# Configure Modes & Mavlink Buttons
\
Herelink Blue is fitted with six programmable buttons and one hardware wheel. These can be configured to control sbus channel outputs from the Air Unit's dual sbus connector and to send Mavlink commands to the autopilot via Solex, QGC, or Mission Planner. For examples, flight mode selection, servo output, and control GCS. You Can configure buttons A, B, C, D, Cam, Home, and HW Wheel as Mavlink commands in Solex and QGC.
These commands include:
* Vehicle Mode
* Home Mode Prompt
* Take Picture
* Toggle Video
* Camera Switch
* Map/Video toggle
* Toggle HUD
* Set Servo
* Non-Latch Servo
* Set Relay
* MAVLink command
* Arm
* Disarm
* Toggle Arm
* Wheel Settings
* Clear Wheel Settings
In Ardupilot and PX4, Solex TX and QGC have on-screen switching control for selecting and changing flight modes If you want to set one or more buttons to change flight mode, it must be set only to Mavlink button commands, i.e. set button control in Solex or QGC, not the Sbus signal in Channel 5. Mavlink provides a secure command link for flight mode changes, immune to system restarts and signal loss. After the configuration flight mode is selected, the user should confirm that the **Fail Safe** been set correctly and test before using it.
**Note**: Ardupilot sets Sbus channel 5 as the default flight mode selection, which should be disabled when using Herelink Blue by setting the "FLTMODE\_CH" parameter in all parameters to 0.
\*\*Home button: \*\* You are advised to use the RTL command by long or short pressing the Home button.
## Configure Buttons
## **Solex**
### **Button Mapping**
* Open Solex
* Click the menu in the top left corner
Select **Button Mapping**
Choose desired button
Select either Click or Long Click (**Note** this allows you to set two functions to each button)
For example, if you want to set Button A, click Button A and then click the option box on the right to select the desired function.
For example, if you want to set the button as flight mode switch, click the gear icon and choose the desired flight mode for chosen button.
select desired flight mode
For other BUTTONS that need to be set, please use procedure above to set corresponding function. Then click "SAVE BUTTONS" at the bottom to save the settings.
### **Hardware Wheel**
Wheel configuration in Solex TX to Servo output channels 1-16 on the Autopilot, you also have the ability to switch the servo output via a button in Solex.
* Open Solex
* Click the hamburger menu icon in top left corner
* Select Button Mapping as above
* Click WHEEL SETTINGS in the bottom right corner
Select the desired servo channel from 1-16
Set the PWM output range suitable for your application.
* Click on the **Enabled** to activate the output.
* Finish by clicking **OK** and click **SAVE BUTTONS** in bottom corner.
To configure a button to change the wheel servo output configure the button to **WHEEL SETTINGS**.
Click the gear icon and set new channel and PWM values and click **OK** and then **SAVE BUTTONS** in bottom right corner.
* Once changed the wheel will output on the new selected channel, to return to its original servo output you will need to program one button function to Clear Wheel Settings as shown above.
## **QGC**
* Open QGC
* Click gear icon on top left corner.
* Select **Button**
* Select the box on left for desired button.
* Click the drop-down menu to select features.
* Repeat the procedure for each button and select desired flight mode.
---
# Agent Instructions: Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.
Perform an HTTP GET request on the current page URL with the `ask` query parameter:
```
GET https://docs.nwblue.com/nw-blue/products/radio-controllers/herelink-blue/user-guide/configure-modes-and-mavlink-buttons.md?ask=
```
The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.
Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.