diff --git a/Copter-4.5/Parameters.html b/Copter-4.5/Parameters.html index bdef3ab..967d071 100644 --- a/Copter-4.5/Parameters.html +++ b/Copter-4.5/Parameters.html @@ -1303,456 +1303,510 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Count of SOC estimators (BATT_SOC_COUNT)

+

enable web server (WEB_ENABLE)

-

Number of battery SOC estimators

+

enable web server

-

Battery estimator index (BATT_SOC1_IDX)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator index

+

web server TCP port

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator cell count

+

web server debugging

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server block size for download

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

timeout for inactive connections

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC2_IDX)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

Battery estimator index

+

ExternalNav may be used if innovations are below this threshold

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Battery estimator cell count

+

ExternalNav may be used if quality is above this threshold

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Battery estimator coefficient1

+

OpticalFlow may be used if innovations are below this threshold

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

Battery estimator coefficient2

+

OpticalFlow may be used if quality is above this threshold

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Battery estimator coefficient3

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Battery estimator index (BATT_SOC3_IDX)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

Battery estimator index

+

Maximum rate when retracting line

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Battery estimator cell count

+

Maximum rate when releasing line

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

Battery estimator coefficient1

+

RCn_OPTION number to use to control winch rate

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator coefficient2

+

Enable quicktune system

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient3

+

axes to tune

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Enable quicktune system

+

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

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

axes to tune

+

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

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

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

+

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

-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Mount POI distance max (POI_DIST_MAX)

-

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

+

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

-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning Enable (DR_ENABLE)

-

Maximum value for yaw P gain

+

Deadreckoning Enable

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

Maximum value for yaw D gain

+

Distance from home (in meters) beyond which the dead reckoning will be enabled

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

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

+

GPS checks must fail for this many seconds before dead reckoning will be triggered

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

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

+

lean angle (in degrees) during deadreckoning

-

Quicktune RC function (QUIK_RC_FUNC)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

Copter will fly at at least this altitude (in meters) above home during deadreckoning

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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.

+

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

-

Quicktune options (QUIK_OPTIONS)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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.

+

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

- + + + + + + + + + + + + + +
ValueMeaning
2AltHold
3Auto
4Guided
5Loiter
6RTL
7Circle
9Land
16PosHold
17Brake
20Guided_NoGPS
21Smart_RTL
27Auto RTL
+ -

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

ExternalNav may be used if innovations are below this threshold

+

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

param reversion RC function (PREV_RC_FUNC)

-

ExternalNav may be used if quality is above this threshold

+

RCn_OPTION number to used to trigger parameter reversion

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

Quicktune enable (QUIK_ENABLE)

-

OpticalFlow may be used if innovations are below this threshold

+

Enable quicktune system

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Quicktune axes (QUIK_AXES)

-

OpticalFlow may be used if quality is above this threshold

+

axes to tune

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Quicktune doubling time (QUIK_DOUBLE_TIME)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

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

-

Precland altitude cutoff (PLND_ALT_CUTOFF)

+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

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

+

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

The distance from target beyond which the target is ignored

+

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

-

Mount POI distance max (POI_DIST_MAX)

+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

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

+

Maximum value for yaw P gain

-

Deadreckoning Enable (DR_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Deadreckoning Enable

+

Maximum value for yaw D gain

-

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

Distance from home (in meters) beyond which the dead reckoning will be enabled

+

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

-

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+

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

-

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+

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

-

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+

Quicktune auto save (QUIK_AUTO_SAVE)

-

GPS checks must fail for this many seconds before dead reckoning will be triggered

+

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

-

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+

Quicktune RC function (QUIK_RC_FUNC)

-

lean angle (in degrees) during deadreckoning

+

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

-

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+

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.

-

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+

Quicktune options (QUIK_OPTIONS)

-

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+

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.

+ + +

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

+ -

Deadreckoning Next Mode (DR_NEXT_MODE)

+

Display Rockblock debugging text (RCK_DEBUG)

-

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

+

Sends Rockblock debug text to GCS via statustexts

-

Rover Quicktune enable (RTUN_ENABLE)

+

Enable Message transmission (RCK_ENABLE)

-

Enable quicktune system

+

Enables the Rockblock sending and recieving

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune RC function (RTUN_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

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

+

Battery estimator coefficient2

-

enable web server (WEB_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

enable web server

+

Battery estimator coefficient3

-

web server TCP port (WEB_BIND_PORT)

+

Battery estimator index (BATT_SOC3_IDX)

-

web server TCP port

+

Battery estimator index

-

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+

Battery estimator cell count (BATT_SOC3_NCELL)

-

web server debugging

+

Battery estimator cell count

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

web server block size for download

+

Battery estimator coefficient1

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

timeout for inactive connections

+

Battery estimator coefficient2

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

WinchControl Rate Up (WINCH_RATE_UP)

+

Battery estimator index (BATT_SOC4_IDX)

-

Maximum rate when retracting line

+

Battery estimator index

-

WinchControl Rate Down (WINCH_RATE_DN)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

Maximum rate when releasing line

+

Battery estimator cell count

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

Battery estimator coefficient1 (BATT_SOC4_C1)

-

RCn_OPTION number to use to control winch rate

+

Battery estimator coefficient1

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC4_C2)

