From 027c13fe438653286b3b8a0904d5ea9c4233c098 Mon Sep 17 00:00:00 2001 From: Git bot Date: Mon, 26 Aug 2024 00:50:43 +0000 Subject: [PATCH] Update metadata --- Copter-4.5/Parameters.html | 814 ++++++------- Copter-4.5/Parameters.md | 746 ++++++------ Copter-4.5/Parameters.rst | 2 + Copter-4.5/ParametersLatex.rst | 2036 ++++++++++++++++---------------- Copter-4.5/apm.pdef.json | 1 + Copter-4.5/apm.pdef.xml | 546 ++++----- Plane-4.5/Parameters.html | 814 ++++++------- Plane-4.5/Parameters.md | 746 ++++++------ Plane-4.5/Parameters.rst | 2 + Plane-4.5/ParametersLatex.rst | 2036 ++++++++++++++++---------------- Plane-4.5/apm.pdef.json | 1 + Plane-4.5/apm.pdef.xml | 546 ++++----- Rover-4.5/Parameters.html | 814 ++++++------- Rover-4.5/Parameters.md | 746 ++++++------ Rover-4.5/Parameters.rst | 2 + Rover-4.5/ParametersLatex.rst | 2036 ++++++++++++++++---------------- Rover-4.5/apm.pdef.json | 1 + Rover-4.5/apm.pdef.xml | 546 ++++----- 18 files changed, 6225 insertions(+), 6210 deletions(-) diff --git a/Copter-4.5/Parameters.html b/Copter-4.5/Parameters.html index 2f76604..bdef3ab 100644 --- a/Copter-4.5/Parameters.html +++ b/Copter-4.5/Parameters.html @@ -1303,169 +1303,6 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Rover Quicktune enable (RTUN_ENABLE)

- -

Enable quicktune system

- - - -

Rover Quicktune axes (RTUN_AXES)

- -

axes to tune

- - - -

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

- -

Ratio between measured response and FF gain. Raise this to get a higher FF gain

- - - -

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

- -

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

- - - -

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

- -

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

- - - -

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

- -

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

- - - -

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

- -

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

- - - -

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

- -

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

- - - -

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

- -

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

- - - -

Rover Quicktune auto save (RTUN_AUTO_SAVE)

- -

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

- - - -

Rover Quicktune RC function (RTUN_RC_FUNC)

- -

RCn_OPTION number to use to control tuning stop/start/save

- - - -

Precland altitude cutoff (PLND_ALT_CUTOFF)

- -

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

- - - -

Precland distance cutoff (DIST_CUTOFF)

- -

The distance from target beyond which the target is ignored

- - - -

Force enable High Latency mode (RCK_FORCEHL)

- -

Automatically enables High Latency mode if not already enabled

- - - -

Update rate (RCK_PERIOD)

- -

When in High Latency mode, send Rockblock updates every N seconds

- - - -

Display Rockblock debugging text (RCK_DEBUG)

- -

Sends Rockblock debug text to GCS via statustexts

- - - -

Enable Message transmission (RCK_ENABLE)

- -

Enables the Rockblock sending and recieving

- - -

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -1634,9 +1471,9 @@

Battery estimator coefficient3 (BATT_SOC4_C3)

-

enable web server (WEB_ENABLE)

+

Quicktune enable (QUIK_ENABLE)

-

enable web server

+

Enable quicktune system

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

web server block size for download

+

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

timeout for inactive connections

+

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+

Maximum value for yaw P gain

-

parameter reversion enable (PREV_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Enable parameter reversion system

+

Maximum value for yaw D gain

-

param reversion RC function (PREV_RC_FUNC)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

RCn_OPTION number to used to trigger parameter reversion

+

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

-

Ship landing enable (SHIP_ENABLE)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

Enable ship landing system

+

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+ + + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

-

WinchControl Rate Up (WINCH_RATE_UP)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Maximum rate when retracting line

+

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

-

WinchControl Rate Down (WINCH_RATE_DN)

+

Quicktune options (QUIK_OPTIONS)

-

Maximum rate when releasing line

+

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

RCn_OPTION number to use to control winch rate

+

ExternalNav may be used if innovations are below this threshold

+ + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+ @@ -1861,7 +1750,7 @@

Deadreckoning Next Mode (DR_NEXT_MODE)

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune enable (RTUN_ENABLE)

Enable quicktune system

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune axes (RTUN_AXES)

axes to tune

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Time to double a tuning parameter. Raise this for a slower tune.

+

Ratio between measured response and FF gain. Raise this to get a higher FF gain

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Maximum value for yaw P gain

+

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Maximum value for yaw D gain

+

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

enable web server (WEB_ENABLE)

+ +

enable web server

+ + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+ + + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

-

Quicktune RC function (QUIK_RC_FUNC)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

RCn_OPTION number to use to control tuning stop/start/save

+

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+

Maximum rate when retracting line

-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+

Maximum rate when releasing line

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

parameter reversion enable (PREV_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Enable parameter reversion system

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

param reversion RC function (PREV_RC_FUNC)

-

OpticalFlow may be used if innovations are below this threshold

+

RCn_OPTION number to used to trigger parameter reversion

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Ship landing enable (SHIP_ENABLE)

-

OpticalFlow may be used if quality is above this threshold

+

Enable ship landing system

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

-

Mount POI distance max (POI_DIST_MAX)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+ + + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

-

POI's max distance (in meters) from the vehicle

+

Enables the Rockblock sending and recieving

@@ -2291,111 +2291,59 @@

Trik Count (TRIK_COUNT)

-

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Enable DJIRS2 debug

+

Enable ANX battery support

- - -

DJIRS2 upside down (DJIR_UPSIDEDOWN)

- -

DJIRS2 upside down

- -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

ViewPro debug

+

Set ANX CAN driver

-

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+

ANX CAN battery index (BATT_ANX_INDEX)

-

Camera selection when switch is in low position

+

ANX CAN battery index

-

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

Camera selection when switch is in middle position

+

ANX CAN battery options

-

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Generator SVFFI enable (EFI_SVF_ENABLE)

-

Camera selection when switch is in high position

+

Enable SVFFI generator support

-

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

- -

ViewPro Zoom Speed. Higher numbers result in faster zooming

- - - -

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

- -

ViewPro Zoom Times Max

- - - -

EFI DLA enable (EFI_DLA_ENABLE)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

Enable EFI DLA driver

+

Check for Generator ARM state before arming

- - -

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

- -

Check for Generator ARM state before arming

- - -

EFI INF-Inject enable (EFI_INF_ENABLE)

Enable EFI INF-Inject driver

@@ -2687,68 +2604,125 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Enable ANX battery support (BATT_ANX_ENABLE)

+

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
-

Enable ANX battery support

+

Enable DJIRS2 debug

-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

DJIRS2 upside down (DJIR_UPSIDEDOWN)

-

Set ANX CAN driver

+

DJIRS2 upside down

-

ANX CAN battery index (BATT_ANX_INDEX)

+

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
-

ANX CAN battery index

+

ViewPro debug

-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

-

ANX CAN battery options

+

Camera selection when switch is in low position

-

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

-

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+

Camera selection when switch is in middle position

-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+

Camera selection when switch is in high position

-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

-

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+

ViewPro Zoom Speed. Higher numbers result in faster zooming

+ + + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

@@ -2830,6 +2804,32 @@

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+ + + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+ + +

