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Then you need to start a battle.
Unless you've borked your game with mods, then who knows what kind of stew you've got going there.
I have fought all kinds of battles, alone or as army leader.
Also, why should I not be able to change it anytime?
F1+F6 lets AI completely control your army. If you have cav besides archers and infantry they will split info two formations and protect flanks/charge at enemy cavalry as well as enemy archer formations.
I barely bother to control formations myself, only If I get into highy outnumbered ambush situations
If I use F1+F6, will it stick for the next battle, so that I have two cav flanks again?
I prefer to lead my army myself, because it is not about winning, but winning with minimal losses.
Find a battle (even against some bandits) and start the fight. You should get your deployment phase, and that should carry over your formation assignments and captains. I don't think it changes how they spawn - so you'll still have to manually place your troops in a battle if you don't get the deployment screen.
It's actually different, you select units or all units with your number key
No. 3 usually is cav, 0 is everyone, then just press F6. Command is called "delegate commando on/off"
You will have to press 3/0+F6 everytime you begin a battle.
I don't see the reasoning here, but it is what is is.
Of course, I also think we should just be able to set our default formations without requiring a battle to do it.
If you are the attacker with 20+ troops you get to set your battle formation even if it's against 10 bandits. If you aren't getting the option as first attacker it's likely bugged.
At the start of any fight your character will shout out to say "under my command" or "sergeants in command".