Note: This parameter is for ad
+QWIK_ Parameters
+
+
+Quicktune enable (QWIK_ENABLE)
+
+Enable quicktune system
+
+| Value | Meaning |
+| 0 | Disabled |
+| 1 | Enabled |
+
+
+
+
+Quicktune axes (QWIK_AXES)
+
+Axes to tune
+
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
+
+
+
+Quicktune doubling time (QWIK_DOUBLE_TIME)
+
+Time to double a tuning parameter. Raise this for a slower tune.
+
+- Range: 5 20
+- Units: seconds
+
+
+
+Quicktune gain margin (QWIK_GAIN_MARGIN)
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+- Units: percent
+
+
+
+Quicktune oscillation rate threshold (QWIK_OSC_SMAX)
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+
+
+Quicktune Yaw P max (QWIK_YAW_P_MAX)
+
+Maximum value for yaw P gain
+
+
+
+Quicktune Yaw D max (QWIK_YAW_D_MAX)
+
+Maximum value for yaw D gain
+
+
+
+Quicktune roll/pitch PI ratio (QWIK_RP_PI_RATIO)
+
+Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+
+
+
+Quicktune Yaw PI ratio (QWIK_Y_PI_RATIO)
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+
+
+Quicktune auto filter enable (QWIK_AUTO_FILTER)
+
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+
+| Value | Meaning |
+| 0 | Disabled |
+| 1 | Enabled |
+
+
+
+
+Quicktune auto save (QWIK_AUTO_SAVE)
+
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.
+
+
+
+Quicktune maximum gain reduction (QWIK_REDUCE_MAX)
+
+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.
+
+- Units: percent
+- Range: 0 100
+
+
+
+Quicktune options (QWIK_OPTIONS)
+
+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.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+
+
+maximum angle error for tune abort (QWIK_ANGLE_MAX)
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error "Quicktune: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.
+
+
+
Q_ Parameters
@@ -42942,7 +43234,7 @@ Scripting Debug Level (SCR_DEBUG_OPTS)
Note: This parameter is for a
Debugging options
-- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
+- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure
diff --git a/Plane-4.6/Parameters.md b/Plane-4.6/Parameters.md
index 26006f9..3b8320c 100644
--- a/Plane-4.6/Parameters.md
+++ b/Plane-4.6/Parameters.md
@@ -1758,6 +1758,120 @@ RCn_OPTION number to use to control tuning stop/start/save
|306|Scripting7|
|307|Scripting8|
+## VID1_CAMMODEL: Camera1 Video Stream Camera Model
+
+Video stream camera model
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|Siyi A8|
+|2|Siyi ZR10|
+|3|Siyi ZR30|
+|4|Siyi ZT30 Zoom|
+|5|Siyi ZT30 Wide|
+|6|Siyi ZT30 IR|
+|7|Siyi ZT6 RGB|
+|8|Siyi ZT6 IR|
+|9|Herelink WifiAP|
+|10|Herelink USB-tethering|
+|11|Topotek 1080p|
+|12|Topotek 480p|
+|13|Viewpro|
+
+## VID1_ID: Camera1 Video Stream Id
+
+Video stream id
+
+- Range: 0 50
+
+## VID1_TYPE: Camera1 Video Stream Type
+
+Video stream type
+
+|Value|Meaning|
+|:---:|:---:|
+|0|RTSP|
+|1|RTPUDP|
+|2|TCP_MPEG|
+|3|MPEG_TS|
+
+## VID1_FLAG: Camera1 Video Stream Flags
+
+Video stream flags
+
+- Bitmask: 0:Running,1:Thermal,2:Thermal Range Enabled
+
+## VID1_FRAME_RATE: Camera1 Video Stream Frame Rate
+
+Video stream frame rate
+
+- Range: 0 50
+
+## VID1_HRES: Camera1 Video Stream Horizontal Resolution
+
+Video stream horizontal resolution
+
+- Range: 0 4096
+
+## VID1_VRES: Camera1 Video Stream Vertical Resolution
+
+Video stream vertical resolution
+
+- Range: 0 4096
+
+## VID1_BITRATE: Camera1 Video Stream Bitrate