ADSB_ Parameters

@@ -5277,7 +5277,7 @@

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter i

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

diff --git a/Copter-4.5/Parameters.md b/Copter-4.5/Parameters.md index 38e5680..94aae17 100644 --- a/Copter-4.5/Parameters.md +++ b/Copter-4.5/Parameters.md @@ -1251,138 +1251,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## RTUN_ENABLE: Rover Quicktune enable - -Enable quicktune system - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AXES: Rover Quicktune axes - -axes to tune - -- Bitmask: 0:Steering,1:Speed - -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio - -Ratio between measured response and FF gain. Raise this to get a higher FF gain - -- Range: 0 1.0 - -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio - -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio - -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio - -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value - -- Range: 0 1.0 - -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio - -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio - -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable - -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AUTO_SAVE: Rover Quicktune auto save - -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune - -- Units: s - -## RTUN_RC_FUNC: Rover Quicktune RC function - -RCn_OPTION number to use to control tuning stop/start/save - -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| - -## PLND_ALT_CUTOFF: Precland altitude cutoff - -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing - -- Range: 0 20 - -- Units: m - -## DIST_CUTOFF: Precland distance cutoff - -The distance from target beyond which the target is ignored - -- Range: 0 100 - -- Units: m - -## RCK_FORCEHL: Force enable High Latency mode - -Automatically enables High Latency mode if not already enabled - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_PERIOD: Update rate - -When in High Latency mode, send Rockblock updates every N seconds - -- Range: 0 600 - -- Units: s - -## RCK_DEBUG: Display Rockblock debugging text - -Sends Rockblock debug text to GCS via statustexts - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_ENABLE: Enable Message transmission - -Enables the Rockblock sending and recieving - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## BATT_SOC_COUNT: Count of SOC estimators Number of battery SOC estimators @@ -1509,123 +1377,157 @@ Battery estimator coefficient3 - Range: 0.01 0.5 -## WEB_ENABLE: enable web server +## QUIK_ENABLE: Quicktune enable -enable web server +Enable quicktune system |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## QUIK_AXES: Quicktune axes -web server TCP port +axes to tune -- Range: 1 65535 +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## WEB_DEBUG: web server debugging +## QUIK_DOUBLE_TIME: Quicktune doubling time -*Note: This parameter is for advanced users* +Time to double a tuning parameter. Raise this for a slower tune. -web server debugging +- Range: 5 20 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Units: s -## WEB_BLOCK_SIZE: web server block size +## QUIK_GAIN_MARGIN: Quicktune gain margin -*Note: This parameter is for advanced users* +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -web server block size for download +- Range: 20 80 -- Range: 1 65535 +- Units: % -## WEB_TIMEOUT: web server timeout +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -*Note: This parameter is for advanced users* +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -timeout for inactive connections +- Range: 1 10 -- Units: s +## QUIK_YAW_P_MAX: Quicktune Yaw P max -- Range: 0.1 60 +Maximum value for yaw P gain -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +- Range: 0.1 3 -*Note: This parameter is for advanced users* +## QUIK_YAW_D_MAX: Quicktune Yaw D max -sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download +Maximum value for yaw D gain -- Range: 0 10000000 +- Range: 0.001 1 -## PREV_ENABLE: parameter reversion enable +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -Enable parameter reversion system +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.5 1.0 -## PREV_RC_FUNC: param reversion RC function +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio -RCn_OPTION number to used to trigger parameter reversion +Ratio between P and I gains for yaw. Raise this to get a lower I gain -## SHIP_ENABLE: Ship landing enable +- Range: 0.5 20 -Enable ship landing system +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## SHIP_LAND_ANGLE: Ship landing angle +## QUIK_AUTO_SAVE: Quicktune auto save -Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -- Range: -180 180 +- Units: s -- Units: deg +## QUIK_RC_FUNC: Quicktune RC function -## SHIP_AUTO_OFS: Ship automatic offset trigger +RCn_OPTION number to use to control tuning stop/start/save -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Trigger| +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. -## WINCH_RATE_UP: WinchControl Rate Up +- Units: % -Maximum rate when retracting line +- Range: 0 100 -- Range: 0.1 5.0 +## QUIK_OPTIONS: Quicktune options -## WINCH_RATE_DN: WinchControl Rate Down +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. -Maximum rate when releasing line +- Bitmask: 0:UseTwoPositionSwitch -- Range: 0.1 5.0 +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -## WINCH_RC_FUNC: Winch Rate Control RC function +ExternalNav may be used if innovations are below this threshold -RCn_OPTION number to use to control winch rate +- Range: 0 1 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 ## DR_ENABLE: Deadreckoning Enable @@ -1701,7 +1603,7 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -1710,132 +1612,230 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## QUIK_AXES: Quicktune axes +## RTUN_AXES: Rover Quicktune axes axes to tune -- Bitmask: 0:Roll,1:Pitch,2:Yaw +- Bitmask: 0:Steering,1:Speed -## QUIK_DOUBLE_TIME: Quicktune doubling time +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -Time to double a tuning parameter. Raise this for a slower tune. +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Range: 5 20 +- Range: 0 1.0 -- Units: s +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -## QUIK_GAIN_MARGIN: Quicktune gain margin +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +- Range: 0 2.0 -- Range: 20 80 +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -- Units: % +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +- Range: 0 2.0 -Threshold for oscillation detection. A lower value will lead to a more conservative tune. +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -- Range: 1 10 +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -## QUIK_YAW_P_MAX: Quicktune Yaw P max +- Range: 0 1.0 -Maximum value for yaw P gain +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -- Range: 0.1 3 +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -## QUIK_YAW_D_MAX: Quicktune Yaw D max +- Range: 0 2.0 -Maximum value for yaw D gain +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -- Range: 0.001 1 +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +- Range: 0 2.0 -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable -- Range: 0.5 1.0 +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Ratio between P and I gains for yaw. Raise this to get a lower I gain +## RTUN_AUTO_SAVE: Rover Quicktune auto save -- Range: 0.5 20 +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -## QUIK_AUTO_FILTER: Quicktune auto filter enable +- Units: s -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WEB_ENABLE: enable web server + +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune auto save +## WEB_BIND_PORT: web server TCP port -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections - Units: s -## QUIK_RC_FUNC: Quicktune RC function +- Range: 0.1 60 -RCn_OPTION number to use to control tuning stop/start/save +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## QUIK_MAX_REDUCE: Quicktune maximum gain reduction +*Note: This parameter is for advanced users* -This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download -- Units: % +- Range: 0 10000000 -- Range: 0 100 +## WINCH_RATE_UP: WinchControl Rate Up -## QUIK_OPTIONS: Quicktune options +Maximum rate when retracting line -Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. +- Range: 0.1 5.0 -- Bitmask: 0:UseTwoPositionSwitch +## WINCH_RATE_DN: WinchControl Rate Down -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold +Maximum rate when releasing line -ExternalNav may be used if innovations are below this threshold +- Range: 0.1 5.0 -- Range: 0 1 +## WINCH_RC_FUNC: Winch Rate Control RC function -## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold +RCn_OPTION number to use to control winch rate -ExternalNav may be used if quality is above this threshold +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -- Range: 0 100 +## PREV_ENABLE: parameter reversion enable -- Units: % +Enable parameter reversion system -## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -OpticalFlow may be used if innovations are below this threshold +## PREV_RC_FUNC: param reversion RC function -- Range: 0 1 +RCn_OPTION number to used to trigger parameter reversion -## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold +## SHIP_ENABLE: Ship landing enable -OpticalFlow may be used if quality is above this threshold +Enable ship landing system -- Range: 0 100 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds -- Units: % +- Range: 0 600 -## ESRC_RNGFND_MAX: EKF Source Rangefinder Max +- Units: s -OpticalFlow may be used if rangefinder distance is below this threshold +## RCK_DEBUG: Display Rockblock debugging text -- Range: 0 50 +Sends Rockblock debug text to GCS via statustexts -- Units: m +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## POI_DIST_MAX: Mount POI distance max +## RCK_ENABLE: Enable Message transmission -POI's max distance (in meters) from the vehicle +Enables the Rockblock sending and recieving -- Range: 0 10000 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| ## AEROM_ANG_ACCEL: Angular acceleration limit @@ -2025,113 +2025,57 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## DJIR_DEBUG: DJIRS2 debug - -*Note: This parameter is for advanced users* +## BATT_ANX_ENABLE: Enable ANX battery support -Enable DJIRS2 debug +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -|2|Enabled with attitude reporting| -## DJIR_UPSIDEDOWN: DJIRS2 upside down +## BATT_ANX_CANDRV: Set ANX CAN driver -DJIRS2 upside down +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Right side up| -|1|Upside down| - -## VIEP_DEBUG: ViewPro debug - -*Note: This parameter is for advanced users* - -ViewPro debug +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled including attitude reporting| +## BATT_ANX_INDEX: ANX CAN battery index -## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low +ANX CAN battery index -Camera selection when switch is in low position +- Range: 1 10 -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +## BATT_ANX_OPTIONS: ANX CAN battery options -## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid +*Note: This parameter is for advanced users* -Camera selection when switch is in middle position +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +- Bitmask: 0:LogAllFrames -## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High +## EFI_SVF_ENABLE: Generator SVFFI enable -Camera selection when switch is in high position +Enable SVFFI generator support |Value|Meaning| |:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| - -## VIEP_ZOOM_SPEED: ViewPro Zoom Speed - -ViewPro Zoom Speed. Higher numbers result in faster zooming - -- Range: 0 7 - -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max - -ViewPro Zoom Times Max - -- Range: 0 30 +|0|Disabled| +|1|Enabled| -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_SVF_ARMCHECK: Generator SVFFI arming check -Enable EFI DLA driver +Check for Generator ARM state before arming |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale - -EFI DLA litres of fuel per second of injection time - -- Range: 0.00001 1 - -- Units: litres - ## ESC_HW_ENABLE: Hobbywing ESC Enable Enable Hobbywing ESC telemetry @@ -2297,24 +2241,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_SVF_ENABLE: Generator SVFFI enable - -Enable SVFFI generator support - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## EFI_SVF_ARMCHECK: Generator SVFFI arming check - -Check for Generator ARM state before arming - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## EFI_INF_ENABLE: EFI INF-Inject enable Enable EFI INF-Inject driver @@ -2371,57 +2297,112 @@ The capacity of the tank in litres - Units: litres -## BATT_ANX_ENABLE: Enable ANX battery support +## DJIR_DEBUG: DJIRS2 debug -Enable ANX battery support +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| +|2|Enabled with attitude reporting| -## BATT_ANX_CANDRV: Set ANX CAN driver +## DJIR_UPSIDEDOWN: DJIRS2 upside down -Set ANX CAN driver +DJIRS2 upside down |Value|Meaning| |:---:|:---:| -|0|None| -|1|1stCANDriver| -|2|2ndCanDriver| +|0|Right side up| +|1|Upside down| -## BATT_ANX_INDEX: ANX CAN battery index +## VIEP_DEBUG: ViewPro debug -ANX CAN battery index +*Note: This parameter is for advanced users* -- Range: 1 10 +ViewPro debug -## BATT_ANX_OPTIONS: ANX CAN battery options +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| -*Note: This parameter is for advanced users* +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low -ANX CAN battery options +Camera selection when switch is in low position -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid -Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) +Camera selection when switch is in middle position |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Camera selection when switch is in high position -- Range: 1 4 +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2483,6 +2464,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # ADSB Parameters ## ADSB_TYPE: ADSB Type @@ -4905,7 +4905,7 @@ This sets the range around the average value that new samples must be within to This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. -- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 ## BARO1_DEVID: Baro ID diff --git a/Copter-4.5/Parameters.rst b/Copter-4.5/Parameters.rst index 5f6a2ef..780b823 100644 --- a/Copter-4.5/Parameters.rst +++ b/Copter-4.5/Parameters.rst @@ -8179,6 +8179,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of | +-----+---------+ | | | 12 | MSP | | | +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | | | +-------------------+ diff --git a/Copter-4.5/ParametersLatex.rst b/Copter-4.5/ParametersLatex.rst index 966fb91..c753278 100644 --- a/Copter-4.5/ParametersLatex.rst +++ b/Copter-4.5/ParametersLatex.rst @@ -2756,338 +2756,6 @@ Lua Script Parameters --------------------- -.. _RTUN_ENABLE: - -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AXES: - -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ - - - - -.. _RTUN_STR_FFRATIO: - -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and FF gain\. Raise this to get a higher FF gain - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_STR_P_RATIO: - -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_STR_I_RATIO: - -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_FFRATIO: - -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_SPD_P_RATIO: - -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_I_RATIO: - -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_AUTO_FILTER: - -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AUTO_SAVE: - -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _RTUN_RC_FUNC: - -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ - - - - -.. _PLND_ALT_CUTOFF: - -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ - - - - -.. _DIST_CUTOFF: - -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The distance from target beyond which the target is ignored - - -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ - - - - -.. _RCK_FORCEHL: - -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Automatically enables High Latency mode if not already enabled - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_PERIOD: - -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ - - -When in High Latency mode\, send Rockblock updates every N seconds - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ - - - - -.. _RCK_DEBUG: - -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Sends Rockblock debug text to GCS via statustexts - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_ENABLE: - -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables the Rockblock sending and recieving - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _BATT_SOC_COUNT: BATT\_SOC\_COUNT: Count of SOC estimators @@ -3436,43 +3104,211 @@ BATT\_SOC4\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _BATT_SOC4_C3: +.. _QUIK_Y_PI_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _WEB_ENABLE: +.. _QUIK_AUTO_FILTER: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +-------+----------+ @@ -3486,253 +3322,209 @@ enable web server -.. _WEB_BIND_PORT: - -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -web server TCP port - +.. _QUIK_AUTO_SAVE: -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune -.. _WEB_DEBUG: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +.. _QUIK_RC_FUNC: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to use to control tuning stop\/start\/save -.. _WEB_BLOCK_SIZE: +.. _QUIK_MAX_REDUCE: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _WEB_TIMEOUT: +.. _QUIK_OPTIONS: -WEB\_TIMEOUT: web server timeout +QUIK\_OPTIONS: Quicktune options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* - -timeout for inactive connections - - -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ - - +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. -.. _WEB_SENDFILE_MIN: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ -| *Note: This parameter is for advanced users* -sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ +.. _ESRC_EXTN_THRESH: +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if innovations are below this threshold -.. _PREV_ENABLE: -PREV\_ENABLE: parameter reversion enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -Enable parameter reversion system -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _ESRC_EXTN_QUAL: +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if quality is above this threshold -.. _PREV_RC_FUNC: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -RCn\_OPTION number to used to trigger parameter reversion -.. _SHIP_ENABLE: +.. _ESRC_FLOW_THRESH: -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +OpticalFlow may be used if innovations are below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -.. _SHIP_LAND_ANGLE: +.. _ESRC_FLOW_QUAL: -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. +OpticalFlow may be used if quality is above this threshold -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _SHIP_AUTO_OFS: +.. _ESRC_RNGFND_MAX: -SHIP\_AUTO\_OFS: Ship automatic offset trigger -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. +OpticalFlow may be used if rangefinder distance is below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _WINCH_RATE_UP: +.. _PLND_ALT_CUTOFF: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _WINCH_RATE_DN: +.. _DIST_CUTOFF: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +The distance from target beyond which the target is ignored -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _WINCH_RC_FUNC: +.. _POI_DIST_MAX: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +POI\'s max distance \(in meters\) from the vehicle -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ @@ -3889,47 +3681,265 @@ DR\_NEXT\_MODE: Deadreckoning Next Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 2 | AltHold | -+-------+--------------+ -| 3 | Auto | -+-------+--------------+ -| 4 | Guided | -+-------+--------------+ -| 5 | Loiter | -+-------+--------------+ -| 6 | RTL | -+-------+--------------+ -| 7 | Circle | -+-------+--------------+ -| 9 | Land | -+-------+--------------+ -| 16 | PosHold | -+-------+--------------+ -| 17 | Brake | -+-------+--------------+ -| 20 | Guided_NoGPS | -+-------+--------------+ -| 21 | Smart_RTL | -+-------+--------------+ -| 27 | Auto RTL | -+-------+--------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_ENABLE: +.. _WEB_ENABLE: -QUIK\_ENABLE: Quicktune enable +WEB\_ENABLE: enable web server ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +enable web server +-------+----------+ @@ -3943,161 +3953,177 @@ Enable quicktune system -.. _QUIK_AXES: +.. _WEB_BIND_PORT: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +web server TCP port -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_DOUBLE_TIME: +.. _WEB_DEBUG: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Time to double a tuning parameter\. Raise this for a slower tune\. +web server debugging -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_GAIN_MARGIN: +.. _WEB_BLOCK_SIZE: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +web server block size for download -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_OSC_SMAX: +.. _WEB_TIMEOUT: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +timeout for inactive connections -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _QUIK_YAW_P_MAX: +.. _WEB_SENDFILE_MIN: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Maximum value for yaw P gain +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _QUIK_YAW_D_MAX: +.. _WINCH_RATE_UP: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +Maximum rate when retracting line +------------+ | Range | +============+ -| 0.001 to 1 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _WINCH_RATE_DN: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Maximum rate when releasing line +------------+ | Range | +============+ -| 0.5 to 1.0 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_Y_PI_RATIO: +.. _WINCH_RC_FUNC: -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for yaw\. Raise this to get a lower I gain +RCn\_OPTION number to use to control winch rate -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_AUTO_FILTER: +.. _PREV_ENABLE: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Enable parameter reversion system +-------+----------+ @@ -4111,173 +4137,147 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - +.. _PREV_RC_FUNC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _QUIK_OPTIONS: +.. _SHIP_ENABLE: -QUIK\_OPTIONS: Quicktune options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. +Enable ship landing system -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_EXTN_THRESH: +.. _SHIP_LAND_ANGLE: -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _ESRC_EXTN_QUAL: +.. _SHIP_AUTO_OFS: -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ -.. _ESRC_FLOW_THRESH: +.. _RCK_FORCEHL: -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +Automatically enables High Latency mode if not already enabled -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: +.. _RCK_DEBUG: -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _POI_DIST_MAX: +.. _RCK_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enables the Rockblock sending and recieving -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -4805,241 +4805,122 @@ TRIK\_ACT\_FN: Trik Action Scripting Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _DJIR_DEBUG: - -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -Enable DJIRS2 debug - - -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ - - - - -.. _DJIR_UPSIDEDOWN: - -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -DJIRS2 upside down - - -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _VIEP_CAM_SWMID: -VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in middle position +.. _TRIK_COUNT: +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Number of tricks which can be selected over the range of the trik selection RC channel ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _VIEP_CAM_SWHIGH: -VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in high position +.. _BATT_ANX_ENABLE: +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _VIEP_ZOOM_SPEED: -VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Speed\. Higher numbers result in faster zooming +Set ANX CAN driver -+--------+ -| Range | -+========+ -| 0 to 7 | -+--------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _VIEP_ZOOM_MAX: +.. _BATT_ANX_INDEX: -VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +BATT\_ANX\_INDEX: ANX CAN battery index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Times Max +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 30 | +| 1 to 10 | +---------+ -.. _EFI_DLA_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver + +Enable SVFFI generator support +-------+----------+ @@ -5053,20 +4934,22 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ARMCHECK: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Check for Generator ARM state before arming -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -5432,46 +5315,6 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_SVF_ENABLE: - -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable SVFFI generator support - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_SVF_ARMCHECK: - -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Check for Generator ARM state before arming - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _EFI_INF_ENABLE: EFI\_INF\_ENABLE: EFI INF\-Inject enable @@ -5574,160 +5417,270 @@ EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _VIEP_DEBUG: +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +ViewPro debug -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _VIEP_CAM_SWLOW: +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in low position -.. _BATT_ANX_ENABLE: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable ANX battery support -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _BATT_ANX_CANDRV: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Set ANX CAN driver -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _BATT_ANX_INDEX: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -ANX CAN battery index -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _BATT_ANX_OPTIONS: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -| *Note: This parameter is for advanced users* -ANX CAN battery options -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -5896,6 +5849,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_ADSB_: @@ -10956,6 +10956,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of +-----+---------+ | 12 | MSP | +-----+---------+ +| 13 | BMP581 | ++-----+---------+ diff --git a/Copter-4.5/apm.pdef.json b/Copter-4.5/apm.pdef.json index ef2014c..50e0f8f 100644 --- a/Copter-4.5/apm.pdef.json +++ b/Copter-4.5/apm.pdef.json @@ -2121,6 +2121,7 @@ "10": "BMP388", "11": "SPL06", "12": "MSP", + "13": "BMP581", "2": "MS5611", "3": "MS5607", "4": "MS5637", diff --git a/Copter-4.5/apm.pdef.xml b/Copter-4.5/apm.pdef.xml index 79082d1..0434e9f 100644 --- a/Copter-4.5/apm.pdef.xml +++ b/Copter-4.5/apm.pdef.xml @@ -830,88 +830,6 @@ - - - Disabled - Enabled - - - - 0:Steering,1:Speed - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - - Disabled - Enabled - - - - s - seconds - - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - - - - 0 20 - m - meters - - - 0 100 - m - meters - - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - 0 4 @@ -975,74 +893,93 @@ 0.01 0.5 - - - Disabled - Enabled - - - - 1 65535 - - + Disabled Enabled - - 1 65535 + + 0:Roll,1:Pitch,2:Yaw - + + 5 20 s seconds - 0.1 60 - - 0 10000000 + + 20 80 + % + percent - + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + Disabled Enabled - + + s + seconds + + - - - Disabled - Enabled - + + % + percent + 0 100 - - -180 180 - deg - degrees + + 0:UseTwoPositionSwitch - - - Disabled - Trigger - + + 0 1 - - 0.1 5.0 + + 0 100 + % + percent - - 0.1 5.0 + + 0 1 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 100 + % + percent + + + 0 50 + m + meters + + + 0 20 + m + meters + + + 0 100 + m + meters + + + 0 10000 @@ -1094,83 +1031,146 @@ Auto RTL - + + + Disabled + Enabled + + + + 0:Steering,1:Speed + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + + Disabled + Enabled + + + + s + seconds + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + Disabled + Enabled + + + + 1 65535 + + + + Disabled + Enabled + + + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 + + + + + Disabled + Enabled + - - 0.5 1.0 + + -180 180 + deg + degrees - - 0.5 20 + + + Disabled + Trigger + - + Disabled Enabled - + + 0 600 s seconds - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch - - - 0 1 - - - 0 100 - % - percent - - - 0 1 - - - 0 100 - % - percent - - - 0 50 - m - meters + + + Disabled + Enabled + - - 0 10000 + + + Disabled + Enabled + deg/s/s @@ -1289,79 +1289,37 @@ 1 11 - + Disabled Enabled - Enabled with attitude reporting - - - - - Right side up - Upside down - + - Disabled - Enabled - Enabled including attitude reporting + None + 1stCANDriver + 2ndCanDriver - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 1 10 - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 0:LogAllFrames - + - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm + Disabled + Enabled - - 0 7 - - - 0 30 - - + Disabled Enabled - - 0.00001 1 - litres - litres - Disabled @@ -1466,18 +1424,6 @@ s seconds - - - Disabled - Enabled - - - - - Disabled - Enabled - - Disabled @@ -1518,36 +1464,79 @@ litres litres - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 + + + Disabled + Enabled + Enabled including attitude reporting + - - 0:LogAllFrames + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + - + - Set as Rangefinder - Set as Proximity sensor + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm - - 1 4 + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + 0 7 + + + 0 30 + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1581,6 +1570,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + @@ -2885,7 +2885,7 @@ 1 - 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 True diff --git a/Plane-4.5/Parameters.html b/Plane-4.5/Parameters.html index 951538e..a9a2cf3 100644 --- a/Plane-4.5/Parameters.html +++ b/Plane-4.5/Parameters.html @@ -1319,169 +1319,6 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Rover Quicktune enable (RTUN_ENABLE)

