Complete Parameter List¶
Full Parameter List of Copter latest V4.7.0 dev
You can change and check the parameters for another version:
This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.
This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
ArduCopter Parameters¶
FORMAT_VERSION: Eeprom format version number¶
This value is incremented when changes are made to the eeprom format
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
Range |
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1 to 255 |
SYSID_MYGCS: My ground station number¶
Allows restricting radio overrides to only come from my ground station
Increment |
Range |
---|---|
1 |
1 to 255 |
PILOT_THR_FILT: Throttle filter cutoff¶
Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
Increment |
Range |
Units |
---|---|---|
.5 |
0 to 10 |
hertz |
PILOT_TKOFF_ALT: Pilot takeoff altitude¶
Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
Increment |
Range |
Units |
---|---|---|
10 |
0.0 to 1000.0 |
centimeters |
PILOT_THR_BHV: Throttle stick behavior¶
Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
Bitmask |
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TELEM_DELAY: Telemetry startup delay¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Increment |
Range |
Units |
---|---|---|
1 |
0 to 30 |
seconds |
GCS_PID_MASK: GCS PID tuning mask¶
bitmask of PIDs to send MAVLink PID_TUNING messages for
Bitmask |
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RTL_ALT: RTL Altitude¶
The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.
Increment |
Range |
Units |
---|---|---|
1 |
30 to 300000 |
centimeters |
RTL_CONE_SLOPE: RTL cone slope¶
Defines a cone above home which determines maximum climb
Increment |
Range |
Values |
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---|---|---|---|---|---|---|---|---|---|---|
.1 |
0.5 to 10.0 |
|
RTL_SPEED: RTL speed¶
Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.
Increment |
Range |
Units |
---|---|---|
50 |
0 to 2000 |
centimeters per second |
RTL_ALT_FINAL: RTL Final Altitude¶
This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
Increment |
Range |
Units |
---|---|---|
1 |
0 to 1000 |
centimeters |
RTL_CLIMB_MIN: RTL minimum climb¶
The vehicle will climb this many cm during the initial climb portion of the RTL
Increment |
Range |
Units |
---|---|---|
10 |
0 to 3000 |
centimeters |
RTL_LOIT_TIME: RTL loiter time¶
Time (in milliseconds) to loiter above home before beginning final descent
Increment |
Range |
Units |
---|---|---|
1000 |
0 to 60000 |
milliseconds |
RTL_ALT_TYPE: RTL mode altitude type¶
RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
Values |
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FS_GCS_ENABLE: Ground Station Failsafe Enable¶
Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
Values |
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GPS_HDOP_GOOD: GPS Hdop Good¶
GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
Range |
---|
100 to 900 |
SUPER_SIMPLE: Super Simple Mode¶
Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions
Bitmask |
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WP_YAW_BEHAVIOR: Yaw behaviour during missions¶
Determines how the autopilot controls the yaw during missions and RTL
Values |
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LAND_SPEED: Land speed¶
The descent speed for the final stage of landing in cm/s
Increment |
Range |
Units |
---|---|---|
10 |
30 to 200 |
centimeters per second |
LAND_SPEED_HIGH: Land speed high¶
The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
Increment |
Range |
Units |
---|---|---|
10 |
0 to 500 |
centimeters per second |
PILOT_SPEED_UP: Pilot maximum vertical speed ascending¶
The maximum vertical ascending velocity the pilot may request in cm/s
Increment |
Range |
Units |
---|---|---|
10 |
50 to 500 |
centimeters per second |
PILOT_ACCEL_Z: Pilot vertical acceleration¶
The vertical acceleration used when pilot is controlling the altitude
Increment |
Range |
Units |
---|---|---|
10 |
50 to 500 |
centimeters per square second |
FS_THR_ENABLE: Throttle Failsafe Enable¶
The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
Values |
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FS_THR_VALUE: Throttle Failsafe Value¶
The PWM level in microseconds on channel 3 below which throttle failsafe triggers
Increment |
Range |
Units |
---|---|---|
1 |
910 to 1100 |
PWM in microseconds |
THR_DZ: Throttle deadzone¶
The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
Increment |
Range |
Units |
---|---|---|
1 |
0 to 300 |
PWM in microseconds |
FLTMODE1: Flight Mode 1¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230
Values |
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FLTMODE2: Flight Mode 2¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360
Values |
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FLTMODE3: Flight Mode 3¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490
Values |
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FLTMODE4: Flight Mode 4¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620
Values |
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FLTMODE5: Flight Mode 5¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749
Values |
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FLTMODE6: Flight Mode 6¶
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750
Values |
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FLTMODE_CH: Flightmode channel¶
RC Channel to use for flight mode control
Values |
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INITIAL_MODE: Initial flight mode¶
This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
Values |
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SIMPLE: Simple mode bitmask¶
Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.
Bitmask |
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LOG_BITMASK: Log bitmask¶
Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535.
Bitmask |
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ESC_CALIBRATION: ESC Calibration¶
Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
Values |
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TUNE: Channel 6 Tuning¶
Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
Values |
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FRAME_TYPE: Frame Type (+, X, V, etc)¶
Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
Values |
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DISARM_DELAY: Disarm delay¶
Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.
