Future Wiki Changes (in Master branch now)

Common

RPM Measurement page

  • under types list at top: add ESC Telemetry
  • add section:

ESC Telemetry - Average Motor RPM

The RPM library can also be used to setup an ‘RPM sensor’ that computes and logs the average RPM for selected motors on the vehicle that are controlled by BLHeli_32 or BLHeli_S capable ESCs. First the ESC telemetry will need to be setup. See BLHeli Telemetry for details on how to do this. Once complete set RPMx_TYPE to 5 and write the parameters to ArduPilot. Then refresh/fetch the parameters. You will find a number of additional parameters are now available for that instance. Find and set RPMx_ESC_MASK to add which ESC channels you want to be included in the average. For example for the second RPM instance:

RPM2_ESC_MASK is a bitmask, with each bit corresponding to a channel. If you wanted the average RPM for motors 1 to 4 you would set RPM2_ESC_MASK = 1 + 2 + 4 + 8 = 15.

Compass Calibration page

  • add note at beginning of Onboard Calibration using Stick Gestures (no GCS) section:

Note

This feature ahs been removed in firmware versions after 4.1.

Auxiliary Functions page

RCx_OPTION value Feature Description Copter Plane Rover
106 Disable Airspeed Use X X X
Option Description
Disable Airspeed Use

Forces Airspeed Use to be disabled for testing in the air.

GPIOs page

  • add the following note at the top:

Note

in firmware versions later than 4.1, the method for setting a PWM/SERVO/MOTOR outputs to be a GPIO function is changed. Instead of BRD_PWM_COUNT being used, the individual SERVOx_FUNCTION parameter is merely set to “-1”. If set to “0”, it remains a PWM output, unassigned to a function, and outputs that output’s trim value when board safety is not active.

Plane

QuadPlane Parameter setup page

  • add:

bit 18, if set,will allow arming only if in a VTOL mode. Primarily used for tailsitters to prevent accidental immediate tip-over if armed in a fixed wing mode with assistance active.

  • change bit 15 to:

bit 15, if set, will allow pilot to control descent during VTOL AUTO-LAND phases, similar to throttle stick action during QHOVER or QLOITER. However, this will not become active until the throttle stick is raised above 70% during the descent at least once.

Tailsitter Planes page:

  • at top of page:

Tailsitters and their parameters are enabled by setting Q_TAILSIT_ENABLE to either “1” ,for most tailsitters, or “2” for the special case of Copter Motor Only Tailsitters (those without control surfaces like elevons or ailerons/elevators).

  • in Vectored and non-Vectored change:
” CopterMotor tailsitters without them (ie. only have a lifting wing with no control surfaces) must use QASSIST (discussed below) to provide control while in fixed wing flight modes.” to:” CopterMotor tailsitters without them (ie. only have a lifting wing with no control surfaces) must use always use their motors to provide control while in fixed wing flight modes. Setting Q_TAILSIT_ENABLE = 2 automatically does this.”
  • under Tailsitter Configuration change:
“The key to make a QuadPlane a tailsitter is to either set Q_FRAME_CLASS =10 or Q_TAILSIT_MOTMX non-zero. That tells the QuadPlane code to use the tailsitter VTOL backend.” to:”The key to make a QuadPlane a tailsitter is to either set Q_TAILSIT_ENABLE to “1” or “2” to tell the QuadPlane code to use the tailsitter VTOL backend.”

Q_FRAME_CLASS determines the number and layout of VTOL motors and Q_TAILSIT_MOTMX determines which motors are active when in fixed wing modes, except in the special case of the Copter Motor Only Tailsitter which keeps running the motors like a Copter mode even when flying in a fixed wing mode for control surface-less Copter tailsitters (ie always running the motors to provide attitude control, even at low throttle).

  • Add table at end of the Tailsitter Configuration section:
Tailsitter Style ENABLE CLASS TYPE MOTORMASK Motor Output Functions
3D Single Motor 1 10(Single/Dual) NA 0 Throttle
Twin Motor and Twin Motor Vectored 1 10(Single/Dual) NA 0 Left Throttle, Right Throttle
Copter Tailsitters with fixed wing control surfaces 1 to match number of VTOL motors to match motor mixing active motors in fixed wing modes Motor 1- Motor x
Copter Tailsitters with no fixed wing control surfaces 2 to match number of VTOL motors to match motor mixing active motors in fixed wing modes Motor 1- Motor x

The ENABLE column refers to the Q_TAILSIT_ENABLE parameter, while CLASS,TYPE, and MOTORMASK refer to Q_FRAME_CLASS, Q_FRAME_TYPE, and Q_TAILSIT_MOTMX, respectively.

  • under Copter Tailsitters change the note to read:

Note

It is possible to have a CopterMotor Tailsitter using no fixed wing control surfaces, ie basically a quadcopter with a wing. For that configuration, use Q_TAILSIT_ENABLE = 2. Q_TAILSIT_MOTMX is ignored in that case.

  • Remove Tailsitter Input Mask section entirely

Flight Options page:

  • add to table
FLIGHT_OPTIONS Function
7 Enable default airspeed EKF fusion for takeoff (Advanced users only)
8 Remove the TRIM_PITCH_CD on the GCS horizon to show flight controller attitude,not plane’s
9 Remove the TRIM_PITCH_CD on the OSD horizon to show flight controller attitude,not plane’s
10 Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL,instead of midway between MAX and MIN stick values (note that the RCx_TRIM value for the throttle channel (x) MUST BE set to center stick value)

Tuning Cruise Configuration page:

  • add in appropriate place

Using TRIM_PITCH_CD to adjust cruise attitude will also add an offset to the artificial horizon on a GCS or an OSD, but this can be disabled using the FLIGHT_OPTIONS bitmask.

Tailsitter Planes page:

  • add under Transitions section:

Depending on the entry speed and time required to transition, the vehicle may gain altitude, sometimes significantly, since the throttle is set to the current Q_M_THRST_HOVER hover thrust value throughout the transition to VTOL. This can be overridden with a lower value by setting Q_TAILSIT_THR_VT. With experimentation, changing the rates, angle, and this parameter for fixed wing to VTOL transitions, it is possible to obtain almost level altitude transitions. Especially with copter style tailsitters with no control surfaces using Q_TAILSIT_ENABLE = 2, keeping attitude control active even at low or zero throttle values.