- -

Enable quicktune system

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Rover Quicktune axes (RTUN_AXES)

- -

axes to tune

-
    -
  • Bitmask: 0:Steering,1:Speed
    • -
- - -

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

- -

Ratio between measured response and FF gain. Raise this to get a higher FF gain

-
    -
  • Range: 0 1.0
    • -
- - -

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

- -

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

- -

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

- -

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

-
    -
  • Range: 0 1.0
    • -
- - -

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

- -

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

- -

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

- -

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Rover Quicktune auto save (RTUN_AUTO_SAVE)

- -

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

-
    -
  • Units: seconds
    • -
- - -

Rover Quicktune RC function (RTUN_RC_FUNC)

- -

RCn_OPTION number to use to control tuning stop/start/save

-
    - - - - - - - - - -
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    -
- - -

Precland altitude cutoff (PLND_ALT_CUTOFF)

- -

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

-
    -
  • Range: 0 20
    • -
  • Units: meters
    • -
- - -

Precland distance cutoff (DIST_CUTOFF)

- -

The distance from target beyond which the target is ignored

-
    -
  • Range: 0 100
    • -
  • Units: meters
    • -
- - -

Force enable High Latency mode (RCK_FORCEHL)

- -

Automatically enables High Latency mode if not already enabled

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Update rate (RCK_PERIOD)

- -

When in High Latency mode, send Rockblock updates every N seconds

-
    -
  • Range: 0 600
    • -
  • Units: seconds
    • -
- - -

Display Rockblock debugging text (RCK_DEBUG)

- -

Sends Rockblock debug text to GCS via statustexts

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Enable Message transmission (RCK_ENABLE)

- -

Enables the Rockblock sending and recieving

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- -

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -1650,9 +1487,9 @@

Battery estimator coefficient3 (BATT_SOC4_C3)

-

enable web server (WEB_ENABLE)

+

Quicktune enable (QUIK_ENABLE)

-

enable web server

+

Enable quicktune system

    @@ -1661,71 +1498,75 @@

    enable web server (WEB_ENABLE)

    -

    web server TCP port (WEB_BIND_PORT)

    +

    Quicktune axes (QUIK_AXES)

    -

    web server TCP port

    +

    axes to tune

      -
    • Range: 1 65535
      • +
    • Bitmask: 0:Roll,1:Pitch,2:Yaw
    -

    web server debugging (WEB_DEBUG)

    Note: This parameter is for advanced users
    +

    Quicktune doubling time (QUIK_DOUBLE_TIME)

    -

    web server debugging

    +

    Time to double a tuning parameter. Raise this for a slower tune.

      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Enabled
    +
  • Range: 5 20
    • +
  • Units: seconds
-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

web server block size for download

+

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

    -
  • Range: 1 65535
    • +
  • Range: 20 80
    • +
  • Units: percent
-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

timeout for inactive connections

+

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

    -
  • Units: seconds
    • -
  • Range: 0.1 60
    • +
  • Range: 1 10
-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+

Maximum value for yaw P gain

    -
  • Range: 0 10000000
    • +
  • Range: 0.1 3
-

parameter reversion enable (PREV_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Enable parameter reversion system

+

Maximum value for yaw D gain

    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    +
  • Range: 0.001 1
-

param reversion RC function (PREV_RC_FUNC)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

RCn_OPTION number to used to trigger parameter reversion

+

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

    +
  • Range: 0.5 1.0
-

Ship landing enable (SHIP_ENABLE)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

Enable ship landing system

+

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+
    +
  • Range: 0.5 20
    • +
+ + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

    @@ -1734,56 +1575,104 @@

    Ship landing enable (SHIP_ENABLE)

    -

    Ship landing angle (SHIP_LAND_ANGLE)

    +

    Quicktune auto save (QUIK_AUTO_SAVE)

    -

    Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

    +

    Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

      -
    • Range: -180 180
      • -
    • Units: degrees
      • +
    • Units: seconds
    -

    Ship automatic offset trigger (SHIP_AUTO_OFS)

    +

    Quicktune RC function (QUIK_RC_FUNC)

    -

    Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

    +

    RCn_OPTION number to use to control tuning stop/start/save

      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Trigger
-

WinchControl Rate Up (WINCH_RATE_UP)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Maximum rate when retracting line

+

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

    -
  • Range: 0.1 5.0
    • +
  • Units: percent
    • +
  • Range: 0 100
-

WinchControl Rate Down (WINCH_RATE_DN)

+

Quicktune options (QUIK_OPTIONS)

-

Maximum rate when releasing line

+

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

    -
  • Range: 0.1 5.0
    • +
  • Bitmask: 0:UseTwoPositionSwitch
-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

RCn_OPTION number to use to control winch rate

+

ExternalNav may be used if innovations are below this threshold

    - - - - - - - - - -
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    +
  • Range: 0 1
    • +
+ + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+
    +
  • Range: 0 100
    • +
  • Units: percent
    • +
+ + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+
    +
  • Range: 0 1
    • +
+ + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+
    +
  • Range: 0 100
    • +
  • Units: percent
    • +
+ + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+
    +
  • Range: 0 50
    • +
  • Units: meters
    • +
+ + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+
    +
  • Range: 0 20
    • +
  • Units: meters
    • +
+ + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+
    +
  • Range: 0 100
    • +
  • Units: meters
    • +
+ + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+
    +
  • Range: 0 10000
@@ -1877,7 +1766,7 @@

Deadreckoning Next Mode (DR_NEXT_MODE)

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune enable (RTUN_ENABLE)

Enable quicktune system

    @@ -1888,75 +1777,101 @@

    Quicktune enable (QUIK_ENABLE)

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune axes (RTUN_AXES)

axes to tune

    -
  • Bitmask: 0:Roll,1:Pitch,2:Yaw
    • +
  • Bitmask: 0:Steering,1:Speed
-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Time to double a tuning parameter. Raise this for a slower tune.

+

Ratio between measured response and FF gain. Raise this to get a higher FF gain

    -
  • Range: 5 20
    • -
  • Units: seconds
    • +
  • Range: 0 1.0
-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

    -
  • Range: 20 80
    • -
  • Units: percent
    • +
  • Range: 0 2.0
-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

    -
  • Range: 1 10
    • +
  • Range: 0 2.0
-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Maximum value for yaw P gain

+

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

    -
  • Range: 0.1 3
    • +
  • Range: 0 1.0
-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Maximum value for yaw D gain

+

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

    -
  • Range: 0.001 1
    • +
  • Range: 0 2.0
-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

    -
  • Range: 0.5 1.0
    • +
  • Range: 0 2.0
-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

    -
  • Range: 0.5 20
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+
    +
  • Units: seconds
    • +
+ + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+
    + + + + + + + + + +
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    +
+ + +

enable web server (WEB_ENABLE)

+ +

enable web server

    @@ -1965,86 +1880,171 @@

    Quicktune auto filter enable (QUIK_AUTO_FILTER)

    -

    Quicktune auto save (QUIK_AUTO_SAVE)

    +

    web server TCP port (WEB_BIND_PORT)

    -

    Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

    +

    web server TCP port

    +
      +
    • Range: 1 65535
      • +
    + + +

    web server debugging (WEB_DEBUG)

    Note: This parameter is for advanced users
    + +

    web server debugging

    +
      +
    ValueMeaning
    0Disabled
    + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+
    +
  • Range: 1 65535
    • +
+ + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

  • Units: seconds
    • +
  • Range: 0.1 60
-

Quicktune RC function (QUIK_RC_FUNC)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

RCn_OPTION number to use to control tuning stop/start/save

+

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

    +
  • Range: 0 10000000
-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+

Maximum rate when retracting line

    -
  • Units: percent
    • -
  • Range: 0 100
    • +
  • Range: 0.1 5.0
-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+

Maximum rate when releasing line

    -
  • Bitmask: 0:UseTwoPositionSwitch
    • +
  • Range: 0.1 5.0
-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

    -
  • Range: 0 1
    • + + + + + + + + + +
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

parameter reversion enable (PREV_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Enable parameter reversion system

    -
  • Range: 0 100
    • -
  • Units: percent
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

param reversion RC function (PREV_RC_FUNC)

-

OpticalFlow may be used if innovations are below this threshold

+

RCn_OPTION number to used to trigger parameter reversion

    -
  • Range: 0 1
-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Ship landing enable (SHIP_ENABLE)

-

OpticalFlow may be used if quality is above this threshold

+

Enable ship landing system

    -
  • Range: 0 100
    • -
  • Units: percent
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

    -
  • Range: 0 50
    • -
  • Units: meters
    • +
  • Range: -180 180
    • +
  • Units: degrees
-

Mount POI distance max (POI_DIST_MAX)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+
    + + + +
    ValueMeaning
    0Disabled
    1Trigger
    +
+ + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+
    +
  • Range: 0 600
    • +
  • Units: seconds
    • +
+ + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