+
+Video stream bitrate
+
+- Range: 0 10000
+
+## VID1_HFOV: Camera1 Video Stream Horizontal FOV
+
+Video stream horizontal FOV
+
+- Range: 0 360
+
+## VID1_ENCODING: Camera1 Video Stream Encoding
+
+Video stream encoding
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Unknown|
+|1|H264|
+|2|H265|
+
+## VID1_IPADDR0: Camera1 Video Stream IP Address 0
+
+Video stream IP Address first octet
+
+- Range: 0 255
+
+## VID1_IPADDR1: Camera1 Video Stream IP Address 1
+
+Video stream IP Address second octet
+
+- Range: 0 255
+
+## VID1_IPADDR2: Camera1 Video Stream IP Address 2
+
+Video stream IP Address third octet
+
+- Range: 0 255
+
+## VID1_IPADDR3: Camera1 Video Stream IP Address 3
+
+Video stream IP Address fourth octet
+
+- Range: 0 255
+
+## VID1_IPPORT: Camera1 Video Stream IP Address Port
+
+Video stream IP Address Port
+
+- Range: 0 65535
+
## WINCH_RATE_UP: WinchControl Rate Up
Maximum rate when retracting line
@@ -13764,6 +13878,14 @@ Bit rate can be set up to from 1000000 to 8000000
|5|5M|
|8|8M|
+## CAN_P1_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
# CANP2 Parameters
## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13801,6 +13923,14 @@ Bit rate can be set up to from 1000000 to 8000000
|5|5M|
|8|8M|
+## CAN_P2_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
# CANP3 Parameters
## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
@@ -13838,6 +13968,14 @@ Bit rate can be set up to from 1000000 to 8000000
|5|5M|
|8|8M|
+## CAN_P3_OPTIONS: CAN per-interface options
+
+*Note: This parameter is for advanced users*
+
+CAN per-interface options
+
+- Bitmask: 0:LogAllFrames
+
# CANSLCAN Parameters
## CAN_SLCAN_CPORT: SLCAN Route
@@ -30434,6 +30572,104 @@ Target pitch for initial pullup
- Range: -80 0
+# QWIK Parameters
+
+## QWIK_ENABLE: Quicktune enable
+
+Enable quicktune system
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## QWIK_AXES: Quicktune axes
+
+Axes to tune
+
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
+
+## QWIK_DOUBLE_TIME: Quicktune doubling time
+
+Time to double a tuning parameter. Raise this for a slower tune.
+
+- Range: 5 20
+
+- Units: s
+
+## QWIK_GAIN_MARGIN: Quicktune gain margin
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+
+- Units: %
+
+## QWIK_OSC_SMAX: Quicktune oscillation rate threshold
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+- Range: 1 10
+
+## QWIK_YAW_P_MAX: Quicktune Yaw P max
+
+Maximum value for yaw P gain
+
+- Range: 0.1 3
+
+## QWIK_YAW_D_MAX: Quicktune Yaw D max
+
+Maximum value for yaw D gain
+
+- Range: 0.001 1
+
+## QWIK_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: 1.0 2.0
+
+## QWIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+- Range: 1.0 20
+
+## QWIK_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|
+
+## QWIK_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. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.
+
+- Units: s
+
+## QWIK_REDUCE_MAX: 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.
+
+- Units: %
+
+- Range: 0 100
+
+## QWIK_OPTIONS: Quicktune options
+
+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.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+## QWIK_ANGLE_MAX: maximum angle error for tune abort
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error "Quicktune: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.