Range |
Units |
---|---|
0 to 127 |
seconds |
ANGLE_MAX: Angle Max¶
Maximum lean angle in all flight modes
Increment |
Range |
Units |
---|---|---|
10 |
1000 to 8000 |
centidegrees |
PHLD_BRAKE_RATE: PosHold braking rate¶
PosHold flight mode's rotation rate during braking in deg/sec
Range |
Units |
---|---|
4 to 12 |
degrees per second |
PHLD_BRAKE_ANGLE: PosHold braking angle max¶
PosHold flight mode's max lean angle during braking in centi-degrees
Increment |
Range |
Units |
---|---|---|
10 |
2000 to 4500 |
centidegrees |
LAND_REPOSITION: Land repositioning¶
Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
Values |
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FS_EKF_ACTION: EKF Failsafe Action¶
Controls the action that will be taken when an EKF failsafe is invoked
Values |
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FS_EKF_THRESH: EKF failsafe variance threshold¶
Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.
Values |
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FS_CRASH_CHECK: Crash check enable¶
This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
Values |
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RC_SPEED: ESC Update Speed¶
This is the speed in Hertz that your ESCs will receive updates
Increment |
Range |
Units |
---|---|---|
1 |
50 to 490 |
hertz |
ACRO_BAL_ROLL: Acro Balance Roll¶
rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.
Increment |
Range |
---|---|
0.1 |
0 to 3 |
ACRO_BAL_PITCH: Acro Balance Pitch¶
rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.
Increment |
Range |
---|---|
0.1 |
0 to 3 |
ACRO_TRAINER: Acro Trainer¶
Type of trainer used in acro mode
Values |
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THROW_MOT_START: Start motors before throwing is detected¶
Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.
Values |
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THROW_ALT_MIN: Throw mode minimum altitude¶
Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check
Units |
---|
meters |
THROW_ALT_MAX: Throw mode maximum altitude¶
Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check
Units |
---|
meters |
THROW_NEXTMODE: Throw mode's follow up mode¶
Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)
Values |
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THROW_TYPE: Type of Type¶
Used by Throw mode. Specifies whether Copter is thrown upward or dropped.
Values |
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GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable¶
Ground Effect Compensation Enable/Disable
Values |
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DEV_OPTIONS: Development options¶
Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
Bitmask |
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ACRO_THR_MID: Acro Thr Mid¶
Acro Throttle Mid
Range |
---|
0 to 1 |
SYSID_ENFORCE: GCS sysid enforcement¶
This controls whether packets from other than the expected GCS system ID will be accepted
Values |
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FRAME_CLASS: Frame Class¶
Controls major frame class for multicopter component
Values |
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PILOT_SPEED_DN: Pilot maximum vertical speed descending¶
The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used.
Increment |
Range |
Units |
---|---|---|
10 |
0 to 500 |
centimeters per second |
LAND_ALT_LOW: Land alt low¶
Altitude during Landing at which vehicle slows to LAND_SPEED
Increment |
Range |
Units |
---|---|---|
10 |
100 to 10000 |
centimeters |
TUNE_MIN: Tuning minimum¶
Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
TUNE_MAX: Tuning maximum¶
Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to
FS_VIBE_ENABLE: Vibration Failsafe enable¶
This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
Values |
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FS_OPTIONS: Failsafe options bitmask¶
Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
Bitmask |
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ACRO_OPTIONS: Acro mode options¶
A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
Bitmask |
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AUTO_OPTIONS: Auto mode options¶
A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.
Bitmask |
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GUID_OPTIONS: Guided mode options¶
Options that can be applied to change guided mode behaviour
Bitmask |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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FS_GCS_TIMEOUT: GCS failsafe timeout¶
Timeout before triggering the GCS failsafe
Increment |
Range |
Units |
---|---|---|
1 |
2 to 120 |
seconds |
RTL_OPTIONS: RTL mode options¶
Options that can be applied to change RTL mode behaviour
Bitmask |
||||
---|---|---|---|---|
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FLIGHT_OPTIONS: Flight mode options¶
Flight mode specific options
Bitmask |
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RNGFND_FILT: Rangefinder filter¶
Rangefinder filter to smooth distance. Set to zero to disable filtering
Increment |
Range |
Units |
---|---|---|
0.05 |
0 to 5 |
hertz |
GUID_TIMEOUT: Guided mode timeout¶
Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control
Range |
Units |
---|---|
0.1 to 5 |
seconds |
SURFTRAK_MODE: Surface Tracking Mode¶
set which surface to track in surface tracking
Values |
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FS_DR_ENABLE: DeadReckon Failsafe Action¶
Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates
Values |
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FS_DR_TIMEOUT: DeadReckon Failsafe Timeout¶
DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate
Range |
---|
0 to 120 |
ACRO_RP_RATE: Acro Roll and Pitch Rate¶
Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation
Range |
Units |
---|---|
1 to 1080 |
degrees per second |
ACRO_RP_EXPO: Acro Roll/Pitch Expo¶
Acro roll/pitch Expo to allow faster rotation when stick at edges
Range |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-0.5 to 0.95 |
|
ACRO_RP_RATE_TC: Acro roll/pitch rate control input time constant¶
Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
Increment |
Range |
Units |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.01 |
0 to 1 |
seconds |
|
ACRO_Y_RATE: Acro Yaw Rate¶
Acro mode maximum yaw rate. Higher value means faster rate of rotation
Range |
Units |
---|---|
1 to 360 |
degrees per second |
ACRO_Y_EXPO: Acro Yaw Expo¶
Acro yaw expo to allow faster rotation when stick at edges
Range |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-1.0 to 0.95 |
|
ACRO_Y_RATE_TC: Acro yaw rate control input time constant¶
Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
Increment |
Range |
Units |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.01 |
0 to 1 |
seconds |
|
PILOT_Y_RATE: Pilot controlled yaw rate¶
Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro
Range |
Units |
---|---|
1 to 360 |
degrees per second |
PILOT_Y_EXPO: Pilot controlled yaw expo¶
Pilot controlled yaw expo to allow faster rotation when stick at edges
Range |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-0.5 to 1.0 |
|
PILOT_Y_RATE_TC: Pilot yaw rate control input time constant¶
Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
Increment |
Range |
Units |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.01 |
0 to 1 |
seconds |
|
TKOFF_SLEW_TIME: Slew time of throttle during take-off¶
Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff.
