available in Heli modes only
  • [33] Normal [34] ID EP0
  • [35] Normal [36] ID EP1
  • [37] Normal [38] ID EP2
  • [39] Normal [40] ID EP3
  • [41] Normal [42] ID EP4
• Byte [43-48]: Subtrim, signed, two's complement [-128-127]
  • [43] CH1
  • [44] CH2
  • [45] CH3
  • [46] CH4
  • [47] CH5
  • [48] CH6
• Byte [49-52]: Mix1 setting
  • [49] upper nibble, source select, resp. CH1-CH6,VRA,VRB
  • [49] lower nibble, destination select, resp. CH1-CH6
  • [50] Uprate [0-127]
  • [51] Downrate [0-127]
  • [52] Switch, reps. SWA, SWB, ON, OFF
• Byte [53-56]: Mix2 setting
• Byte [57-60]: Mix3 setting
• Byte [61-64]: Switch Functions
  • [61] Switch A, Resp. Unassigned, Dual Rate, Throttle cut, Normal/Idle
  • [62] Switch B, Resp. Unassigned, Dual Rate, Throttle cut, Normal/Idle
  • [63] VRA, resp. Unassigned, Pitch Adjust. Available in Heli modes only
  • [64] VRB, resp. Unassigned, Pitch Adjust. Available in Heli modes only