+
+- Units: deg
+
# Q Parameters
## Q_ENABLE: Enable QuadPlane
@@ -37731,7 +37967,7 @@ Amount of memory available for scripting
Debugging options
-- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
+- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm, 6: Disable heap expansion on allocation failure
## SCR_USER1: Scripting User Parameter1
diff --git a/Plane-4.6/Parameters.rst b/Plane-4.6/Parameters.rst
index cbb719f..433a89d 100644
--- a/Plane-4.6/Parameters.rst
+++ b/Plane-4.6/Parameters.rst
@@ -30036,6 +30036,30 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning | |
+| +=====+==============+ |
+| | 0 | LogAllFrames | |
+| +-----+--------------+ |
+| |
++------------------------+
+
+
+
+
.. _parameters_CAN_P2_:
@@ -30124,6 +30148,30 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning | |
+| +=====+==============+ |
+| | 0 | LogAllFrames | |
+| +-----+--------------+ |
+| |
++------------------------+
+
+
+
+
.. _parameters_CAN_P3_:
@@ -30212,6 +30260,30 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++------------------------+
+| Bitmask |
++========================+
+| +-----+--------------+ |
+| | Bit | Meaning | |
+| +=====+==============+ |
+| | 0 | LogAllFrames | |
+| +-----+--------------+ |
+| |
++------------------------+
+
+
+
+
.. _parameters_CAN_SLCAN_:
@@ -69857,6 +69929,293 @@ Target pitch for initial pullup
+.. _parameters_QWIK_:
+
+QWIK\_ Parameters
+-----------------
+
+
+.. _QWIK_ENABLE:
+
+QWIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable quicktune system
+
+
++----------------------+
+| Values |
++======================+
+| +-------+----------+ |
+| | Value | Meaning | |
+| +=======+==========+ |
+| | 0 | Disabled | |
+| +-------+----------+ |
+| | 1 | Enabled | |
+| +-------+----------+ |
+| |
++----------------------+
+
+
+
+
+.. _QWIK_AXES:
+
+QWIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Axes to tune
+
+
++-------------------+
+| Bitmask |
++===================+
+| +-----+---------+ |
+| | Bit | Meaning | |
+| +=====+=========+ |
+| | 0 | Roll | |
+| +-----+---------+ |
+| | 1 | Pitch | |
+| +-----+---------+ |
+| | 2 | Yaw | |
+| +-----+---------+ |
+| |
++-------------------+
+
+
+
+
+.. _QWIK_DOUBLE_TIME:
+
+QWIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Time to double a tuning parameter\. Raise this for a slower tune\.
+
+
++---------+---------+
+| Range | Units |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
+
+
+
+
+.. _QWIK_GAIN_MARGIN:
+
+QWIK\_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 |
++----------+---------+
+
+
+
+
+.. _QWIK_OSC_SMAX:
+
+QWIK\_OSC\_SMAX: Quicktune oscillation rate threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+
+
++---------+
+| Range |
++=========+
+| 1 to 10 |
++---------+
+
+
+
+
+.. _QWIK_YAW_P_MAX:
+
+QWIK\_YAW\_P\_MAX: Quicktune Yaw P max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw P gain
+
+
++----------+
+| Range |
++==========+
+| 0.1 to 3 |
++----------+
+
+
+
+
+.. _QWIK_YAW_D_MAX:
+
+QWIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw D gain
+
+
++------------+
+| Range |
++============+
+| 0.001 to 1 |
++------------+
+
+
+
+
+.. _QWIK_RP_PI_RATIO:
+
+QWIK\_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 |
++============+
+| 1.0 to 2.0 |
++------------+
+
+
+
+
+.. _QWIK_Y_PI_RATIO:
+
+QWIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
+
+
++-----------+
+| Range |
++===========+
+| 1.0 to 20 |
++-----------+
+
+
+
+
+.. _QWIK_AUTO_FILTER:
+
+QWIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+
+
++----------------------+
+| Values |
++======================+
+| +-------+----------+ |
+| | Value | Meaning | |
+| +=======+==========+ |
+| | 0 | Disabled | |
+| +-------+----------+ |
+| | 1 | Enabled | |
+| +-------+----------+ |
+| |
++----------------------+
+
+
+
+
+.. _QWIK_AUTO_SAVE:
+
+QWIK\_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\. Zero \(the default value\) disables automatic saving\, and you will need to have a 3 position switch to save or use GCS auxilliary functions\.
+
+
++---------+
+| Units |
++=========+
+| seconds |
++---------+
+
+
+
+
+.. _QWIK_REDUCE_MAX:
+
+QWIK\_REDUCE\_MAX: 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\.
+
+
++----------+---------+
+| Range | Units |
++==========+=========+
+| 0 to 100 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OPTIONS:
+
+QWIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+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\.
+
+
++--------------------------------+
+| Bitmask |
++================================+
+| +-----+----------------------+ |
+| | Bit | Meaning | |
+| +=====+======================+ |
+| | 0 | UseTwoPositionSwitch | |
+| +-----+----------------------+ |
+| |
++--------------------------------+
+
+
+
+
+.. _QWIK_ANGLE_MAX:
+
+QWIK\_ANGLE\_MAX: maximum angle error for tune abort
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Quicktune\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK\_DOUBLE\_TIME to do the tune more slowly\.