Range |
Units |
---|---|
0.25 to 5.0 |
seconds |
TKOFF_RPM_MIN: Takeoff Check RPM minimum¶
Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check
Range |
---|
0 to 10000 |
PLDP_THRESH: Payload Place thrust ratio threshold¶
Ratio of vertical thrust during decent below which payload touchdown will trigger.
Range |
---|
0.5 to 0.9 |
PLDP_RNG_MAX: Payload Place maximum range finder altitude¶
Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.
Range |
Units |
---|---|
0 to 100 |
meters |
PLDP_DELAY: Payload Place climb delay¶
Delay after release, in seconds, before aircraft starts to climb back to starting altitude.
Range |
Units |
---|---|
0 to 120 |
seconds |
PLDP_SPEED_DN: Payload Place decent speed¶
The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used.
Range |
Units |
---|---|
0 to 5 |
meters per second |
SURFTRAK_TC: Surface Tracking Filter Time Constant¶
Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled
Range |
Units |
---|---|
0 to 5 |
seconds |
TKOFF_THR_MAX: Takeoff maximum throttle during take-off ramp up¶
Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process.
Range |
---|
0.0 to 0.9 |
TKOFF_RPM_MAX: Takeoff Check RPM maximum¶
Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check
Range |
---|
0 to 10000 |
FS_EKF_FILT: EKF Failsafe filter cutoff¶
EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
Range |
Units |
---|---|
0 to 10 |
hertz |
FSTRATE_ENABLE: Enable the fast Rate thread¶
Enable the fast Rate thread. In the default case the fast rate divisor, which controls the update frequency of the thread, is dynamically scaled from FSTRATE_DIV to avoid overrun in the gyro sample buffer and main loop slow-downs. Other values can be selected to fix the divisor to FSTRATE_DIV on arming or always.
Values |
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FSTRATE_DIV: Fast rate thread divisor¶
Fast rate thread divisor used to control the maximum fast rate update rate. The actual rate is the gyro rate in Hz divided by this value. This value is scaled depending on the configuration of FSTRATE_ENABLE.
Range |
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1 to 10 |
VEHICLE Parameters¶
FLTMODE_GCSBLOCK: Flight mode block from GCS¶
Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.
Bitmask |
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ADSB_ Parameters¶
ADSB_TYPE: ADSB Type¶
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
Values |
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ADSB_LIST_MAX: ADSB vehicle list size¶
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
---|
1 to 100 |
ADSB_LIST_RADIUS: ADSB vehicle list radius filter¶
ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
Range |
Units |
---|---|
0 to 100000 |
meters |
ADSB_ICAO_ID: ICAO_ID vehicle identification number¶
ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
Range |
---|
-1 to 16777215 |
ADSB_EMIT_TYPE: Emitter type¶
ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
Values |
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|
ADSB_LEN_WIDTH: Aircraft length and width¶
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
Values |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LAT: GPS antenna lateral offset¶
GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LON: GPS antenna longitudinal offset¶
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
Values |
||||||
---|---|---|---|---|---|---|
|
ADSB_RF_SELECT: Transceiver RF selection¶
Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
ADSB_SQUAWK: Squawk code¶
VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.
Range |
Units |
---|---|
0 to 7777 |
octal |
ADSB_RF_CAPABLE: RF capabilities¶
Describes your hardware RF In/Out capabilities.
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_LIST_ALT: ADSB vehicle list altitude filter¶
ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
Range |
Units |
---|---|
0 to 32767 |
meters |
ADSB_ICAO_SPECL: ICAO_ID of special vehicle¶
ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
ADSB_LOG: ADS-B logging¶
0: no logging, 1: log only special ID, 2:log all
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ADSB_OPTIONS: ADS-B Options¶
Options for emergency failsafe codes and device capabilities
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
AFS_ Parameters¶
AFS_ENABLE: Enable Advanced Failsafe¶
This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
AFS_MAN_PIN: Manual Pin¶
This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
AFS_HB_PIN: Heartbeat Pin¶
This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_WP_COMMS: Comms Waypoint¶
Waypoint number to navigate to on comms loss
AFS_WP_GPS_LOSS: GPS Loss Waypoint¶
Waypoint number to navigate to on GPS lock loss
AFS_TERMINATE: Force Terminate¶
Can be set in flight to force termination of the heartbeat signal
AFS_TERM_ACTION: Terminate action¶
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
AFS_TERM_PIN: Terminate Pin¶
This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_AMSL_LIMIT: AMSL limit¶
This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.