Enable Message transmission (RCK_ENABLE)

-

POI's max distance (in meters) from the vehicle

+

Enables the Rockblock sending and recieving

    -
  • Range: 0 10000
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
@@ -2307,111 +2307,59 @@

Trik Count (TRIK_COUNT)

-

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Enable DJIRS2 debug

+

Enable ANX battery support

    - -
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled with attitude reporting
    -
- - -

DJIRS2 upside down (DJIR_UPSIDEDOWN)

- -

DJIRS2 upside down

-
    - - -
    ValueMeaning
    0Right side up
    1Upside down
-

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

ViewPro debug

+

Set ANX CAN driver

    - - - + + +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled including attitude reporting
    0None
    11stCANDriver
    22ndCanDriver
-

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+

ANX CAN battery index (BATT_ANX_INDEX)

-

Camera selection when switch is in low position

+

ANX CAN battery index

    - - - - - - - - - -
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    +
  • Range: 1 10
-

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

Camera selection when switch is in middle position

+

ANX CAN battery options

    - - - - - - - - - -
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    +
  • Bitmask: 0:LogAllFrames
-

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Generator SVFFI enable (EFI_SVF_ENABLE)

-

Camera selection when switch is in high position

+

Enable SVFFI generator support

    - - - - - - - - + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    0Disabled
    1Enabled
-

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

- -

ViewPro Zoom Speed. Higher numbers result in faster zooming

-
    -
  • Range: 0 7
    • -
- - -

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

- -

ViewPro Zoom Times Max

-
    -
  • Range: 0 30
    • -
- - -

EFI DLA enable (EFI_DLA_ENABLE)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

Enable EFI DLA driver

+

Check for Generator ARM state before arming

    @@ -2420,15 +2368,6 @@

    EFI DLA enable (EFI_DLA_ENABLE)

    -

    EFI DLA fuel scale (EFI_DLA_LPS)

    - -

    EFI DLA litres of fuel per second of injection time

    -
      -
    • Range: 0.00001 1
      • -
    • Units: litres
      • -
    - -

    Hobbywing ESC Enable (ESC_HW_ENABLE)

    Enable Hobbywing ESC telemetry

    @@ -2613,28 +2552,6 @@

    SkyPower EFI restart time (EFI_SP_RST_TIME)

    -

    Generator SVFFI enable (EFI_SVF_ENABLE)

    - -

    Enable SVFFI generator support

    -
      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

- -

Check for Generator ARM state before arming

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- -

EFI INF-Inject enable (EFI_INF_ENABLE)

Enable EFI INF-Inject driver

@@ -2703,68 +2620,125 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Enable ANX battery support (BATT_ANX_ENABLE)

+

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
-

Enable ANX battery support

+

Enable DJIRS2 debug

    +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled with attitude reporting
-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

DJIRS2 upside down (DJIR_UPSIDEDOWN)

-

Set ANX CAN driver

+

DJIRS2 upside down

    - - - + +
    ValueMeaning
    0None
    11stCANDriver
    22ndCanDriver
    0Right side up
    1Upside down
-

ANX CAN battery index (BATT_ANX_INDEX)

+

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
-

ANX CAN battery index

+

ViewPro debug

    -
  • Range: 1 10
    • + + + + +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled including attitude reporting
-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

-

ANX CAN battery options

+

Camera selection when switch is in low position

    -
  • Bitmask: 0:LogAllFrames
    • + + + + + + + + + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

-

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+

Camera selection when switch is in middle position

    - - + + + + + + + +
    ValueMeaning
    0Set as Rangefinder
    1Set as Proximity sensor
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+

Camera selection when switch is in high position

    -
  • Range: 1 4
    • + + + + + + + + + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

-

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+

ViewPro Zoom Speed. Higher numbers result in faster zooming

+
    +
  • Range: 0 7
    • +
+ + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+
    +
  • Range: 0 30
    • +
+ + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

    +
  • Range: 0.00001 1
    • +
  • Units: litres
@@ -2846,6 +2820,32 @@

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+
    + + + +
    ValueMeaning
    0Set as Rangefinder
    1Set as Proximity sensor
    +
+ + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+
    +
  • Range: 1 4
    • +
+ + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+
    +
+ +