+
+
++---------+
+| Units |
++=========+
+| degrees |
++---------+
+
+
+
+
+
.. _parameters_Q_:
Q\_ Parameters
@@ -91239,6 +91598,8 @@ Debugging options
| +-----+----------------------------------------------------------------------------------------+ |
| | 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | |
| +-----+----------------------------------------------------------------------------------------+ |
+| | 6 | Disable heap expansion on allocation failure | |
+| +-----+----------------------------------------------------------------------------------------+ |
| |
+--------------------------------------------------------------------------------------------------+
diff --git a/Plane-4.6/ParametersLatex.rst b/Plane-4.6/ParametersLatex.rst
index e577bb2..af4179d 100644
--- a/Plane-4.6/ParametersLatex.rst
+++ b/Plane-4.6/ParametersLatex.rst
@@ -3941,6 +3941,316 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
+.. _VID1_CAMMODEL:
+
+VID1\_CAMMODEL: Camera1 Video Stream Camera Model
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream camera model
+
+
++-------+------------------------+
+| Value | Meaning |
++=======+========================+
+| 0 | Unknown |
++-------+------------------------+
+| 1 | Siyi A8 |
++-------+------------------------+
+| 2 | Siyi ZR10 |
++-------+------------------------+
+| 3 | Siyi ZR30 |
++-------+------------------------+
+| 4 | Siyi ZT30 Zoom |
++-------+------------------------+
+| 5 | Siyi ZT30 Wide |
++-------+------------------------+
+| 6 | Siyi ZT30 IR |
++-------+------------------------+
+| 7 | Siyi ZT6 RGB |
++-------+------------------------+
+| 8 | Siyi ZT6 IR |
++-------+------------------------+
+| 9 | Herelink WifiAP |
++-------+------------------------+
+| 10 | Herelink USB-tethering |
++-------+------------------------+
+| 11 | Topotek 1080p |
++-------+------------------------+
+| 12 | Topotek 480p |
++-------+------------------------+
+| 13 | Viewpro |
++-------+------------------------+
+
+
+
+
+.. _VID1_ID:
+
+VID1\_ID: Camera1 Video Stream Id
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream id
+
+
++---------+
+| Range |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_TYPE:
+
+VID1\_TYPE: Camera1 Video Stream Type
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream type
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | RTSP |
++-------+----------+
+| 1 | RTPUDP |
++-------+----------+
+| 2 | TCP_MPEG |
++-------+----------+
+| 3 | MPEG_TS |
++-------+----------+
+
+
+
+
+.. _VID1_FLAG:
+
+VID1\_FLAG: Camera1 Video Stream Flags
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream flags
+
+
++-----+-----------------------+
+| Bit | Meaning |
++=====+=======================+
+| 0 | Running |
++-----+-----------------------+
+| 1 | Thermal |
++-----+-----------------------+
+| 2 | Thermal Range Enabled |
++-----+-----------------------+
+
+
+
+
+.. _VID1_FRAME_RATE:
+
+VID1\_FRAME\_RATE: Camera1 Video Stream Frame Rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream frame rate
+
+
++---------+
+| Range |
++=========+
+| 0 to 50 |
++---------+
+
+
+
+
+.. _VID1_HRES:
+
+VID1\_HRES: Camera1 Video Stream Horizontal Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal resolution
+
+
++-----------+
+| Range |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_VRES:
+
+VID1\_VRES: Camera1 Video Stream Vertical Resolution
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream vertical resolution
+
+
++-----------+
+| Range |
++===========+
+| 0 to 4096 |
++-----------+
+
+
+
+
+.. _VID1_BITRATE:
+
+VID1\_BITRATE: Camera1 Video Stream Bitrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream bitrate
+
+
++------------+
+| Range |
++============+
+| 0 to 10000 |
++------------+
+
+
+
+
+.. _VID1_HFOV:
+
+VID1\_HFOV: Camera1 Video Stream Horizontal FOV
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream horizontal FOV
+
+
++----------+
+| Range |
++==========+
+| 0 to 360 |
++----------+
+
+
+
+
+.. _VID1_ENCODING:
+
+VID1\_ENCODING: Camera1 Video Stream Encoding
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream encoding
+
+
++-------+---------+