Units |
---|
meters |
AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit¶
This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.
Units |
---|
meters |
AFS_QNH_PRESSURE: QNH pressure¶
This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.
Units |
---|
hectopascal |
AFS_MAX_GPS_LOSS: Maximum number of GPS loss events¶
Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
AFS_MAX_COM_LOSS: Maximum number of comms loss events¶
Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
AFS_GEOFENCE: Enable geofence Advanced Failsafe¶
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1
AFS_RC: Enable RC Advanced Failsafe¶
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1
AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes¶
If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.
AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously¶
This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.
AFS_RC_FAIL_TIME: RC failure time¶
This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.
Units |
---|
seconds |
AFS_MAX_RANGE: Max allowed range¶
This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.
Units |
---|
kilometers |
AFS_OPTIONS: AFS options¶
See description for each bitmask bit description
Bitmask |
||||||
---|---|---|---|---|---|---|
|
AFS_GCS_TIMEOUT: GCS timeout¶
The time (in seconds) of persistent data link loss before GCS failsafe occurs.
Units |
---|
seconds |
AHRS_ Parameters¶
AHRS_GPS_GAIN: AHRS GPS gain¶
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
Increment |
Range |
---|---|
.01 |
0.0 to 1.0 |
AHRS_YAW_P: Yaw P¶
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
Increment |
Range |
---|---|
.01 |
0.1 to 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
---|---|
.01 |
0.1 to 0.4 |
AHRS_WIND_MAX: Maximum wind¶
This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.
Increment |
Range |
Units |
---|---|---|
1 |
0 to 127 |
meters per second |
AHRS_TRIM_X: AHRS Trim Roll¶
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_TRIM_Y: AHRS Trim Pitch¶
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_TRIM_Z: AHRS Trim Yaw¶
Not Used
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_ORIENTATION: Board Orientation¶
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Increment |
Range |
---|---|
.01 |
0.001 to 0.5 |
AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
Increment |
Range |
---|---|
1 |
0 to 10 |
AHRS_CUSTOM_ROLL: Board orientation roll offset¶
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_PIT: Board orientation pitch offset¶
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_YAW: Board orientation yaw offset¶
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_OPTIONS: Optional AHRS behaviour¶
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
AIS_ Parameters¶
AIS_TYPE: AIS receiver type¶
AIS receiver type
Values |
||||||
---|---|---|---|---|---|---|
|
AIS_LIST_MAX: AIS vessel list size¶
AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
---|
1 to 100 |
AIS_TIME_OUT: AIS vessel time out¶
if no updates are received in this time a vessel will be removed from the list
Range |
Units |
---|---|
1 to 2000 |
seconds |
AIS_LOGGING: AIS logging options¶
Bitmask of AIS logging options
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARMING_ Parameters¶
ARMING_ACCTHRESH: Accelerometer error threshold¶
Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
Range |
Units |
---|---|
0.25 to 3.0 |
meters per square second |
ARMING_RUDDER: Arming with Rudder enable/disable¶
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARMING_MIS_ITEMS: Required mission items¶
Bitmask of mission items that are required to be planned in order to arm the aircraft
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARMING_CHECK: Arm Checks to Perform (bitmask)¶
Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.
Bitmask |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARMING_OPTIONS: Arming options¶
Options that can be applied to change arming behaviour
Bitmask |
||||||
---|---|---|---|---|---|---|
|
ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model¶
Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check
Range |
Units |
---|---|
0 to 500 |
milligauss |
ARMING_CRSDP_IGN: Disable CrashDump Arming check¶
Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.
Values |
||||||
---|---|---|---|---|---|---|
|
AROT_ Parameters¶
AROT_ENABLE: Enable settings for RSC Setpoint¶
Allows you to enable (1) or disable (0) the autonomous autorotation capability.
Values |
||||||
---|---|---|---|---|---|---|
|
AROT_HS_P: P gain for head speed controller¶
Increase value to increase sensitivity of head speed controller during autonomous autorotation.
Increment |
Range |
---|---|
0.01 |
0.3 to 1 |
AROT_HS_SET_PT: Target Head Speed¶
The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.
Increment |
Range |
Units |
---|---|---|
1 |
1000 to 2800 |
Revolutions Per Minute |
AROT_TARG_SP: Target Glide Ground Speed¶
Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.
Increment |
Range |
Units |
---|---|---|
50 |
800 to 2000 |
centimeters per second |
AROT_COL_FILT_E: Entry Phase Collective Filter¶
Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.2 to 0.5 |
hertz |
AROT_COL_FILT_G: Glide Phase Collective Filter¶
Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.03 to 0.15 |
hertz |
AROT_AS_ACC_MAX: Forward Acceleration Limit¶
Maximum forward acceleration to apply in speed controller.