ADSB_ Parameters

@@ -4091,7 +4091,7 @@

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter i

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

    -
  • Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP
    • +
  • Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581
diff --git a/Plane-4.5/Parameters.md b/Plane-4.5/Parameters.md index 7e46c56..246416e 100644 --- a/Plane-4.5/Parameters.md +++ b/Plane-4.5/Parameters.md @@ -1290,138 +1290,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## RTUN_ENABLE: Rover Quicktune enable - -Enable quicktune system - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AXES: Rover Quicktune axes - -axes to tune - -- Bitmask: 0:Steering,1:Speed - -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio - -Ratio between measured response and FF gain. Raise this to get a higher FF gain - -- Range: 0 1.0 - -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio - -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio - -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio - -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value - -- Range: 0 1.0 - -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio - -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio - -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable - -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AUTO_SAVE: Rover Quicktune auto save - -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune - -- Units: s - -## RTUN_RC_FUNC: Rover Quicktune RC function - -RCn_OPTION number to use to control tuning stop/start/save - -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| - -## PLND_ALT_CUTOFF: Precland altitude cutoff - -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing - -- Range: 0 20 - -- Units: m - -## DIST_CUTOFF: Precland distance cutoff - -The distance from target beyond which the target is ignored - -- Range: 0 100 - -- Units: m - -## RCK_FORCEHL: Force enable High Latency mode - -Automatically enables High Latency mode if not already enabled - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_PERIOD: Update rate - -When in High Latency mode, send Rockblock updates every N seconds - -- Range: 0 600 - -- Units: s - -## RCK_DEBUG: Display Rockblock debugging text - -Sends Rockblock debug text to GCS via statustexts - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_ENABLE: Enable Message transmission - -Enables the Rockblock sending and recieving - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## BATT_SOC_COUNT: Count of SOC estimators Number of battery SOC estimators @@ -1548,123 +1416,157 @@ Battery estimator coefficient3 - Range: 0.01 0.5 -## WEB_ENABLE: enable web server +## QUIK_ENABLE: Quicktune enable -enable web server +Enable quicktune system |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## QUIK_AXES: Quicktune axes -web server TCP port +axes to tune -- Range: 1 65535 +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## WEB_DEBUG: web server debugging +## QUIK_DOUBLE_TIME: Quicktune doubling time -*Note: This parameter is for advanced users* +Time to double a tuning parameter. Raise this for a slower tune. -web server debugging +- Range: 5 20 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Units: s -## WEB_BLOCK_SIZE: web server block size +## QUIK_GAIN_MARGIN: Quicktune gain margin -*Note: This parameter is for advanced users* +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -web server block size for download +- Range: 20 80 -- Range: 1 65535 +- Units: % -## WEB_TIMEOUT: web server timeout +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -*Note: This parameter is for advanced users* +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -timeout for inactive connections +- Range: 1 10 -- Units: s +## QUIK_YAW_P_MAX: Quicktune Yaw P max -- Range: 0.1 60 +Maximum value for yaw P gain -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +- Range: 0.1 3 -*Note: This parameter is for advanced users* +## QUIK_YAW_D_MAX: Quicktune Yaw D max -sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download +Maximum value for yaw D gain -- Range: 0 10000000 +- Range: 0.001 1 -## PREV_ENABLE: parameter reversion enable +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -Enable parameter reversion system +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.5 1.0 -## PREV_RC_FUNC: param reversion RC function +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio -RCn_OPTION number to used to trigger parameter reversion +Ratio between P and I gains for yaw. Raise this to get a lower I gain -## SHIP_ENABLE: Ship landing enable +- Range: 0.5 20 -Enable ship landing system +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## SHIP_LAND_ANGLE: Ship landing angle +## QUIK_AUTO_SAVE: Quicktune auto save -Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -- Range: -180 180 +- Units: s -- Units: deg +## QUIK_RC_FUNC: Quicktune RC function -## SHIP_AUTO_OFS: Ship automatic offset trigger +RCn_OPTION number to use to control tuning stop/start/save -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Trigger| +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. -## WINCH_RATE_UP: WinchControl Rate Up +- Units: % -Maximum rate when retracting line +- Range: 0 100 -- Range: 0.1 5.0 +## QUIK_OPTIONS: Quicktune options -## WINCH_RATE_DN: WinchControl Rate Down +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. -Maximum rate when releasing line +- Bitmask: 0:UseTwoPositionSwitch -- Range: 0.1 5.0 +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -## WINCH_RC_FUNC: Winch Rate Control RC function +ExternalNav may be used if innovations are below this threshold -RCn_OPTION number to use to control winch rate +- Range: 0 1 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 ## DR_ENABLE: Deadreckoning Enable @@ -1740,7 +1642,7 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -1749,132 +1651,230 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## QUIK_AXES: Quicktune axes +## RTUN_AXES: Rover Quicktune axes axes to tune -- Bitmask: 0:Roll,1:Pitch,2:Yaw +- Bitmask: 0:Steering,1:Speed -## QUIK_DOUBLE_TIME: Quicktune doubling time +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -Time to double a tuning parameter. Raise this for a slower tune. +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Range: 5 20 +- Range: 0 1.0 -- Units: s +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -## QUIK_GAIN_MARGIN: Quicktune gain margin +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +- Range: 0 2.0 -- Range: 20 80 +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -- Units: % +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +- Range: 0 2.0 -Threshold for oscillation detection. A lower value will lead to a more conservative tune. +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -- Range: 1 10 +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -## QUIK_YAW_P_MAX: Quicktune Yaw P max +- Range: 0 1.0 -Maximum value for yaw P gain +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -- Range: 0.1 3 +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -## QUIK_YAW_D_MAX: Quicktune Yaw D max +- Range: 0 2.0 -Maximum value for yaw D gain +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -- Range: 0.001 1 +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +- Range: 0 2.0 -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable -- Range: 0.5 1.0 +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Ratio between P and I gains for yaw. Raise this to get a lower I gain +## RTUN_AUTO_SAVE: Rover Quicktune auto save -- Range: 0.5 20 +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -## QUIK_AUTO_FILTER: Quicktune auto filter enable +- Units: s -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WEB_ENABLE: enable web server + +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune auto save +## WEB_BIND_PORT: web server TCP port -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections - Units: s -## QUIK_RC_FUNC: Quicktune RC function +- Range: 0.1 60 -RCn_OPTION number to use to control tuning stop/start/save +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## QUIK_MAX_REDUCE: Quicktune maximum gain reduction +*Note: This parameter is for advanced users* -This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download -- Units: % +- Range: 0 10000000 -- Range: 0 100 +## WINCH_RATE_UP: WinchControl Rate Up -## QUIK_OPTIONS: Quicktune options +Maximum rate when retracting line -Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. +- Range: 0.1 5.0 -- Bitmask: 0:UseTwoPositionSwitch +## WINCH_RATE_DN: WinchControl Rate Down -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold +Maximum rate when releasing line -ExternalNav may be used if innovations are below this threshold +- Range: 0.1 5.0 -- Range: 0 1 +## WINCH_RC_FUNC: Winch Rate Control RC function -## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold +RCn_OPTION number to use to control winch rate -ExternalNav may be used if quality is above this threshold +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -- Range: 0 100 +## PREV_ENABLE: parameter reversion enable -- Units: % +Enable parameter reversion system -## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -OpticalFlow may be used if innovations are below this threshold +## PREV_RC_FUNC: param reversion RC function -- Range: 0 1 +RCn_OPTION number to used to trigger parameter reversion -## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold +## SHIP_ENABLE: Ship landing enable -OpticalFlow may be used if quality is above this threshold +Enable ship landing system -- Range: 0 100 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds -- Units: % +- Range: 0 600 -## ESRC_RNGFND_MAX: EKF Source Rangefinder Max +- Units: s -OpticalFlow may be used if rangefinder distance is below this threshold +## RCK_DEBUG: Display Rockblock debugging text -- Range: 0 50 +Sends Rockblock debug text to GCS via statustexts -- Units: m +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## POI_DIST_MAX: Mount POI distance max +## RCK_ENABLE: Enable Message transmission -POI's max distance (in meters) from the vehicle +Enables the Rockblock sending and recieving -- Range: 0 10000 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| ## AEROM_ANG_ACCEL: Angular acceleration limit @@ -2064,113 +2064,57 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## DJIR_DEBUG: DJIRS2 debug - -*Note: This parameter is for advanced users* +## BATT_ANX_ENABLE: Enable ANX battery support -Enable DJIRS2 debug +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -|2|Enabled with attitude reporting| -## DJIR_UPSIDEDOWN: DJIRS2 upside down +## BATT_ANX_CANDRV: Set ANX CAN driver -DJIRS2 upside down +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Right side up| -|1|Upside down| - -## VIEP_DEBUG: ViewPro debug - -*Note: This parameter is for advanced users* - -ViewPro debug +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled including attitude reporting| +## BATT_ANX_INDEX: ANX CAN battery index -## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low +ANX CAN battery index -Camera selection when switch is in low position +- Range: 1 10 -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +## BATT_ANX_OPTIONS: ANX CAN battery options -## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid +*Note: This parameter is for advanced users* -Camera selection when switch is in middle position +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +- Bitmask: 0:LogAllFrames -## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High +## EFI_SVF_ENABLE: Generator SVFFI enable -Camera selection when switch is in high position +Enable SVFFI generator support |Value|Meaning| |:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| - -## VIEP_ZOOM_SPEED: ViewPro Zoom Speed - -ViewPro Zoom Speed. Higher numbers result in faster zooming - -- Range: 0 7 - -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max - -ViewPro Zoom Times Max - -- Range: 0 30 +|0|Disabled| +|1|Enabled| -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_SVF_ARMCHECK: Generator SVFFI arming check -Enable EFI DLA driver +Check for Generator ARM state before arming |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale - -EFI DLA litres of fuel per second of injection time - -- Range: 0.00001 1 - -- Units: litres - ## ESC_HW_ENABLE: Hobbywing ESC Enable Enable Hobbywing ESC telemetry @@ -2336,24 +2280,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_SVF_ENABLE: Generator SVFFI enable - -Enable SVFFI generator support - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## EFI_SVF_ARMCHECK: Generator SVFFI arming check - -Check for Generator ARM state before arming - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## EFI_INF_ENABLE: EFI INF-Inject enable Enable EFI INF-Inject driver @@ -2410,57 +2336,112 @@ The capacity of the tank in litres - Units: litres -## BATT_ANX_ENABLE: Enable ANX battery support +## DJIR_DEBUG: DJIRS2 debug -Enable ANX battery support +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| +|2|Enabled with attitude reporting| -## BATT_ANX_CANDRV: Set ANX CAN driver +## DJIR_UPSIDEDOWN: DJIRS2 upside down -Set ANX CAN driver +DJIRS2 upside down |Value|Meaning| |:---:|:---:| -|0|None| -|1|1stCANDriver| -|2|2ndCanDriver| +|0|Right side up| +|1|Upside down| -## BATT_ANX_INDEX: ANX CAN battery index +## VIEP_DEBUG: ViewPro debug -ANX CAN battery index +*Note: This parameter is for advanced users* -- Range: 1 10 +ViewPro debug -## BATT_ANX_OPTIONS: ANX CAN battery options +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| -*Note: This parameter is for advanced users* +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low -ANX CAN battery options +Camera selection when switch is in low position -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid -Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) +Camera selection when switch is in middle position |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Camera selection when switch is in high position -- Range: 1 4 +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2522,6 +2503,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # ADSB Parameters ## ADSB_TYPE: ADSB Type @@ -3762,7 +3762,7 @@ This sets the range around the average value that new samples must be within to This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. -- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 ## BARO1_DEVID: Baro ID diff --git a/Plane-4.5/Parameters.rst b/Plane-4.5/Parameters.rst index 5cecf04..fc8da61 100644 --- a/Plane-4.5/Parameters.rst +++ b/Plane-4.5/Parameters.rst @@ -5710,6 +5710,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of | +-----+---------+ | | | 12 | MSP | | | +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | | | +-------------------+ diff --git a/Plane-4.5/ParametersLatex.rst b/Plane-4.5/ParametersLatex.rst index 9810bf5..e4a2807 100644 --- a/Plane-4.5/ParametersLatex.rst +++ b/Plane-4.5/ParametersLatex.rst @@ -2788,338 +2788,6 @@ Lua Script Parameters --------------------- -.. _RTUN_ENABLE: - -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AXES: - -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ - - - - -.. _RTUN_STR_FFRATIO: - -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and FF gain\. Raise this to get a higher FF gain - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_STR_P_RATIO: - -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_STR_I_RATIO: - -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_FFRATIO: - -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_SPD_P_RATIO: - -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_I_RATIO: - -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_AUTO_FILTER: - -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AUTO_SAVE: - -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _RTUN_RC_FUNC: - -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ - - - - -.. _PLND_ALT_CUTOFF: - -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ - - - - -.. _DIST_CUTOFF: - -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The distance from target beyond which the target is ignored - - -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ - - - - -.. _RCK_FORCEHL: - -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Automatically enables High Latency mode if not already enabled - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_PERIOD: - -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ - - -When in High Latency mode\, send Rockblock updates every N seconds - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ - - - - -.. _RCK_DEBUG: - -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Sends Rockblock debug text to GCS via statustexts - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_ENABLE: - -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables the Rockblock sending and recieving - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _BATT_SOC_COUNT: BATT\_SOC\_COUNT: Count of SOC estimators @@ -3468,43 +3136,211 @@ BATT\_SOC4\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _BATT_SOC4_C3: +.. _QUIK_Y_PI_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _WEB_ENABLE: +.. _QUIK_AUTO_FILTER: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +-------+----------+ @@ -3518,253 +3354,209 @@ enable web server -.. _WEB_BIND_PORT: - -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -web server TCP port - +.. _QUIK_AUTO_SAVE: -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune -.. _WEB_DEBUG: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +.. _QUIK_RC_FUNC: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to use to control tuning stop\/start\/save -.. _WEB_BLOCK_SIZE: +.. _QUIK_MAX_REDUCE: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _WEB_TIMEOUT: +.. _QUIK_OPTIONS: -WEB\_TIMEOUT: web server timeout +QUIK\_OPTIONS: Quicktune options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* - -timeout for inactive connections - - -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ - - +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. -.. _WEB_SENDFILE_MIN: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ -| *Note: This parameter is for advanced users* -sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ +.. _ESRC_EXTN_THRESH: +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if innovations are below this threshold -.. _PREV_ENABLE: -PREV\_ENABLE: parameter reversion enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -Enable parameter reversion system -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _ESRC_EXTN_QUAL: +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if quality is above this threshold -.. _PREV_RC_FUNC: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -RCn\_OPTION number to used to trigger parameter reversion -.. _SHIP_ENABLE: +.. _ESRC_FLOW_THRESH: -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +OpticalFlow may be used if innovations are below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -.. _SHIP_LAND_ANGLE: +.. _ESRC_FLOW_QUAL: -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. +OpticalFlow may be used if quality is above this threshold -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _SHIP_AUTO_OFS: +.. _ESRC_RNGFND_MAX: -SHIP\_AUTO\_OFS: Ship automatic offset trigger -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. +OpticalFlow may be used if rangefinder distance is below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _WINCH_RATE_UP: +.. _PLND_ALT_CUTOFF: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _WINCH_RATE_DN: +.. _DIST_CUTOFF: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +The distance from target beyond which the target is ignored -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _WINCH_RC_FUNC: +.. _POI_DIST_MAX: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +POI\'s max distance \(in meters\) from the vehicle -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ @@ -3921,47 +3713,265 @@ DR\_NEXT\_MODE: Deadreckoning Next Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 2 | AltHold | -+-------+--------------+ -| 3 | Auto | -+-------+--------------+ -| 4 | Guided | -+-------+--------------+ -| 5 | Loiter | -+-------+--------------+ -| 6 | RTL | -+-------+--------------+ -| 7 | Circle | -+-------+--------------+ -| 9 | Land | -+-------+--------------+ -| 16 | PosHold | -+-------+--------------+ -| 17 | Brake | -+-------+--------------+ -| 20 | Guided_NoGPS | -+-------+--------------+ -| 21 | Smart_RTL | -+-------+--------------+ -| 27 | Auto RTL | -+-------+--------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_ENABLE: +.. _WEB_ENABLE: -QUIK\_ENABLE: Quicktune enable +WEB\_ENABLE: enable web server ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +enable web server +-------+----------+ @@ -3975,161 +3985,177 @@ Enable quicktune system -.. _QUIK_AXES: +.. _WEB_BIND_PORT: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +web server TCP port -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_DOUBLE_TIME: +.. _WEB_DEBUG: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Time to double a tuning parameter\. Raise this for a slower tune\. +web server debugging -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_GAIN_MARGIN: +.. _WEB_BLOCK_SIZE: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +web server block size for download -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_OSC_SMAX: +.. _WEB_TIMEOUT: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +timeout for inactive connections -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _QUIK_YAW_P_MAX: +.. _WEB_SENDFILE_MIN: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Maximum value for yaw P gain +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _QUIK_YAW_D_MAX: +.. _WINCH_RATE_UP: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +Maximum rate when retracting line +------------+ | Range | +============+ -| 0.001 to 1 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _WINCH_RATE_DN: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Maximum rate when releasing line +------------+ | Range | +============+ -| 0.5 to 1.0 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_Y_PI_RATIO: +.. _WINCH_RC_FUNC: -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for yaw\. Raise this to get a lower I gain +RCn\_OPTION number to use to control winch rate -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_AUTO_FILTER: +.. _PREV_ENABLE: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Enable parameter reversion system +-------+----------+ @@ -4143,173 +4169,147 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - +.. _PREV_RC_FUNC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _QUIK_OPTIONS: +.. _SHIP_ENABLE: -QUIK\_OPTIONS: Quicktune options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. +Enable ship landing system -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_EXTN_THRESH: +.. _SHIP_LAND_ANGLE: -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _ESRC_EXTN_QUAL: +.. _SHIP_AUTO_OFS: -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ -.. _ESRC_FLOW_THRESH: +.. _RCK_FORCEHL: -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +Automatically enables High Latency mode if not already enabled -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: +.. _RCK_DEBUG: -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _POI_DIST_MAX: +.. _RCK_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enables the Rockblock sending and recieving -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -4837,241 +4837,122 @@ TRIK\_ACT\_FN: Trik Action Scripting Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _DJIR_DEBUG: - -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -Enable DJIRS2 debug - - -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ - - - - -.. _DJIR_UPSIDEDOWN: - -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -DJIRS2 upside down - - -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _VIEP_CAM_SWMID: -VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in middle position +.. _TRIK_COUNT: +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Number of tricks which can be selected over the range of the trik selection RC channel ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _VIEP_CAM_SWHIGH: -VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in high position +.. _BATT_ANX_ENABLE: +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _VIEP_ZOOM_SPEED: -VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Speed\. Higher numbers result in faster zooming +Set ANX CAN driver -+--------+ -| Range | -+========+ -| 0 to 7 | -+--------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _VIEP_ZOOM_MAX: +.. _BATT_ANX_INDEX: -VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +BATT\_ANX\_INDEX: ANX CAN battery index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Times Max +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 30 | +| 1 to 10 | +---------+ -.. _EFI_DLA_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver + +Enable SVFFI generator support +-------+----------+ @@ -5085,20 +4966,22 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ARMCHECK: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Check for Generator ARM state before arming -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -5464,46 +5347,6 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_SVF_ENABLE: - -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable SVFFI generator support - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_SVF_ARMCHECK: - -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Check for Generator ARM state before arming - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _EFI_INF_ENABLE: EFI\_INF\_ENABLE: EFI INF\-Inject enable @@ -5606,160 +5449,270 @@ EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _VIEP_DEBUG: +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +ViewPro debug -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _VIEP_CAM_SWLOW: +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in low position -.. _BATT_ANX_ENABLE: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable ANX battery support -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _BATT_ANX_CANDRV: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Set ANX CAN driver -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _BATT_ANX_INDEX: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -ANX CAN battery index -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _BATT_ANX_OPTIONS: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -| *Note: This parameter is for advanced users* -ANX CAN battery options -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -5928,6 +5881,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_ADSB_: @@ -8499,6 +8499,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of +-----+---------+ | 12 | MSP | +-----+---------+ +| 13 | BMP581 | ++-----+---------+ diff --git a/Plane-4.5/apm.pdef.json b/Plane-4.5/apm.pdef.json index b687091..7ac6023 100644 --- a/Plane-4.5/apm.pdef.json +++ b/Plane-4.5/apm.pdef.json @@ -1180,6 +1180,7 @@ "10": "BMP388", "11": "SPL06", "12": "MSP", + "13": "BMP581", "2": "MS5611", "3": "MS5607", "4": "MS5637", diff --git a/Plane-4.5/apm.pdef.xml b/Plane-4.5/apm.pdef.xml index 0cd902e..3441f44 100644 --- a/Plane-4.5/apm.pdef.xml +++ b/Plane-4.5/apm.pdef.xml @@ -806,88 +806,6 @@ - - - Disabled - Enabled - - - - 0:Steering,1:Speed - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - - Disabled - Enabled - - - - s - seconds - - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - - - - 0 20 - m - meters - - - 0 100 - m - meters - - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - 0 4 @@ -951,74 +869,93 @@ 0.01 0.5 - - - Disabled - Enabled - - - - 1 65535 - - + Disabled Enabled - - 1 65535 + + 0:Roll,1:Pitch,2:Yaw - + + 5 20 s seconds - 0.1 60 - - 0 10000000 + + 20 80 + % + percent - + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + Disabled Enabled - + + s + seconds + + - - - Disabled - Enabled - + + % + percent + 0 100 - - -180 180 - deg - degrees + + 0:UseTwoPositionSwitch - - - Disabled - Trigger - + + 0 1 - - 0.1 5.0 + + 0 100 + % + percent - - 0.1 5.0 + + 0 1 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 100 + % + percent + + + 0 50 + m + meters + + + 0 20 + m + meters + + + 0 100 + m + meters + + + 0 10000 @@ -1070,83 +1007,146 @@ Auto RTL - + + + Disabled + Enabled + + + + 0:Steering,1:Speed + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + + Disabled + Enabled + + + + s + seconds + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + Disabled + Enabled + + + + 1 65535 + + + + Disabled + Enabled + + + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 + + + + + Disabled + Enabled + - - 0.5 1.0 + + -180 180 + deg + degrees - - 0.5 20 + + + Disabled + Trigger + - + Disabled Enabled - + + 0 600 s seconds - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch - - - 0 1 - - - 0 100 - % - percent - - - 0 1 - - - 0 100 - % - percent - - - 0 50 - m - meters + + + Disabled + Enabled + - - 0 10000 + + + Disabled + Enabled + deg/s/s @@ -1265,79 +1265,37 @@ 1 11 - + Disabled Enabled - Enabled with attitude reporting - - - - - Right side up - Upside down - + - Disabled - Enabled - Enabled including attitude reporting + None + 1stCANDriver + 2ndCanDriver - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 1 10 - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 0:LogAllFrames - + - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm + Disabled + Enabled - - 0 7 - - - 0 30 - - + Disabled Enabled - - 0.00001 1 - litres - litres - Disabled @@ -1442,18 +1400,6 @@ s seconds - - - Disabled - Enabled - - - - - Disabled - Enabled - - Disabled @@ -1494,36 +1440,79 @@ litres litres - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 + + + Disabled + Enabled + Enabled including attitude reporting + - - 0:LogAllFrames + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + - + - Set as Rangefinder - Set as Proximity sensor + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm - - 1 4 + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + 0 7 + + + 0 30 + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1557,6 +1546,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + @@ -2250,7 +2250,7 @@ 1 - 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 True diff --git a/Rover-4.5/Parameters.html b/Rover-4.5/Parameters.html index 696b394..0f57e65 100644 --- a/Rover-4.5/Parameters.html +++ b/Rover-4.5/Parameters.html @@ -700,169 +700,6 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Rover Quicktune enable (RTUN_ENABLE)