+| Value | Meaning |
++=======+=========+
+| 0 | Unknown |
++-------+---------+
+| 1 | H264 |
++-------+---------+
+| 2 | H265 |
++-------+---------+
+
+
+
+
+.. _VID1_IPADDR0:
+
+VID1\_IPADDR0: Camera1 Video Stream IP Address 0
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address first octet
+
+
++----------+
+| Range |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR1:
+
+VID1\_IPADDR1: Camera1 Video Stream IP Address 1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address second octet
+
+
++----------+
+| Range |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR2:
+
+VID1\_IPADDR2: Camera1 Video Stream IP Address 2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address third octet
+
+
++----------+
+| Range |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPADDR3:
+
+VID1\_IPADDR3: Camera1 Video Stream IP Address 3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address fourth octet
+
+
++----------+
+| Range |
++==========+
+| 0 to 255 |
++----------+
+
+
+
+
+.. _VID1_IPPORT:
+
+VID1\_IPPORT: Camera1 Video Stream IP Address Port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Video stream IP Address Port
+
+
++------------+
+| Range |
++============+
+| 0 to 65535 |
++------------+
+
+
+
+
.. _WINCH_RATE_UP:
WINCH\_RATE\_UP: WinchControl Rate Up
@@ -31936,6 +32246,25 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P1_OPTIONS:
+
+CAN\_P1\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
+
+
+
+
.. _parameters_CAN_P2_:
@@ -32014,6 +32343,25 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P2_OPTIONS:
+
+CAN\_P2\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
+
+
+
+
.. _parameters_CAN_P3_:
@@ -32092,6 +32440,25 @@ Bit rate can be set up to from 1000000 to 8000000
+.. _CAN_P3_OPTIONS:
+
+CAN\_P3\_OPTIONS: CAN per\-interface options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+CAN per\-interface options
+
+
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
+
+
+
+
.. _parameters_CAN_SLCAN_:
@@ -69291,6 +69658,273 @@ Target pitch for initial pullup
+.. _parameters_QWIK_:
+
+QWIK\_ Parameters
+-----------------
+
+
+.. _QWIK_ENABLE:
+
+QWIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable quicktune system
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _QWIK_AXES:
+
+QWIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Axes to tune
+
+
++-----+---------+
+| Bit | Meaning |
++=====+=========+
+| 0 | Roll |
++-----+---------+
+| 1 | Pitch |
++-----+---------+
+| 2 | Yaw |
++-----+---------+
+
+
+
+
+.. _QWIK_DOUBLE_TIME:
+
+QWIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Time to double a tuning parameter\. Raise this for a slower tune\.
+
+
++---------+---------+
+| Range | Units |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
+
+
+
+
+.. _QWIK_GAIN_MARGIN:
+
+QWIK\_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 |
++----------+---------+
+
+
+
+
+.. _QWIK_OSC_SMAX:
+
+QWIK\_OSC\_SMAX: Quicktune oscillation rate threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+
+
++---------+
+| Range |
++=========+
+| 1 to 10 |
++---------+
+
+
+
+
+.. _QWIK_YAW_P_MAX:
+
+QWIK\_YAW\_P\_MAX: Quicktune Yaw P max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw P gain
+
+
++----------+
+| Range |
++==========+
+| 0.1 to 3 |
++----------+
+
+
+
+
+.. _QWIK_YAW_D_MAX:
+
+QWIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Maximum value for yaw D gain
+
+
++------------+
+| Range |
++============+
+| 0.001 to 1 |
++------------+
+
+
+
+
+.. _QWIK_RP_PI_RATIO:
+
+QWIK\_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 |
++============+
+| 1.0 to 2.0 |
++------------+
+
+
+
+
+.. _QWIK_Y_PI_RATIO:
+
+QWIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
+
+
++-----------+
+| Range |
++===========+
+| 1.0 to 20 |
++-----------+
+
+
+
+
+.. _QWIK_AUTO_FILTER:
+
+QWIK\_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 |
++-------+----------+
+
+
+
+
+.. _QWIK_AUTO_SAVE:
+
+QWIK\_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\. Zero \(the default value\) disables automatic saving\, and you will need to have a 3 position switch to save or use GCS auxilliary functions\.