Increment |
Range |
Units |
---|---|---|
10 |
30 to 60 |
centimeters per square second |
AROT_HS_SENSOR: Main Rotor RPM Sensor¶
Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 to 3 |
seconds |
AROT_FW_V_P: Velocity (horizontal) P gain¶
Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error.
Increment |
Range |
---|---|
0.1 |
0.1 to 6.0 |
AROT_FW_V_FF: Velocity (horizontal) feed forward¶
Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity.
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ARSPD Parameters¶
ARSPD_ENABLE: Airspeed Enable¶
Enable airspeed sensor support
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD_TUBE_ORDER: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD_OPTIONS: Airspeed options bitmask¶
This parameter and function is not used by this vehicle. Always set to 0.
Bitmask |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
This parameter and function is not used by this vehicle. Always set to 0.
Units |
---|
meters per second |
ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning¶
This parameter and function is not used by this vehicle. Always set to 0.
Units |
---|
meters per second |
ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size¶
This parameter and function is not used by this vehicle.
Range |
---|
0.0 to 10.0 |
ARSPD_OFF_PCNT: Maximum offset cal speed error¶
The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of AIRSPEED_MIN. 0 disables. Helps warn of calibrations without pitot being covered.
Range |
Units |
---|---|
0.0 to 10.0 |
percent |
ARSPD2_ Parameters¶
ARSPD2_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_USE: Airspeed use¶
This parameter is not used by this vehicle. Always set to 0.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
---|
0.1 |
ARSPD2_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
---|
0.1 |
ARSPD2_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD2_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
ARSPD_ Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_USE: Airspeed use¶
This parameter is not used by this vehicle. Always set to 0.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
---|
0.1 |
ARSPD_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
ATC_ Parameters¶
ATC_SLEW_YAW: Yaw target slew rate¶
Maximum rate the yaw target can be updated in RTL and Auto flight modes
Increment |
Range |
Units |
---|---|---|
100 |
500 to 18000 |
centidegrees per second |
ATC_ACCEL_Y_MAX: Acceleration Max for Yaw¶
Maximum acceleration in yaw axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 to 72000 |
centidegrees per square second |
|
ATC_RATE_FF_ENAB: Rate Feedforward Enable¶
Controls whether body-frame rate feedforward is enabled or disabled
Values |
||||||
---|---|---|---|---|---|---|
|
ATC_ACCEL_R_MAX: Acceleration Max for Roll¶
Maximum acceleration in roll axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 to 180000 |
centidegrees per square second |
|
ATC_ACCEL_P_MAX: Acceleration Max for Pitch¶
Maximum acceleration in pitch axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 to 180000 |
centidegrees per square second |
|
ATC_ANGLE_BOOST: Angle Boost¶
Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
Values |
||||||
---|---|---|---|---|---|---|
|
ATC_ANG_RLL_P: Roll axis angle controller P gain¶
Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
Range |
---|
3.000 to 12.000 |
ATC_ANG_PIT_P: Pitch axis angle controller P gain¶
Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
Range |
---|
3.000 to 12.000 |
ATC_ANG_YAW_P: Yaw axis angle controller P gain¶
Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
Range |
---|
3.000 to 12.000 |
ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant¶
Angle Limit (to maintain altitude) Time Constant
Range |
---|
0.5 to 10.0 |
ATC_RATE_R_MAX: Angular Velocity Max for Roll¶
Maximum angular velocity in roll axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 to 1080 |
degrees per second |
|
ATC_RATE_P_MAX: Angular Velocity Max for Pitch¶
Maximum angular velocity in pitch axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 to 1080 |
degrees per second |
|
ATC_RATE_Y_MAX: Angular Velocity Max for Yaw¶
Maximum angular velocity in yaw axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 to 1080 |
degrees per second |
|
ATC_INPUT_TC: Attitude control input time constant¶
Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.01 |
0 to 1 |
seconds |
|
ATC_LAND_R_MULT: Landed roll gain multiplier¶
Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis.
Range |
---|
0.25 to 1.0 |
ATC_LAND_P_MULT: Landed pitch gain multiplier¶
Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis.
Range |
---|
0.25 to 1.0 |
ATC_LAND_Y_MULT: Landed yaw gain multiplier¶
Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis.