- -

Enable quicktune system

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Rover Quicktune axes (RTUN_AXES)

- -

axes to tune

-
    -
  • Bitmask: 0:Steering,1:Speed
    • -
- - -

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

- -

Ratio between measured response and FF gain. Raise this to get a higher FF gain

-
    -
  • Range: 0 1.0
    • -
- - -

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

- -

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

- -

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

- -

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

-
    -
  • Range: 0 1.0
    • -
- - -

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

- -

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

- -

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

-
    -
  • Range: 0 2.0
    • -
- - -

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

- -

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Rover Quicktune auto save (RTUN_AUTO_SAVE)

- -

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

-
    -
  • Units: seconds
    • -
- - -

Rover Quicktune RC function (RTUN_RC_FUNC)

- -

RCn_OPTION number to use to control tuning stop/start/save

-
    - - - - - - - - - -
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    -
- - -

Precland altitude cutoff (PLND_ALT_CUTOFF)

- -

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

-
    -
  • Range: 0 20
    • -
  • Units: meters
    • -
- - -

Precland distance cutoff (DIST_CUTOFF)

- -

The distance from target beyond which the target is ignored

-
    -
  • Range: 0 100
    • -
  • Units: meters
    • -
- - -

Force enable High Latency mode (RCK_FORCEHL)

- -

Automatically enables High Latency mode if not already enabled

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Update rate (RCK_PERIOD)

- -

When in High Latency mode, send Rockblock updates every N seconds

-
    -
  • Range: 0 600
    • -
  • Units: seconds
    • -
- - -

Display Rockblock debugging text (RCK_DEBUG)

- -

Sends Rockblock debug text to GCS via statustexts

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Enable Message transmission (RCK_ENABLE)

- -

Enables the Rockblock sending and recieving

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- -

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -1031,9 +868,9 @@

Battery estimator coefficient3 (BATT_SOC4_C3)

-

enable web server (WEB_ENABLE)

+

Quicktune enable (QUIK_ENABLE)

-

enable web server

+

Enable quicktune system

    @@ -1042,71 +879,75 @@

    enable web server (WEB_ENABLE)

    -

    web server TCP port (WEB_BIND_PORT)

    +

    Quicktune axes (QUIK_AXES)

    -

    web server TCP port

    +

    axes to tune

      -
    • Range: 1 65535
      • +
    • Bitmask: 0:Roll,1:Pitch,2:Yaw
    -

    web server debugging (WEB_DEBUG)

    Note: This parameter is for advanced users
    +

    Quicktune doubling time (QUIK_DOUBLE_TIME)

    -

    web server debugging

    +

    Time to double a tuning parameter. Raise this for a slower tune.

      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Enabled
    +
  • Range: 5 20
    • +
  • Units: seconds
-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

web server block size for download

+

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

    -
  • Range: 1 65535
    • +
  • Range: 20 80
    • +
  • Units: percent
-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

timeout for inactive connections

+

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

    -
  • Units: seconds
    • -
  • Range: 0.1 60
    • +
  • Range: 1 10
-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+

Maximum value for yaw P gain

    -
  • Range: 0 10000000
    • +
  • Range: 0.1 3
-

parameter reversion enable (PREV_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Enable parameter reversion system

+

Maximum value for yaw D gain

    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    +
  • Range: 0.001 1
-

param reversion RC function (PREV_RC_FUNC)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

RCn_OPTION number to used to trigger parameter reversion

+

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

    +
  • Range: 0.5 1.0
-

Ship landing enable (SHIP_ENABLE)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

Enable ship landing system

+

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+
    +
  • Range: 0.5 20
    • +
+ + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

    @@ -1115,56 +956,104 @@

    Ship landing enable (SHIP_ENABLE)

    -

    Ship landing angle (SHIP_LAND_ANGLE)

    +

    Quicktune auto save (QUIK_AUTO_SAVE)

    -

    Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

    +

    Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

      -
    • Range: -180 180
      • -
    • Units: degrees
      • +
    • Units: seconds
    -

    Ship automatic offset trigger (SHIP_AUTO_OFS)

    +

    Quicktune RC function (QUIK_RC_FUNC)

    -

    Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

    +

    RCn_OPTION number to use to control tuning stop/start/save

      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Trigger
-

WinchControl Rate Up (WINCH_RATE_UP)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Maximum rate when retracting line

+

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

    -
  • Range: 0.1 5.0
    • +
  • Units: percent
    • +
  • Range: 0 100
-

WinchControl Rate Down (WINCH_RATE_DN)

+

Quicktune options (QUIK_OPTIONS)

-

Maximum rate when releasing line

+

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

    -
  • Range: 0.1 5.0
    • +
  • Bitmask: 0:UseTwoPositionSwitch
-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

RCn_OPTION number to use to control winch rate

+

ExternalNav may be used if innovations are below this threshold

    - - - - - - - - - -
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    +
  • Range: 0 1
    • +
+ + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+
    +
  • Range: 0 100
    • +
  • Units: percent
    • +
+ + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+
    +
  • Range: 0 1
    • +
+ + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+
    +
  • Range: 0 100
    • +
  • Units: percent
    • +
+ + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+
    +
  • Range: 0 50
    • +
  • Units: meters
    • +
+ + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+
    +
  • Range: 0 20
    • +
  • Units: meters
    • +
+ + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+
    +
  • Range: 0 100
    • +
  • Units: meters
    • +
+ + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+
    +
  • Range: 0 10000
@@ -1258,7 +1147,7 @@

Deadreckoning Next Mode (DR_NEXT_MODE)

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune enable (RTUN_ENABLE)

Enable quicktune system

    @@ -1269,75 +1158,101 @@

    Quicktune enable (QUIK_ENABLE)

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune axes (RTUN_AXES)

axes to tune

    -
  • Bitmask: 0:Roll,1:Pitch,2:Yaw
    • +
  • Bitmask: 0:Steering,1:Speed
-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Time to double a tuning parameter. Raise this for a slower tune.

+

Ratio between measured response and FF gain. Raise this to get a higher FF gain

    -
  • Range: 5 20
    • -
  • Units: seconds
    • +
  • Range: 0 1.0
-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

    -
  • Range: 20 80
    • -
  • Units: percent
    • +
  • Range: 0 2.0
-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

    -
  • Range: 1 10
    • +
  • Range: 0 2.0
-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Maximum value for yaw P gain

+

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

    -
  • Range: 0.1 3
    • +
  • Range: 0 1.0
-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Maximum value for yaw D gain

+

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

    -
  • Range: 0.001 1
    • +
  • Range: 0 2.0
-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

    -
  • Range: 0.5 1.0
    • +
  • Range: 0 2.0
-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

    -
  • Range: 0.5 20
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+
    +
  • Units: seconds
    • +
+ + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+
    + + + + + + + + + +
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
    +
+ + +

enable web server (WEB_ENABLE)

+ +

enable web server

    @@ -1346,86 +1261,171 @@

    Quicktune auto filter enable (QUIK_AUTO_FILTER)

    -

    Quicktune auto save (QUIK_AUTO_SAVE)

    +

    web server TCP port (WEB_BIND_PORT)

    -

    Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

    +

    web server TCP port

    +
      +
    • Range: 1 65535
      • +
    + + +

    web server debugging (WEB_DEBUG)

    Note: This parameter is for advanced users
    + +

    web server debugging

    +
      +
    ValueMeaning
    0Disabled
    + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+
    +
  • Range: 1 65535
    • +
+ + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

  • Units: seconds
    • +
  • Range: 0.1 60
-

Quicktune RC function (QUIK_RC_FUNC)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

RCn_OPTION number to use to control tuning stop/start/save

+

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

    +
  • Range: 0 10000000
-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+

Maximum rate when retracting line

    -
  • Units: percent
    • -
  • Range: 0 100
    • +
  • Range: 0.1 5.0
-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+

Maximum rate when releasing line

    -
  • Bitmask: 0:UseTwoPositionSwitch
    • +
  • Range: 0.1 5.0
-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

    -
  • Range: 0 1
    • + + + + + + + + + +
    ValueMeaning
    300Scripting1
    301Scripting2
    302Scripting3
    303Scripting4
    304Scripting5
    305Scripting6
    306Scripting7
    307Scripting8
-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

parameter reversion enable (PREV_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Enable parameter reversion system

    -
  • Range: 0 100
    • -
  • Units: percent
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

param reversion RC function (PREV_RC_FUNC)

-

OpticalFlow may be used if innovations are below this threshold

+

RCn_OPTION number to used to trigger parameter reversion

    -
  • Range: 0 1
-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Ship landing enable (SHIP_ENABLE)

-

OpticalFlow may be used if quality is above this threshold

+

Enable ship landing system

    -
  • Range: 0 100
    • -
  • Units: percent
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

    -
  • Range: 0 50
    • -
  • Units: meters
    • +
  • Range: -180 180
    • +
  • Units: degrees
-

Mount POI distance max (POI_DIST_MAX)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+
    + + + +
    ValueMeaning
    0Disabled
    1Trigger
    +
+ + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+
    +
  • Range: 0 600
    • +
  • Units: seconds
    • +
+ + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

Enable Message transmission (RCK_ENABLE)

-

POI's max distance (in meters) from the vehicle

+

Enables the Rockblock sending and recieving

    -
  • Range: 0 10000
    • + + + +
    ValueMeaning
    0Disabled
    1Enabled
@@ -1688,111 +1688,59 @@

Trik Count (TRIK_COUNT)

-

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Enable DJIRS2 debug

+

Enable ANX battery support

    - -
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled with attitude reporting
    -
- - -

DJIRS2 upside down (DJIR_UPSIDEDOWN)

- -

DJIRS2 upside down

-
    - - -
    ValueMeaning
    0Right side up
    1Upside down
-

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

ViewPro debug

+

Set ANX CAN driver

    - - - + + +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled including attitude reporting
    0None
    11stCANDriver
    22ndCanDriver
-

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+

ANX CAN battery index (BATT_ANX_INDEX)

-

Camera selection when switch is in low position

+

ANX CAN battery index

    - - - - - - - - - -
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    +
  • Range: 1 10
-

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

Camera selection when switch is in middle position

+

ANX CAN battery options

    - - - - - - - - - -
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    +
  • Bitmask: 0:LogAllFrames
-

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Generator SVFFI enable (EFI_SVF_ENABLE)

-

Camera selection when switch is in high position

+

Enable SVFFI generator support

    - - - - - - - - + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
    0Disabled
    1Enabled
-

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

- -

ViewPro Zoom Speed. Higher numbers result in faster zooming

-
    -
  • Range: 0 7
    • -
- - -

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

- -

ViewPro Zoom Times Max

-
    -
  • Range: 0 30
    • -
- - -

EFI DLA enable (EFI_DLA_ENABLE)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

Enable EFI DLA driver

+

Check for Generator ARM state before arming

    @@ -1801,15 +1749,6 @@

    EFI DLA enable (EFI_DLA_ENABLE)

    -

    EFI DLA fuel scale (EFI_DLA_LPS)

    - -

    EFI DLA litres of fuel per second of injection time

    -
      -
    • Range: 0.00001 1
      • -
    • Units: litres
      • -
    - -

    Hobbywing ESC Enable (ESC_HW_ENABLE)

    Enable Hobbywing ESC telemetry

    @@ -1994,28 +1933,6 @@

    SkyPower EFI restart time (EFI_SP_RST_TIME)

    -

    Generator SVFFI enable (EFI_SVF_ENABLE)

    - -

    Enable SVFFI generator support

    -
      -
    ValueMeaning
    0Disabled
    - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- - -

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

- -

Check for Generator ARM state before arming

-
    - - - -
    ValueMeaning
    0Disabled
    1Enabled
    -
- -

EFI INF-Inject enable (EFI_INF_ENABLE)