+
+
++---------+
+| Units |
++=========+
+| seconds |
++---------+
+
+
+
+
+.. _QWIK_REDUCE_MAX:
+
+QWIK\_REDUCE\_MAX: 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\.
+
+
++----------+---------+
+| Range | Units |
++==========+=========+
+| 0 to 100 | percent |
++----------+---------+
+
+
+
+
+.. _QWIK_OPTIONS:
+
+QWIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+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\.
+
+
++-----+----------------------+
+| Bit | Meaning |
++=====+======================+
+| 0 | UseTwoPositionSwitch |
++-----+----------------------+
+
+
+
+
+.. _QWIK_ANGLE_MAX:
+
+QWIK\_ANGLE\_MAX: maximum angle error for tune abort
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing\. If you get an error \"Quicktune\: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK\_DOUBLE\_TIME to do the tune more slowly\.
+
+
++---------+
+| Units |
++=========+
+| degrees |
++---------+
+
+
+
+
+
.. _parameters_Q_:
Q\_ Parameters
@@ -89606,6 +90240,8 @@ Debugging options
+-----+----------------------------------------------------------------------------------------+
| 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm |
+-----+----------------------------------------------------------------------------------------+
+| 6 | Disable heap expansion on allocation failure |
++-----+----------------------------------------------------------------------------------------+
diff --git a/Plane-4.6/apm.pdef.json b/Plane-4.6/apm.pdef.json
index 9457db2..2472fdb 100644
--- a/Plane-4.6/apm.pdef.json
+++ b/Plane-4.6/apm.pdef.json
@@ -11547,6 +11547,14 @@
"5": "5M",
"8": "8M"
}
+ },
+ "CAN_P1_OPTIONS": {
+ "Bitmask": {
+ "0": "LogAllFrames"
+ },
+ "Description": "CAN per-interface options",
+ "DisplayName": "CAN per-interface options",
+ "User": "Advanced"
}
},
"CAN_P2_": {
@@ -11582,6 +11590,14 @@
"5": "5M",
"8": "8M"
}
+ },
+ "CAN_P2_OPTIONS": {
+ "Bitmask": {
+ "0": "LogAllFrames"
+ },
+ "Description": "CAN per-interface options",
+ "DisplayName": "CAN per-interface options",
+ "User": "Advanced"
}
},
"CAN_P3_": {
@@ -11617,6 +11633,14 @@
"5": "5M",
"8": "8M"
}
+ },
+ "CAN_P3_OPTIONS": {
+ "Bitmask": {
+ "0": "LogAllFrames"
+ },
+ "Description": "CAN per-interface options",
+ "DisplayName": "CAN per-interface options",
+ "User": "Advanced"
}
},
"CAN_SLCAN_": {
@@ -20540,6 +20564,157 @@
"low": "301"
}
},
+ "VID1_BITRATE": {
+ "Description": "Video stream bitrate",
+ "DisplayName": "Camera1 Video Stream Bitrate",
+ "Range": {
+ "high": "10000",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_CAMMODEL": {
+ "Description": "Video stream camera model",
+ "DisplayName": "Camera1 Video Stream Camera Model",
+ "User": "Standard",
+ "Values": {
+ "0": "Unknown",
+ "1": "Siyi A8",
+ "10": "Herelink USB-tethering",
+ "11": "Topotek 1080p",
+ "12": "Topotek 480p",
+ "13": "Viewpro",
+ "2": "Siyi ZR10",
+ "3": "Siyi ZR30",
+ "4": "Siyi ZT30 Zoom",
+ "5": "Siyi ZT30 Wide",
+ "6": "Siyi ZT30 IR",
+ "7": "Siyi ZT6 RGB",
+ "8": "Siyi ZT6 IR",
+ "9": "Herelink WifiAP"
+ }
+ },
+ "VID1_ENCODING": {
+ "Description": "Video stream encoding",
+ "DisplayName": "Camera1 Video Stream Encoding",
+ "User": "Standard",
+ "Values": {
+ "0": "Unknown",
+ "1": "H264",
+ "2": "H265"
+ }
+ },
+ "VID1_FLAG": {
+ "Bitmask": {
+ "0": "Running",
+ "1": "Thermal",
+ "2": "Thermal Range Enabled"
+ },
+ "Description": "Video stream flags",