Range |
---|
0.25 to 1.0 |
ATC_RAT_RLL_P (AC_AttitudeControl_Multi): Roll axis rate controller P gain¶
Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.005 |
0.01 to 0.5 |
ATC_RAT_RLL_I (AC_AttitudeControl_Multi): Roll axis rate controller I gain¶
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.01 |
0.01 to 2.0 |
ATC_RAT_RLL_IMAX (AC_AttitudeControl_Multi): Roll axis rate controller I gain maximum¶
Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_RLL_D (AC_AttitudeControl_Multi): Roll axis rate controller D gain¶
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.001 |
0.0 to 0.05 |
ATC_RAT_RLL_FF (AC_AttitudeControl_Multi): Roll axis rate controller feed forward¶
Roll axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0 to 0.5 |
ATC_RAT_RLL_FLTT (AC_AttitudeControl_Multi): Roll axis rate controller target frequency in Hz¶
Roll axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 100 |
hertz |
ATC_RAT_RLL_FLTE (AC_AttitudeControl_Multi): Roll axis rate controller error frequency in Hz¶
Roll axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 100 |
hertz |
ATC_RAT_RLL_FLTD (AC_AttitudeControl_Multi): Roll axis rate controller derivative frequency in Hz¶
Roll axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 100 |
hertz |
ATC_RAT_RLL_SMAX (AC_AttitudeControl_Multi): Roll slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_RLL_PDMX: Roll axis rate controller PD sum maximum¶
Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_RLL_D_FF (AC_AttitudeControl_Multi): Roll Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_RLL_NTF (AC_AttitudeControl_Multi): Roll Target notch filter index¶
Roll Target notch filter index
Range |
---|
1 to 8 |
ATC_RAT_RLL_NEF (AC_AttitudeControl_Multi): Roll Error notch filter index¶
Roll Error notch filter index
Range |
---|
1 to 8 |
ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain¶
Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output
Increment |
Range |
---|---|
0.005 |
0.01 to 0.50 |
ATC_RAT_PIT_I (AC_AttitudeControl_Multi): Pitch axis rate controller I gain¶
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Increment |
Range |
---|---|
0.01 |
0.01 to 2.0 |
ATC_RAT_PIT_IMAX (AC_AttitudeControl_Multi): Pitch axis rate controller I gain maximum¶
Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_PIT_D (AC_AttitudeControl_Multi): Pitch axis rate controller D gain¶
Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
Increment |
Range |
---|---|
0.001 |
0.0 to 0.05 |
ATC_RAT_PIT_FF (AC_AttitudeControl_Multi): Pitch axis rate controller feed forward¶
Pitch axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0 to 0.5 |
ATC_RAT_PIT_FLTT (AC_AttitudeControl_Multi): Pitch axis rate controller target frequency in Hz¶
Pitch axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 100 |
hertz |
ATC_RAT_PIT_FLTE (AC_AttitudeControl_Multi): Pitch axis rate controller error frequency in Hz¶
Pitch axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 100 |
hertz |
ATC_RAT_PIT_FLTD (AC_AttitudeControl_Multi): Pitch axis rate controller derivative frequency in Hz¶
Pitch axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 100 |
hertz |
ATC_RAT_PIT_SMAX (AC_AttitudeControl_Multi): Pitch slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_PIT_PDMX: Pitch axis rate controller PD sum maximum¶
Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_PIT_D_FF (AC_AttitudeControl_Multi): Pitch Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_PIT_NTF (AC_AttitudeControl_Multi): Pitch Target notch filter index¶
Pitch Target notch filter index
Range |
---|
1 to 8 |
ATC_RAT_PIT_NEF (AC_AttitudeControl_Multi): Pitch Error notch filter index¶
Pitch Error notch filter index
Range |
---|
1 to 8 |
ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain¶
Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.005 |
0.10 to 2.50 |
ATC_RAT_YAW_I (AC_AttitudeControl_Multi): Yaw axis rate controller I gain¶
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.01 |
0.010 to 1.0 |
ATC_RAT_YAW_IMAX (AC_AttitudeControl_Multi): Yaw axis rate controller I gain maximum¶
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_YAW_D (AC_AttitudeControl_Multi): Yaw axis rate controller D gain¶
Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.001 |
0.000 to 0.02 |
ATC_RAT_YAW_FF (AC_AttitudeControl_Multi): Yaw axis rate controller feed forward¶
Yaw axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0 to 0.5 |
ATC_RAT_YAW_FLTT (AC_AttitudeControl_Multi): Yaw axis rate controller target frequency in Hz¶
Yaw axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
1 to 50 |
hertz |
ATC_RAT_YAW_FLTE (AC_AttitudeControl_Multi): Yaw axis rate controller error frequency in Hz¶
Yaw axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 20 |
hertz |
ATC_RAT_YAW_FLTD (AC_AttitudeControl_Multi): Yaw axis rate controller derivative frequency in Hz¶
Yaw axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_YAW_SMAX (AC_AttitudeControl_Multi): Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_YAW_PDMX: Yaw axis rate controller PD sum maximum¶
Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_YAW_D_FF (AC_AttitudeControl_Multi): Yaw Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_YAW_NTF (AC_AttitudeControl_Multi): Yaw Target notch filter index¶
Yaw Target notch filter index
Range |
Units |
---|---|
1 to 8 |
hertz |
ATC_RAT_YAW_NEF (AC_AttitudeControl_Multi): Yaw Error notch filter index¶
Yaw Error notch filter index
Range |
---|
1 to 8 |
ATC_THR_MIX_MIN: Throttle Mix Minimum¶
Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
Range |
---|
0.1 to 0.25 |
ATC_THR_MIX_MAX: Throttle Mix Maximum¶
Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
Range |
---|
0.5 to 0.9 |
ATC_THR_MIX_MAN: Throttle Mix Manual¶
Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
Range |
---|
0.1 to 0.9 |
ATC_THR_G_BOOST: Throttle-gain boost¶
Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.