Enable EFI INF-Inject driver

@@ -2084,68 +2001,125 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Enable ANX battery support (BATT_ANX_ENABLE)

+

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
-

Enable ANX battery support

+

Enable DJIRS2 debug

    +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled with attitude reporting
-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

DJIRS2 upside down (DJIR_UPSIDEDOWN)

-

Set ANX CAN driver

+

DJIRS2 upside down

    - - - + +
    ValueMeaning
    0None
    11stCANDriver
    22ndCanDriver
    0Right side up
    1Upside down
-

ANX CAN battery index (BATT_ANX_INDEX)

+

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
-

ANX CAN battery index

+

ViewPro debug

    -
  • Range: 1 10
    • + + + + +
    ValueMeaning
    0Disabled
    1Enabled
    2Enabled including attitude reporting
-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

-

ANX CAN battery options

+

Camera selection when switch is in low position

    -
  • Bitmask: 0:LogAllFrames
    • + + + + + + + + + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

-

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+

Camera selection when switch is in middle position

    - - + + + + + + + +
    ValueMeaning
    0Set as Rangefinder
    1Set as Proximity sensor
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+

Camera selection when switch is in high position

    -
  • Range: 1 4
    • + + + + + + + + + +
    ValueMeaning
    0No change in camera selection
    1EO1
    2IR thermal
    3EO1 + IR Picture-in-picture
    4IR + EO1 Picture-in-picture
    5Fusion
    6IR1 13mm
    7IR2 52mm
-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

-

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+

ViewPro Zoom Speed. Higher numbers result in faster zooming

+
    +
  • Range: 0 7
    • +
+ + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+
    +
  • Range: 0 30
    • +
+ + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+
    + + + +
    ValueMeaning
    0Disabled
    1Enabled
    +
+ + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

    +
  • Range: 0.00001 1
    • +
  • Units: litres
@@ -2227,6 +2201,32 @@

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+
    + + + +
    ValueMeaning
    0Set as Rangefinder
    1Set as Proximity sensor
    +
+ + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+
    +
  • Range: 1 4
    • +
+ + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+
    +
+ +

