Robotics/Lucille MK2/Config

EdgeTX Model Profile: Lucille MK2

Carried over from MK1 Radio Config with the model name updated. The control stack (RadioMaster ER6, ExpressLRS 2.4GHz, EdgeTX radio) is unchanged from MK1 — only the model entry on the radio and the channel assignments need to match MK2’s brushless ESCs.

🎮 Model Settings (Standard)

Feature	Value	Notes
Model Name	LUCILLE MK2	New model slot, separate from MK1
Internal RF	OFF	Using ELRS External Module
External RF	CRSF	(ExpressLRS)
Channel Range	CH1 - CH8

🕹 Inputs

[I]Steer: Source: Ail, Weight: 75, Expo: 25 (Smoother turns).
[I]Drive: Source: Ele, Weight: 100, Expo: 15.
[I]Wep: Source: Thr, Weight: 100 (Left stick).

🎛 Mixes (Single-Stick Drive)

MK2 has two drive ESCs (one per side, each driving the front+rear wheel via belt). The mix is the same tank-style arcade mix as MK1 — left stick = throttle, right stick = steering, mixed into per-side outputs.

CH1 (L_DRIVE_ESC):
- +100% [I]Drive
- +100% [I]Steer
CH2 (R_DRIVE_ESC):
- +100% [I]Drive
- -100% [I]Steer (Inverted steering for tank mix)
CH3 (WEAPON ESC):
- +100% [I]Wep
CH5 (ARMING):
- Source: SF (2-position switch). Must be High (+100%) for ELRS Arm.

Brushless ESC calibration

Unlike MK1’s brushed ESCs, MK2’s drive and weapon ESCs are brushless. They need throttle endpoint calibration on first power-up (full stick high → beep → full stick low → beep) before the mixes will track correctly. Do this on the bench with wheels off the ground / drum unbalanced-side-down.

🔄 Inverted Profile (Inverted Mode)

Same approach as MK1 — Global Variable or Special Function on a switch (e.g., SC) inverts the drive axis.

Inverted Mixes:

CH1:
- -100% [I]Drive (Inverted forward/back)
- +100% [I]Steer
CH2:
- -100% [I]Drive
- -100% [I]Steer

ExpressLRS Settings

Same as MK1 — copy the settings from Radio Config when first binding the ER6 on MK2.

Setting	Value	Why?
Packet Rate	150Hz	Solid reliability in noisy arena environments.
Telem Ratio	Off (or 1:128)	Prioritize control over telemetry.
Switch Mode	Wide	Required for full resolution on weapon channel.
Model Match	ON	CRITICAL: Prevents driving the wrong bot in the pits — and now there are two Lucille model entries on the radio.
TX Power	100mW	Sufficient for arena penetration.

⚠️ Safety Logic (Logical Switches)

L01: a < x, [I]Wep, -98% (Weapon stick at zero).
L02: AND, L01, SF↑ (Arming switch is ON).
Special Function: SF1: IF !L02, Override CH3, -100 (Safety cutoff: weapon cannot spin unless stick is at zero AND arming is active).

Back to: Lucille MK2