Range |
---|
0 to 1 |
ATC_HOVR_ROL_TRM: Hover Roll Trim¶
Trim the hover roll angle to counter tail rotor thrust in a hover
Increment |
Range |
Units |
---|---|---|
10 |
0 to 1000 |
centidegrees |
ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain¶
Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.005 |
0.0 to 0.35 |
ATC_RAT_RLL_I (AC_AttitudeControl_Heli): Roll axis rate controller I gain¶
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.01 |
0.0 to 0.6 |
ATC_RAT_RLL_IMAX (AC_AttitudeControl_Heli): Roll axis rate controller I gain maximum¶
Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_RLL_ILMI: Roll axis rate controller I-term leak minimum¶
Point below which I-term will not leak down
Range |
---|
0 to 1 |
ATC_RAT_RLL_D (AC_AttitudeControl_Heli): Roll axis rate controller D gain¶
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Increment |
Range |
---|---|
0.001 |
0.0 to 0.03 |
ATC_RAT_RLL_FF (AC_AttitudeControl_Heli): Roll axis rate controller feed forward¶
Roll axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0.05 to 0.5 |
ATC_RAT_RLL_FLTT (AC_AttitudeControl_Heli): Roll axis rate controller target frequency in Hz¶
Roll axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_RLL_FLTE (AC_AttitudeControl_Heli): Roll axis rate controller error frequency in Hz¶
Roll axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_RLL_FLTD (AC_AttitudeControl_Heli): Roll axis rate controller derivative frequency in Hz¶
Roll axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 50 |
hertz |
ATC_RAT_RLL_SMAX (AC_AttitudeControl_Heli): Roll slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_RLL_D_FF (AC_AttitudeControl_Heli): Roll Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_RLL_NTF (AC_AttitudeControl_Heli): Roll Target notch filter index¶
Roll Target notch filter index
Range |
---|
1 to 8 |
ATC_RAT_RLL_NEF (AC_AttitudeControl_Heli): Roll Error notch filter index¶
Roll Error notch filter index
Range |
---|
1 to 8 |
ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain¶
Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate
Increment |
Range |
---|---|
0.005 |
0.0 to 0.35 |
ATC_RAT_PIT_I (AC_AttitudeControl_Heli): Pitch axis rate controller I gain¶
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Increment |
Range |
---|---|
0.01 |
0.0 to 0.6 |
ATC_RAT_PIT_IMAX (AC_AttitudeControl_Heli): Pitch axis rate controller I gain maximum¶
Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_PIT_ILMI: Pitch axis rate controller I-term leak minimum¶
Point below which I-term will not leak down
Range |
---|
0 to 1 |
ATC_RAT_PIT_D (AC_AttitudeControl_Heli): Pitch axis rate controller D gain¶
Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
Increment |
Range |
---|---|
0.001 |
0.0 to 0.03 |
ATC_RAT_PIT_FF (AC_AttitudeControl_Heli): Pitch axis rate controller feed forward¶
Pitch axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0.05 to 0.5 |
ATC_RAT_PIT_FLTT (AC_AttitudeControl_Heli): Pitch axis rate controller target frequency in Hz¶
Pitch axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_PIT_FLTE (AC_AttitudeControl_Heli): Pitch axis rate controller error frequency in Hz¶
Pitch axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_PIT_FLTD (AC_AttitudeControl_Heli): Pitch axis rate controller derivative frequency in Hz¶
Pitch axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 50 |
hertz |
ATC_RAT_PIT_SMAX (AC_AttitudeControl_Heli): Pitch slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_PIT_D_FF (AC_AttitudeControl_Heli): Pitch Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_PIT_NTF (AC_AttitudeControl_Heli): Pitch Target notch filter index¶
Pitch Target notch filter index
Range |
---|
1 to 8 |
ATC_RAT_PIT_NEF (AC_AttitudeControl_Heli): Pitch Error notch filter index¶
Pitch Error notch filter index
Range |
---|
1 to 8 |
ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain¶
Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.005 |
0.180 to 0.60 |
ATC_RAT_YAW_I (AC_AttitudeControl_Heli): Yaw axis rate controller I gain¶
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.01 |
0.01 to 0.2 |
ATC_RAT_YAW_IMAX (AC_AttitudeControl_Heli): Yaw axis rate controller I gain maximum¶
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
Increment |
Range |
---|---|
0.01 |
0 to 1 |
ATC_RAT_YAW_ILMI: Yaw axis rate controller I-term leak minimum¶
Point below which I-term will not leak down
Range |
---|
0 to 1 |
ATC_RAT_YAW_D (AC_AttitudeControl_Heli): Yaw axis rate controller D gain¶
Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
Increment |
Range |
---|---|
0.001 |
0.000 to 0.02 |
ATC_RAT_YAW_FF (AC_AttitudeControl_Heli): Yaw axis rate controller feed forward¶
Yaw axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0 to 0.5 |
ATC_RAT_YAW_FLTT (AC_AttitudeControl_Heli): Yaw axis rate controller target frequency in Hz¶
Yaw axis rate controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_YAW_FLTE (AC_AttitudeControl_Heli): Yaw axis rate controller error frequency in Hz¶
Yaw axis rate controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
5 to 50 |
hertz |
ATC_RAT_YAW_FLTD (AC_AttitudeControl_Heli): Yaw axis rate controller derivative frequency in Hz¶
