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====== Using a Taranis X9D (Plus) RC transmitter with the Crazyflie Android client ======

{{ :misc:hacks:taranisx9d.png?200|}} If you already own a Taranis X9D (Plus) RC transmitter and want to use it as a controller, it can be configured to work with the Crazyflie Android client.
Fortunately the transmitter is able to act as an USB Joystick (see https://github.com/opentx/opentx/wiki/OpenTX-USB-Joystick).

===== Create a new model for the Taranis X9D (Plus) =====

[[ https://wiki.bitcraze.io/misc:hacks:taranispython?#create_a_new_model_for_the_taranis_x9d_plus | Create a new model for the Taranis X9D (Plus)  ]]

===== Configure the Crazyflie Android client =====

Here are the necessary steps to configure the Crazyflie Android client:
  - Turn on the Taranis
  - Connect the Taranis with a USB cable and a USB host (OTG) adapter to the Android device
    * The Taranis screen should display a USB symbol when it's connected 
  - Check that all sticks are in center position
  - Open the Crazyflie Android client
  - Go to Preferences -> **Controller Settings** and switch Controller to Gamepad
  - Go to **Gamepad axis and button mapping** and configure the following axes
    * Right analog X axis should be AXIS_Y
    * Right analog Y axis should be AXIS_Z
    * Left analog X axis should be AXIS_RX
    * Left analog Y axis should be AXIS_X
  - Depending on the mode you are using on the Taranis (Mode 1 or 2), set the Mode in the Android app
    * Preferences -> **Flight control settings** -> **Mode**

===== Use the Taranis X9D (Plus) with the Crazyflie Android client =====

  - Before connecting to the Crazyflie, check that all axes are working (values should change in the Android app)
  - **Attention: Always make sure that the thrust stick is all the way down before connecting to the Crazyflie** :!:
  - Connect to the Crazyflie 2 over BLE
    * If you have a Crazyflie 1 you need to use a (powered) USB hub to connect both the Taranis RC transmitter and the Crazyradio USB dongle
  - Fly the Crazyflie with the Taranis and have fun! :-D
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