+ "DisplayName": "Camera1 Video Stream Flags",
+ "User": "Standard"
+ },
+ "VID1_FRAME_RATE": {
+ "Description": "Video stream frame rate",
+ "DisplayName": "Camera1 Video Stream Frame Rate",
+ "Range": {
+ "high": "50",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_HFOV": {
+ "Description": "Video stream horizontal FOV",
+ "DisplayName": "Camera1 Video Stream Horizontal FOV",
+ "Range": {
+ "high": "360",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_HRES": {
+ "Description": "Video stream horizontal resolution",
+ "DisplayName": "Camera1 Video Stream Horizontal Resolution",
+ "Range": {
+ "high": "4096",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_ID": {
+ "Description": "Video stream id",
+ "DisplayName": "Camera1 Video Stream Id",
+ "Range": {
+ "high": "50",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_IPADDR0": {
+ "Description": "Video stream IP Address first octet",
+ "DisplayName": "Camera1 Video Stream IP Address 0",
+ "Range": {
+ "high": "255",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_IPADDR1": {
+ "Description": "Video stream IP Address second octet",
+ "DisplayName": "Camera1 Video Stream IP Address 1",
+ "Range": {
+ "high": "255",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_IPADDR2": {
+ "Description": "Video stream IP Address third octet",
+ "DisplayName": "Camera1 Video Stream IP Address 2",
+ "Range": {
+ "high": "255",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_IPADDR3": {
+ "Description": "Video stream IP Address fourth octet",
+ "DisplayName": "Camera1 Video Stream IP Address 3",
+ "Range": {
+ "high": "255",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_IPPORT": {
+ "Description": "Video stream IP Address Port",
+ "DisplayName": "Camera1 Video Stream IP Address Port",
+ "Range": {
+ "high": "65535",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
+ "VID1_TYPE": {
+ "Description": "Video stream type",
+ "DisplayName": "Camera1 Video Stream Type",
+ "User": "Standard",
+ "Values": {
+ "0": "RTSP",
+ "1": "RTPUDP",
+ "2": "TCP_MPEG",
+ "3": "MPEG_TS"
+ }
+ },
+ "VID1_VRES": {
+ "Description": "Video stream vertical resolution",
+ "DisplayName": "Camera1 Video Stream Vertical Resolution",
+ "Range": {
+ "high": "4096",
+ "low": "0"
+ },
+ "User": "Standard"
+ },
"VIEP_CAM_SWHIGH": {
"Description": "Camera selection when switch is in high position",
"DisplayName": "ViewPro Camera For Switch High",
@@ -31976,6 +32151,131 @@
"User": "Standard"
}
},
+ "QWIK_": {
+ "QWIK_ANGLE_MAX": {
+ "Description": "If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error \"Quicktune: attitude error ABORTING\" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.",
+ "DisplayName": "maximum angle error for tune abort",
+ "Units": "deg",
+ "User": "Standard"
+ },
+ "QWIK_AUTO_FILTER": {
+ "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER",
+ "DisplayName": "Quicktune auto filter enable",
+ "User": "Standard",
+ "Values": {
+ "0": "Disabled",
+ "1": "Enabled"
+ }
+ },
+ "QWIK_AUTO_SAVE": {
+ "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.",
+ "DisplayName": "Quicktune auto save",
+ "Units": "s",
+ "User": "Standard"
+ },
+ "QWIK_AXES": {
+ "Bitmask": {
+ "0": "Roll",
+ "1": "Pitch",
+ "2": "Yaw"
+ },
+ "Description": "Axes to tune",
+ "DisplayName": "Quicktune axes",
+ "User": "Standard"
+ },
+ "QWIK_DOUBLE_TIME": {