Yaw axis rate controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
0 to 50 |
hertz |
ATC_RAT_YAW_SMAX (AC_AttitudeControl_Heli): Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 to 200 |
ATC_RAT_YAW_D_FF (AC_AttitudeControl_Heli): Yaw Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
---|---|
0.0001 |
0 to 0.02 |
ATC_RAT_YAW_NTF (AC_AttitudeControl_Heli): Yaw Target notch filter index¶
Yaw Target notch filter index
Range |
Units |
---|---|
1 to 8 |
hertz |
ATC_RAT_YAW_NEF (AC_AttitudeControl_Heli): Yaw Error notch filter index¶
Yaw Error notch filter index
Range |
---|
1 to 8 |
ATC_PIRO_COMP: Piro Comp Enable¶
Pirouette compensation enabled
Values |
||||||
---|---|---|---|---|---|---|
|
AUTOTUNE_ Parameters¶
AUTOTUNE_AXES (AC_AutoTune_Multi): Autotune axis bitmask¶
1-byte bitmap of axes to autotune
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
AUTOTUNE_AGGR: Autotune aggressiveness¶
Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
Range |
---|
0.05 to 0.10 |
AUTOTUNE_MIN_D: AutoTune minimum D¶
Defines the minimum D gain
Range |
---|
0.0001 to 0.005 |
AUTOTUNE_AXES (AC_AutoTune_Heli): Autotune axis bitmask¶
1-byte bitmap of axes to autotune
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
AUTOTUNE_SEQ: AutoTune Sequence Bitmask¶
2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P
Bitmask |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AUTOTUNE_FRQ_MIN: AutoTune minimum sweep frequency¶
Defines the start frequency for sweeps and dwells
Range |
---|
10 to 30 |
AUTOTUNE_FRQ_MAX: AutoTune maximum sweep frequency¶
Defines the end frequency for sweeps and dwells
Range |
---|
50 to 120 |
AUTOTUNE_GN_MAX: AutoTune maximum response gain¶
Defines the response gain (output/input) to tune
Range |
---|
1 to 2.5 |
AUTOTUNE_VELXY_P: AutoTune velocity xy P gain¶
Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps
Range |
---|
0 to 1 |
AUTOTUNE_ACC_MAX: AutoTune maximum allowable angular acceleration¶
maximum angular acceleration in deg/s/s allowed during autotune maneuvers
Range |
---|
1 to 4000 |
AUTOTUNE_RAT_MAX: Autotune maximum allowable angular rate¶
maximum angular rate in deg/s allowed during autotune maneuvers
Range |
---|
0 to 500 |
AVD_ Parameters¶
AVD_ENABLE: Enable Avoidance using ADSB¶
Enable Avoidance using ADSB
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_ACTION: Collision Avoidance Behavior¶
Specifies aircraft behaviour when a collision is imminent
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AVD_W_ACTION: Collision Avoidance Behavior - Warn¶
Specifies aircraft behaviour when a collision may occur
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_RCVRY: Recovery behaviour after a fail event¶
Determines what the aircraft will do after a fail event is resolved
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
AVD_OBS_MAX: Maximum number of obstacles to track¶
Maximum number of obstacles to track
AVD_W_TIME: Time Horizon Warn¶
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Units |
---|
seconds |
AVD_F_TIME: Time Horizon Fail¶
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
Units |
---|
seconds |
AVD_W_DIST_XY: Distance Warn XY¶
Closest allowed projected distance before W_ACTION is undertaken
Units |
---|
meters |
AVD_F_DIST_XY: Distance Fail XY¶
Closest allowed projected distance before F_ACTION is undertaken
Units |
---|
meters |
AVD_W_DIST_Z: Distance Warn Z¶
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Units |
---|
meters |
AVD_F_DIST_Z: Distance Fail Z¶
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Units |
---|
meters |
AVD_F_ALT_MIN: ADS-B avoidance minimum altitude¶
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.
Units |
---|
meters |
AVOID_ Parameters¶
AVOID_ENABLE: Avoidance control enable/disable¶
Enabled/disable avoidance input sources
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes¶
Max lean angle used to avoid obstacles while in non-GPS modes
Increment |
Range |
Units |
---|---|---|
10 |
0 to 4500 |
centidegrees |
AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes¶
Distance from object at which obstacle avoidance will begin in non-GPS modes
Range |
Units |
---|---|
1 to 30 |
meters |
AVOID_MARGIN: Avoidance distance margin in GPS modes¶
Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes
Range |
Units |
---|---|
1 to 10 |
meters |
AVOID_BEHAVE: Avoidance behaviour¶
Avoidance behaviour (slide or stop)
Values |
||||||
---|---|---|---|---|---|---|
|
AVOID_BACKUP_SPD: Avoidance maximum horizontal backup speed¶
Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.
Range |
Units |
---|---|
0 to 2 |
meters per second |
AVOID_ALT_MIN: Avoidance minimum altitude¶
Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable
Range |
Units |
---|---|
0 to 6 |
meters |
AVOID_ACCEL_MAX: Avoidance maximum acceleration¶
Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits
Range |
Units |
---|---|
0 to 9 |
meters per square second |
AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle¶
Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
Range |
Units |
---|---|
0 to 2 |
meters |
AVOID_BACKZ_SPD: Avoidance maximum vertical backup speed¶
Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.
Range |
Units |
---|---|
0 to 2 |
meters per second |