AFS_ Parameters

@@ -3847,7 +3847,7 @@

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter i

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

    -
  • Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP
    • +
  • Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581
diff --git a/Rover-4.5/Parameters.md b/Rover-4.5/Parameters.md index 512592d..928fce7 100644 --- a/Rover-4.5/Parameters.md +++ b/Rover-4.5/Parameters.md @@ -649,138 +649,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## RTUN_ENABLE: Rover Quicktune enable - -Enable quicktune system - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AXES: Rover Quicktune axes - -axes to tune - -- Bitmask: 0:Steering,1:Speed - -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio - -Ratio between measured response and FF gain. Raise this to get a higher FF gain - -- Range: 0 1.0 - -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio - -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio - -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio - -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value - -- Range: 0 1.0 - -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio - -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged - -- Range: 0 2.0 - -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio - -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged - -- Range: 0 2.0 - -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable - -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RTUN_AUTO_SAVE: Rover Quicktune auto save - -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune - -- Units: s - -## RTUN_RC_FUNC: Rover Quicktune RC function - -RCn_OPTION number to use to control tuning stop/start/save - -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| - -## PLND_ALT_CUTOFF: Precland altitude cutoff - -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing - -- Range: 0 20 - -- Units: m - -## DIST_CUTOFF: Precland distance cutoff - -The distance from target beyond which the target is ignored - -- Range: 0 100 - -- Units: m - -## RCK_FORCEHL: Force enable High Latency mode - -Automatically enables High Latency mode if not already enabled - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_PERIOD: Update rate - -When in High Latency mode, send Rockblock updates every N seconds - -- Range: 0 600 - -- Units: s - -## RCK_DEBUG: Display Rockblock debugging text - -Sends Rockblock debug text to GCS via statustexts - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## RCK_ENABLE: Enable Message transmission - -Enables the Rockblock sending and recieving - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## BATT_SOC_COUNT: Count of SOC estimators Number of battery SOC estimators @@ -907,123 +775,157 @@ Battery estimator coefficient3 - Range: 0.01 0.5 -## WEB_ENABLE: enable web server +## QUIK_ENABLE: Quicktune enable -enable web server +Enable quicktune system |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## QUIK_AXES: Quicktune axes -web server TCP port +axes to tune -- Range: 1 65535 +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## WEB_DEBUG: web server debugging +## QUIK_DOUBLE_TIME: Quicktune doubling time -*Note: This parameter is for advanced users* +Time to double a tuning parameter. Raise this for a slower tune. -web server debugging +- Range: 5 20 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Units: s -## WEB_BLOCK_SIZE: web server block size +## QUIK_GAIN_MARGIN: Quicktune gain margin -*Note: This parameter is for advanced users* +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -web server block size for download +- Range: 20 80 -- Range: 1 65535 +- Units: % -## WEB_TIMEOUT: web server timeout +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -*Note: This parameter is for advanced users* +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -timeout for inactive connections +- Range: 1 10 -- Units: s +## QUIK_YAW_P_MAX: Quicktune Yaw P max -- Range: 0.1 60 +Maximum value for yaw P gain -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +- Range: 0.1 3 -*Note: This parameter is for advanced users* +## QUIK_YAW_D_MAX: Quicktune Yaw D max -sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download +Maximum value for yaw D gain -- Range: 0 10000000 +- Range: 0.001 1 -## PREV_ENABLE: parameter reversion enable +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -Enable parameter reversion system +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.5 1.0 -## PREV_RC_FUNC: param reversion RC function +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio -RCn_OPTION number to used to trigger parameter reversion +Ratio between P and I gains for yaw. Raise this to get a lower I gain -## SHIP_ENABLE: Ship landing enable +- Range: 0.5 20 -Enable ship landing system +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## SHIP_LAND_ANGLE: Ship landing angle +## QUIK_AUTO_SAVE: Quicktune auto save -Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -- Range: -180 180 +- Units: s -- Units: deg +## QUIK_RC_FUNC: Quicktune RC function -## SHIP_AUTO_OFS: Ship automatic offset trigger +RCn_OPTION number to use to control tuning stop/start/save -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Trigger| +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. -## WINCH_RATE_UP: WinchControl Rate Up +- Units: % -Maximum rate when retracting line +- Range: 0 100 -- Range: 0.1 5.0 +## QUIK_OPTIONS: Quicktune options -## WINCH_RATE_DN: WinchControl Rate Down +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. -Maximum rate when releasing line +- Bitmask: 0:UseTwoPositionSwitch -- Range: 0.1 5.0 +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -## WINCH_RC_FUNC: Winch Rate Control RC function +ExternalNav may be used if innovations are below this threshold -RCn_OPTION number to use to control winch rate +- Range: 0 1 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 ## DR_ENABLE: Deadreckoning Enable @@ -1099,7 +1001,7 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -1108,132 +1010,230 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## QUIK_AXES: Quicktune axes +## RTUN_AXES: Rover Quicktune axes axes to tune -- Bitmask: 0:Roll,1:Pitch,2:Yaw +- Bitmask: 0:Steering,1:Speed -## QUIK_DOUBLE_TIME: Quicktune doubling time +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -Time to double a tuning parameter. Raise this for a slower tune. +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Range: 5 20 +- Range: 0 1.0 -- Units: s +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -## QUIK_GAIN_MARGIN: Quicktune gain margin +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +- Range: 0 2.0 -- Range: 20 80 +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -- Units: % +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +- Range: 0 2.0 -Threshold for oscillation detection. A lower value will lead to a more conservative tune. +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -- Range: 1 10 +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -## QUIK_YAW_P_MAX: Quicktune Yaw P max +- Range: 0 1.0 -Maximum value for yaw P gain +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -- Range: 0.1 3 +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -## QUIK_YAW_D_MAX: Quicktune Yaw D max +- Range: 0 2.0 -Maximum value for yaw D gain +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -- Range: 0.001 1 +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +- Range: 0 2.0 -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable -- Range: 0.5 1.0 +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Ratio between P and I gains for yaw. Raise this to get a lower I gain +## RTUN_AUTO_SAVE: Rover Quicktune auto save -- Range: 0.5 20 +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune -## QUIK_AUTO_FILTER: Quicktune auto filter enable +- Units: s -When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WEB_ENABLE: enable web server + +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune auto save +## WEB_BIND_PORT: web server TCP port -Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections - Units: s -## QUIK_RC_FUNC: Quicktune RC function +- Range: 0.1 60 -RCn_OPTION number to use to control tuning stop/start/save +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## QUIK_MAX_REDUCE: Quicktune maximum gain reduction +*Note: This parameter is for advanced users* -This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download -- Units: % +- Range: 0 10000000 -- Range: 0 100 +## WINCH_RATE_UP: WinchControl Rate Up -## QUIK_OPTIONS: Quicktune options +Maximum rate when retracting line -Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. +- Range: 0.1 5.0 -- Bitmask: 0:UseTwoPositionSwitch +## WINCH_RATE_DN: WinchControl Rate Down -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold +Maximum rate when releasing line -ExternalNav may be used if innovations are below this threshold +- Range: 0.1 5.0 -- Range: 0 1 +## WINCH_RC_FUNC: Winch Rate Control RC function -## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold +RCn_OPTION number to use to control winch rate -ExternalNav may be used if quality is above this threshold +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -- Range: 0 100 +## PREV_ENABLE: parameter reversion enable -- Units: % +Enable parameter reversion system -## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -OpticalFlow may be used if innovations are below this threshold +## PREV_RC_FUNC: param reversion RC function -- Range: 0 1 +RCn_OPTION number to used to trigger parameter reversion -## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold +## SHIP_ENABLE: Ship landing enable -OpticalFlow may be used if quality is above this threshold +Enable ship landing system -- Range: 0 100 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds -- Units: % +- Range: 0 600 -## ESRC_RNGFND_MAX: EKF Source Rangefinder Max +- Units: s -OpticalFlow may be used if rangefinder distance is below this threshold +## RCK_DEBUG: Display Rockblock debugging text -- Range: 0 50 +Sends Rockblock debug text to GCS via statustexts -- Units: m +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## POI_DIST_MAX: Mount POI distance max +## RCK_ENABLE: Enable Message transmission -POI's max distance (in meters) from the vehicle +Enables the Rockblock sending and recieving -- Range: 0 10000 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| ## AEROM_ANG_ACCEL: Angular acceleration limit @@ -1423,113 +1423,57 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## DJIR_DEBUG: DJIRS2 debug - -*Note: This parameter is for advanced users* +## BATT_ANX_ENABLE: Enable ANX battery support -Enable DJIRS2 debug +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -|2|Enabled with attitude reporting| -## DJIR_UPSIDEDOWN: DJIRS2 upside down +## BATT_ANX_CANDRV: Set ANX CAN driver -DJIRS2 upside down +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Right side up| -|1|Upside down| - -## VIEP_DEBUG: ViewPro debug - -*Note: This parameter is for advanced users* - -ViewPro debug +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled including attitude reporting| +## BATT_ANX_INDEX: ANX CAN battery index -## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low +ANX CAN battery index -Camera selection when switch is in low position +- Range: 1 10 -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +## BATT_ANX_OPTIONS: ANX CAN battery options -## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid +*Note: This parameter is for advanced users* -Camera selection when switch is in middle position +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| +- Bitmask: 0:LogAllFrames -## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High +## EFI_SVF_ENABLE: Generator SVFFI enable -Camera selection when switch is in high position +Enable SVFFI generator support |Value|Meaning| |:---:|:---:| -|0|No change in camera selection| -|1|EO1| -|2|IR thermal| -|3|EO1 + IR Picture-in-picture| -|4|IR + EO1 Picture-in-picture| -|5|Fusion| -|6|IR1 13mm| -|7|IR2 52mm| - -## VIEP_ZOOM_SPEED: ViewPro Zoom Speed - -ViewPro Zoom Speed. Higher numbers result in faster zooming - -- Range: 0 7 - -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max - -ViewPro Zoom Times Max - -- Range: 0 30 +|0|Disabled| +|1|Enabled| -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_SVF_ARMCHECK: Generator SVFFI arming check -Enable EFI DLA driver +Check for Generator ARM state before arming |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale - -EFI DLA litres of fuel per second of injection time - -- Range: 0.00001 1 - -- Units: litres - ## ESC_HW_ENABLE: Hobbywing ESC Enable Enable Hobbywing ESC telemetry @@ -1695,24 +1639,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_SVF_ENABLE: Generator SVFFI enable - -Enable SVFFI generator support - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## EFI_SVF_ARMCHECK: Generator SVFFI arming check - -Check for Generator ARM state before arming - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - ## EFI_INF_ENABLE: EFI INF-Inject enable Enable EFI INF-Inject driver @@ -1769,57 +1695,112 @@ The capacity of the tank in litres - Units: litres -## BATT_ANX_ENABLE: Enable ANX battery support +## DJIR_DEBUG: DJIRS2 debug -Enable ANX battery support +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| +|2|Enabled with attitude reporting| -## BATT_ANX_CANDRV: Set ANX CAN driver +## DJIR_UPSIDEDOWN: DJIRS2 upside down -Set ANX CAN driver +DJIRS2 upside down |Value|Meaning| |:---:|:---:| -|0|None| -|1|1stCANDriver| -|2|2ndCanDriver| +|0|Right side up| +|1|Upside down| -## BATT_ANX_INDEX: ANX CAN battery index +## VIEP_DEBUG: ViewPro debug -ANX CAN battery index +*Note: This parameter is for advanced users* -- Range: 1 10 +ViewPro debug -## BATT_ANX_OPTIONS: ANX CAN battery options +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| -*Note: This parameter is for advanced users* +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low -ANX CAN battery options +Camera selection when switch is in low position -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid -Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) +Camera selection when switch is in middle position |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Camera selection when switch is in high position -- Range: 1 4 +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -1881,6 +1862,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # AFS Parameters ## AFS_ENABLE: Enable Advanced Failsafe @@ -3462,7 +3462,7 @@ This sets the range around the average value that new samples must be within to This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. -- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 ## BARO1_DEVID: Baro ID diff --git a/Rover-4.5/Parameters.rst b/Rover-4.5/Parameters.rst index 32d93d8..4f8d268 100644 --- a/Rover-4.5/Parameters.rst +++ b/Rover-4.5/Parameters.rst @@ -4955,6 +4955,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of | +-----+---------+ | | | 12 | MSP | | | +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | | | +-------------------+ diff --git a/Rover-4.5/ParametersLatex.rst b/Rover-4.5/ParametersLatex.rst index d3d9fa3..f202c75 100644 --- a/Rover-4.5/ParametersLatex.rst +++ b/Rover-4.5/ParametersLatex.rst @@ -1400,338 +1400,6 @@ Lua Script Parameters --------------------- -.. _RTUN_ENABLE: - -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AXES: - -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ - - - - -.. _RTUN_STR_FFRATIO: - -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and FF gain\. Raise this to get a higher FF gain - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_STR_P_RATIO: - -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_STR_I_RATIO: - -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_FFRATIO: - -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value - - -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ - - - - -.. _RTUN_SPD_P_RATIO: - -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_SPD_I_RATIO: - -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged - - -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ - - - - -.. _RTUN_AUTO_FILTER: - -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RTUN_AUTO_SAVE: - -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _RTUN_RC_FUNC: - -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ - - - - -.. _PLND_ALT_CUTOFF: - -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ - - - - -.. _DIST_CUTOFF: - -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -The distance from target beyond which the target is ignored - - -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ - - - - -.. _RCK_FORCEHL: - -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Automatically enables High Latency mode if not already enabled - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_PERIOD: - -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ - - -When in High Latency mode\, send Rockblock updates every N seconds - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ - - - - -.. _RCK_DEBUG: - -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Sends Rockblock debug text to GCS via statustexts - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _RCK_ENABLE: - -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables the Rockblock sending and recieving - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _BATT_SOC_COUNT: BATT\_SOC\_COUNT: Count of SOC estimators @@ -2080,43 +1748,211 @@ BATT\_SOC4\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _BATT_SOC4_C3: +.. _QUIK_Y_PI_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _WEB_ENABLE: +.. _QUIK_AUTO_FILTER: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +-------+----------+ @@ -2130,253 +1966,209 @@ enable web server -.. _WEB_BIND_PORT: - -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -web server TCP port - +.. _QUIK_AUTO_SAVE: -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune -.. _WEB_DEBUG: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +.. _QUIK_RC_FUNC: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to use to control tuning stop\/start\/save -.. _WEB_BLOCK_SIZE: +.. _QUIK_MAX_REDUCE: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _WEB_TIMEOUT: +.. _QUIK_OPTIONS: -WEB\_TIMEOUT: web server timeout +QUIK\_OPTIONS: Quicktune options ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* - -timeout for inactive connections - - -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ - - +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. -.. _WEB_SENDFILE_MIN: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ -| *Note: This parameter is for advanced users* -sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ +.. _ESRC_EXTN_THRESH: +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if innovations are below this threshold -.. _PREV_ENABLE: -PREV\_ENABLE: parameter reversion enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -Enable parameter reversion system -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _ESRC_EXTN_QUAL: +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ExternalNav may be used if quality is above this threshold -.. _PREV_RC_FUNC: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -RCn\_OPTION number to used to trigger parameter reversion -.. _SHIP_ENABLE: +.. _ESRC_FLOW_THRESH: -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +OpticalFlow may be used if innovations are below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ -.. _SHIP_LAND_ANGLE: +.. _ESRC_FLOW_QUAL: -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. +OpticalFlow may be used if quality is above this threshold -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _SHIP_AUTO_OFS: +.. _ESRC_RNGFND_MAX: -SHIP\_AUTO\_OFS: Ship automatic offset trigger -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. +OpticalFlow may be used if rangefinder distance is below this threshold -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _WINCH_RATE_UP: +.. _PLND_ALT_CUTOFF: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _WINCH_RATE_DN: +.. _DIST_CUTOFF: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +The distance from target beyond which the target is ignored -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _WINCH_RC_FUNC: +.. _POI_DIST_MAX: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +POI\'s max distance \(in meters\) from the vehicle -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ @@ -2533,47 +2325,265 @@ DR\_NEXT\_MODE: Deadreckoning Next Mode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 2 | AltHold | -+-------+--------------+ -| 3 | Auto | -+-------+--------------+ -| 4 | Guided | -+-------+--------------+ -| 5 | Loiter | -+-------+--------------+ -| 6 | RTL | -+-------+--------------+ -| 7 | Circle | -+-------+--------------+ -| 9 | Land | -+-------+--------------+ -| 16 | PosHold | -+-------+--------------+ -| 17 | Brake | -+-------+--------------+ -| 20 | Guided_NoGPS | -+-------+--------------+ -| 21 | Smart_RTL | -+-------+--------------+ -| 27 | Auto RTL | -+-------+--------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_ENABLE: +.. _WEB_ENABLE: -QUIK\_ENABLE: Quicktune enable +WEB\_ENABLE: enable web server ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +enable web server +-------+----------+ @@ -2587,161 +2597,177 @@ Enable quicktune system -.. _QUIK_AXES: +.. _WEB_BIND_PORT: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +web server TCP port -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_DOUBLE_TIME: +.. _WEB_DEBUG: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Time to double a tuning parameter\. Raise this for a slower tune\. +web server debugging -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_GAIN_MARGIN: +.. _WEB_BLOCK_SIZE: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +web server block size for download -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _QUIK_OSC_SMAX: +.. _WEB_TIMEOUT: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +timeout for inactive connections -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _QUIK_YAW_P_MAX: +.. _WEB_SENDFILE_MIN: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Maximum value for yaw P gain +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _QUIK_YAW_D_MAX: +.. _WINCH_RATE_UP: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +Maximum rate when retracting line +------------+ | Range | +============+ -| 0.001 to 1 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _WINCH_RATE_DN: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Maximum rate when releasing line +------------+ | Range | +============+ -| 0.5 to 1.0 | +| 0.1 to 5.0 | +------------+ -.. _QUIK_Y_PI_RATIO: +.. _WINCH_RC_FUNC: -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for yaw\. Raise this to get a lower I gain +RCn\_OPTION number to use to control winch rate -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_AUTO_FILTER: +.. _PREV_ENABLE: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Enable parameter reversion system +-------+----------+ @@ -2755,173 +2781,147 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - +.. _PREV_RC_FUNC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _QUIK_OPTIONS: +.. _SHIP_ENABLE: -QUIK\_OPTIONS: Quicktune options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. +Enable ship landing system -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_EXTN_THRESH: +.. _SHIP_LAND_ANGLE: -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _ESRC_EXTN_QUAL: +.. _SHIP_AUTO_OFS: -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ -.. _ESRC_FLOW_THRESH: +.. _RCK_FORCEHL: -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +Automatically enables High Latency mode if not already enabled -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: +.. _RCK_DEBUG: -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _POI_DIST_MAX: +.. _RCK_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enables the Rockblock sending and recieving -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -3449,241 +3449,122 @@ TRIK\_ACT\_FN: Trik Action Scripting Function ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _DJIR_DEBUG: - -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -Enable DJIRS2 debug - - -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ - - - - -.. _DJIR_UPSIDEDOWN: - -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -DJIRS2 upside down - - -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _VIEP_CAM_SWMID: -VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in middle position +.. _TRIK_COUNT: +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Number of tricks which can be selected over the range of the trik selection RC channel ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _VIEP_CAM_SWHIGH: -VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Camera selection when switch is in high position +.. _BATT_ANX_ENABLE: +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _VIEP_ZOOM_SPEED: -VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Speed\. Higher numbers result in faster zooming +Set ANX CAN driver -+--------+ -| Range | -+========+ -| 0 to 7 | -+--------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _VIEP_ZOOM_MAX: +.. _BATT_ANX_INDEX: -VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +BATT\_ANX\_INDEX: ANX CAN battery index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ViewPro Zoom Times Max +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 30 | +| 1 to 10 | +---------+ -.. _EFI_DLA_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver + +Enable SVFFI generator support +-------+----------+ @@ -3697,20 +3578,22 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ARMCHECK: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Check for Generator ARM state before arming -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -4076,46 +3959,6 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_SVF_ENABLE: - -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable SVFFI generator support - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_SVF_ARMCHECK: - -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Check for Generator ARM state before arming - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - .. _EFI_INF_ENABLE: EFI\_INF\_ENABLE: EFI INF\-Inject enable @@ -4218,160 +4061,270 @@ EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _VIEP_DEBUG: +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +ViewPro debug -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _VIEP_CAM_SWLOW: +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in low position -.. _BATT_ANX_ENABLE: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable ANX battery support -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _BATT_ANX_CANDRV: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Set ANX CAN driver -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _BATT_ANX_INDEX: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -ANX CAN battery index -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _BATT_ANX_OPTIONS: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -| *Note: This parameter is for advanced users* -ANX CAN battery options -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -4540,6 +4493,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_AFS_: @@ -7820,6 +7820,8 @@ This sets which types of external i2c barometer to look for\. It is a bitmask of +-----+---------+ | 12 | MSP | +-----+---------+ +| 13 | BMP581 | ++-----+---------+ diff --git a/Rover-4.5/apm.pdef.json b/Rover-4.5/apm.pdef.json index 5609962..5a41f59 100644 --- a/Rover-4.5/apm.pdef.json +++ b/Rover-4.5/apm.pdef.json @@ -1645,6 +1645,7 @@ "10": "BMP388", "11": "SPL06", "12": "MSP", + "13": "BMP581", "2": "MS5611", "3": "MS5607", "4": "MS5637", diff --git a/Rover-4.5/apm.pdef.xml b/Rover-4.5/apm.pdef.xml index 18086a5..65fe517 100644 --- a/Rover-4.5/apm.pdef.xml +++ b/Rover-4.5/apm.pdef.xml @@ -431,88 +431,6 @@ - - - Disabled - Enabled - - - - 0:Steering,1:Speed - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - 0 1.0 - - - 0 2.0 - - - 0 2.0 - - - - Disabled - Enabled - - - - s - seconds - - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - - - - 0 20 - m - meters - - - 0 100 - m - meters - - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - 0 4 @@ -576,74 +494,93 @@ 0.01 0.5 - - - Disabled - Enabled - - - - 1 65535 - - + Disabled Enabled - - 1 65535 + + 0:Roll,1:Pitch,2:Yaw - + + 5 20 s seconds - 0.1 60 - - 0 10000000 + + 20 80 + % + percent - + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + Disabled Enabled - + + s + seconds + + - - - Disabled - Enabled - + + % + percent + 0 100 - - -180 180 - deg - degrees + + 0:UseTwoPositionSwitch - - - Disabled - Trigger - + + 0 1 - - 0.1 5.0 + + 0 100 + % + percent - - 0.1 5.0 + + 0 1 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 100 + % + percent + + + 0 50 + m + meters + + + 0 20 + m + meters + + + 0 100 + m + meters + + + 0 10000 @@ -695,83 +632,146 @@ Auto RTL - + + + Disabled + Enabled + + + + 0:Steering,1:Speed + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + + Disabled + Enabled + + + + s + seconds + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + Disabled + Enabled + + + + 1 65535 + + + + Disabled + Enabled + + + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 + + + + + Disabled + Enabled + - - 0.5 1.0 + + -180 180 + deg + degrees - - 0.5 20 + + + Disabled + Trigger + - + Disabled Enabled - + + 0 600 s seconds - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch - - - 0 1 - - - 0 100 - % - percent - - - 0 1 - - - 0 100 - % - percent - - - 0 50 - m - meters + + + Disabled + Enabled + - - 0 10000 + + + Disabled + Enabled + deg/s/s @@ -890,79 +890,37 @@ 1 11 - + Disabled Enabled - Enabled with attitude reporting - - - - - Right side up - Upside down - + - Disabled - Enabled - Enabled including attitude reporting + None + 1stCANDriver + 2ndCanDriver - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 1 10 - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - + + 0:LogAllFrames - + - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm + Disabled + Enabled - - 0 7 - - - 0 30 - - + Disabled Enabled - - 0.00001 1 - litres - litres - Disabled @@ -1067,18 +1025,6 @@ s seconds - - - Disabled - Enabled - - - - - Disabled - Enabled - - Disabled @@ -1119,36 +1065,79 @@ litres litres - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 + + + Disabled + Enabled + Enabled including attitude reporting + - - 0:LogAllFrames + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + - + - Set as Rangefinder - Set as Proximity sensor + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm - - 1 4 + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + 0 7 + + + 0 30 + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1182,6 +1171,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + @@ -2036,7 +2036,7 @@ 1 - 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 True