From 529141527c89fb0b95d8298bd96038a4622ec394 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 23 Apr 2015 10:00:08 +1200
Subject: [PATCH 1/2] Add explanation of yaw controllability at low throttle
 (tricopters)

---
 docs/Controls.md | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/docs/Controls.md b/docs/Controls.md
index 1fdf539ca1..966ab04893 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -36,3 +36,38 @@ HIGH - the channel value for the mapped channel input is around 2000
 ##### Download a graphic [pdf cheat-sheet](https://multiwii.googlecode.com/svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf) with TX stick commands.
 
 The Latest version of this pdf can always be found [Here](https://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FHamburger)
+
+## Yaw control
+
+While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft
+from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the
+throttle is LOW (i.e. below the `min_check` setting).
+
+For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tail
+servo is working correctly before takeoff. You can do this by setting `tri_unarmed_servo` to `1` on the CLI (this is the
+default). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to
+`0` instead. Check this table to decide which setting will suit you:
+
+<table>
+    <tr>
+        <th colspan="5">Is yaw control of the tricopter allowed?</th>
+    </tr>
+    <tr>
+        <th></th><th colspan="2">Disarmed</th><th colspan="2">Armed</th>
+    </tr>
+    <tr>
+        <th></th><th>Throttle low</th><th>Throttle normal</th><th>Throttle low</th><th>Throttle normal</th>
+    </tr>
+    <tr>
+        <td rowspan="2">tri_unarmed_servo = 0</td><td>No</td><td>No</td><td>No</td><td>Yes</td>
+    </tr>
+    <tr>
+        <td>No</td><td>No</td><td>No</td><td>Yes</td>
+    </tr>
+    <tr>
+        <td rowspan="2">tri_unarmed_servo = 1</td><td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
+    </tr>
+    <tr>
+        <td>Yes</td><td>Yes</td><td>Yes</td><td>Yes</td>
+    </tr>
+</table>
\ No newline at end of file

From 391a884d1d925f3c1c9b5ed2e7f13cd554a56c1b Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 23 Apr 2015 10:05:02 +1200
Subject: [PATCH 2/2] Fix line wrapping of "stick positions" section

---
 docs/Controls.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Controls.md b/docs/Controls.md
index 966ab04893..89b2b1593e 100644
--- a/docs/Controls.md
+++ b/docs/Controls.md
@@ -9,8 +9,8 @@ By default arming and disarming is done using stick positions.  Arming with stic
 
 ## Stick positions
 
-LOW - the channel value for the mapped channel input is around 1000
-CENTER - the channel value for the mapped channel input is around 1500
+LOW - the channel value for the mapped channel input is around 1000  
+CENTER - the channel value for the mapped channel input is around 1500  
 HIGH - the channel value for the mapped channel input is around 2000
 
 | Function                      | Throttle | Yaw     | Pitch  | Roll   |