+ "Description": "Time to double a tuning parameter. Raise this for a slower tune.",
+ "DisplayName": "Quicktune doubling time",
+ "Range": {
+ "high": "20",
+ "low": "5"
+ },
+ "Units": "s",
+ "User": "Standard"
+ },
+ "QWIK_ENABLE": {
+ "Description": "Enable quicktune system",
+ "DisplayName": "Quicktune enable",
+ "User": "Standard",
+ "Values": {
+ "0": "Disabled",
+ "1": "Enabled"
+ }
+ },
+ "QWIK_GAIN_MARGIN": {
+ "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune",
+ "DisplayName": "Quicktune gain margin",
+ "Range": {
+ "high": "80",
+ "low": "20"
+ },
+ "Units": "%",
+ "User": "Standard"
+ },
+ "QWIK_OPTIONS": {
+ "Bitmask": {
+ "0": "UseTwoPositionSwitch"
+ },
+ "Description": "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.",
+ "DisplayName": "Quicktune options",
+ "User": "Standard"
+ },
+ "QWIK_OSC_SMAX": {
+ "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.",
+ "DisplayName": "Quicktune oscillation rate threshold",
+ "Range": {
+ "high": "10",
+ "low": "1"
+ },
+ "User": "Standard"
+ },
+ "QWIK_REDUCE_MAX": {
+ "Description": "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.",
+ "DisplayName": "Quicktune maximum gain reduction",
+ "Range": {
+ "high": "100",
+ "low": "0"
+ },
+ "Units": "%",
+ "User": "Standard"
+ },
+ "QWIK_RP_PI_RATIO": {
+ "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain",
+ "DisplayName": "Quicktune roll/pitch PI ratio",
+ "Range": {
+ "high": "2.0",
+ "low": "1.0"
+ },
+ "User": "Standard"
+ },
+ "QWIK_YAW_D_MAX": {
+ "Description": "Maximum value for yaw D gain",
+ "DisplayName": "Quicktune Yaw D max",
+ "Range": {
+ "high": "1",
+ "low": "0.001"
+ },
+ "User": "Standard"
+ },
+ "QWIK_YAW_P_MAX": {
+ "Description": "Maximum value for yaw P gain",
+ "DisplayName": "Quicktune Yaw P max",
+ "Range": {
+ "high": "3",
+ "low": "0.1"
+ },
+ "User": "Standard"
+ },
+ "QWIK_Y_PI_RATIO": {
+ "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain",
+ "DisplayName": "Quicktune Yaw PI ratio",
+ "Range": {
+ "high": "20",
+ "low": "1.0"
+ },
+ "User": "Standard"
+ }
+ },
"Q_": {
"Q_ACRO_PIT_RATE": {
"Description": "The maximum pitch rate at full stick deflection in QACRO mode",
@@ -41927,7 +42227,8 @@
"2": "Suppress logging scripts to dataflash",
"3": "log runtime memory usage and execution time",
"4": "Disable pre-arm check",
- "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm"
+ "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm",
+ "6": "Disable heap expansion on allocation failure"
},
"Description": "Debugging options",
"DisplayName": "Scripting Debug Level",
diff --git a/Plane-4.6/apm.pdef.xml b/Plane-4.6/apm.pdef.xml
index 9973d7b..b4bfebc 100644
--- a/Plane-4.6/apm.pdef.xml
+++ b/Plane-4.6/apm.pdef.xml
@@ -1248,6 +1248,80 @@
Scripting8
+
+
+ Unknown
+ Siyi A8
+ Siyi ZR10
+ Siyi ZR30
+ Siyi ZT30 Zoom
+ Siyi ZT30 Wide
+ Siyi ZT30 IR
+ Siyi ZT6 RGB
+ Siyi ZT6 IR
+ Herelink WifiAP
+ Herelink USB-tethering
+ Topotek 1080p
+ Topotek 480p
+ Viewpro
+
+
+
+ 0 50
+
+
+
+ RTSP
+ RTPUDP
+ TCP_MPEG
+ MPEG_TS
+
+
+
+
+ Running
+ Thermal
+ Thermal Range Enabled
+
+ 0:Running,1:Thermal,2:Thermal Range Enabled
+
+
+ 0 50
+
+
+ 0 4096
+
+
+ 0 4096
+
+
+ 0 10000
+
+
+ 0 360
+
+
+
+ Unknown
+ H264
+ H265
+
+
+
+ 0 255
+
+
+ 0 255
+
+
+ 0 255
+
+
+ 0 255
+
+
+ 0 65535
+
0.1 5.0
@@ -10031,6 +10105,12 @@
8M
+
+
+ LogAllFrames
+
+ 0:LogAllFrames
+