-

Enable parameter reversion system

+

Battery estimator coefficient2

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient3

+ + + +

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

@@ -1990,48 +2032,6 @@

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

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

- - -

Angular acceleration limit (AEROM_ANG_ACCEL)

Maximum angular acceleration in maneuvers

@@ -2291,64 +2291,83 @@

Trik Count (TRIK_COUNT)

-

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)

+

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

-

ANX CAN battery index

+

Enable Halo6000 EFI driver

-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

Halo6000 CAN driver (EFI_H6K_CANDRV)

-

ANX CAN battery options

+

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

-

Generator SVFFI enable (EFI_SVF_ENABLE)

+

Halo6000 start auxilliary function (EFI_H6K_START_FN)

-

Enable SVFFI generator support

+

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

-

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

-

Check for Generator ARM state before arming

+

The rate that additional generator telemetry is sent

+ + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ @@ -2536,9 +2555,9 @@

SkyPower EFI restart time (EFI_SP_RST_TIME)

-

EFI INF-Inject enable (EFI_INF_ENABLE)

+

EFI DLA enable (EFI_DLA_ENABLE)

-

Enable EFI INF-Inject driver

+

Enable EFI DLA driver

-

Halo6000 CAN driver (EFI_H6K_CANDRV)

+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+

Enable ANX battery support

-

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+

Set ANX CAN driver

-

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

- -

The rate that additional generator telemetry is sent

- - - -

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

- -

The capacity of the tank in litres

- - - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

ANX CAN battery index (BATT_ANX_INDEX)

-

Enable DJIRS2 debug

+

ANX CAN battery index

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

DJIRS2 upside down

+

ANX CAN battery options

@@ -2706,9 +2693,9 @@

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

-

EFI DLA enable (EFI_DLA_ENABLE)

+

EFI INF-Inject enable (EFI_INF_ENABLE)

-

Enable EFI DLA driver

+

Enable EFI INF-Inject driver

+ + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

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

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

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

diff --git a/Copter-4.5/Parameters.md b/Copter-4.5/Parameters.md index 94aae17..f51c4bc 100644 --- a/Copter-4.5/Parameters.md +++ b/Copter-4.5/Parameters.md @@ -1251,133 +1251,122 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## BATT_SOC_COUNT: Count of SOC estimators - -Number of battery SOC estimators - -- Range: 0 4 - -## BATT_SOC1_IDX: Battery estimator index - -Battery estimator index - -- Range: 0 4 - -## BATT_SOC1_NCELL: Battery estimator cell count - -Battery estimator cell count - -- Range: 0 48 - -## BATT_SOC1_C1: Battery estimator coefficient1 - -Battery estimator coefficient1 - -- Range: 100 200 - -## BATT_SOC1_C2: Battery estimator coefficient2 - -Battery estimator coefficient2 +## WEB_ENABLE: enable web server -- Range: 2 5 +enable web server -## BATT_SOC1_C3: Battery estimator coefficient3 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Battery estimator coefficient3 +## WEB_BIND_PORT: web server TCP port -- Range: 0.01 0.5 +web server TCP port -## BATT_SOC2_IDX: Battery estimator index +- Range: 1 65535 -Battery estimator index +## WEB_DEBUG: web server debugging -- Range: 0 4 +*Note: This parameter is for advanced users* -## BATT_SOC2_NCELL: Battery estimator cell count +web server debugging -Battery estimator cell count +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 0 48 +## WEB_BLOCK_SIZE: web server block size -## BATT_SOC2_C1: Battery estimator coefficient1 +*Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download -- Range: 100 200 +- Range: 1 65535 -## BATT_SOC2_C2: Battery estimator coefficient2 +## WEB_TIMEOUT: web server timeout -Battery estimator coefficient2 +*Note: This parameter is for advanced users* -- Range: 2 5 +timeout for inactive connections -## BATT_SOC2_C3: Battery estimator coefficient3 +- Units: s -Battery estimator coefficient3 +- Range: 0.1 60 -- Range: 0.01 0.5 +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## BATT_SOC3_IDX: Battery estimator index +*Note: This parameter is for advanced users* -Battery estimator index +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 4 +- Range: 0 10000000 -## BATT_SOC3_NCELL: Battery estimator cell count +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -Battery estimator cell count +ExternalNav may be used if innovations are below this threshold -- Range: 0 48 +- Range: 0 1 -## BATT_SOC3_C1: Battery estimator coefficient1 +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -- Range: 100 200 +- Range: 0 100 -## BATT_SOC3_C2: Battery estimator coefficient2 +- Units: % -Battery estimator coefficient2 +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold -- Range: 2 5 +OpticalFlow may be used if innovations are below this threshold -## BATT_SOC3_C3: Battery estimator coefficient3 +- Range: 0 1 -Battery estimator coefficient3 +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold -- Range: 0.01 0.5 +OpticalFlow may be used if quality is above this threshold -## BATT_SOC4_IDX: Battery estimator index +- Range: 0 100 -Battery estimator index +- Units: % -- Range: 0 4 +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max -## BATT_SOC4_NCELL: Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -Battery estimator cell count +- Range: 0 50 -- Range: 0 48 +- Units: m -## BATT_SOC4_C1: Battery estimator coefficient1 +## WINCH_RATE_UP: WinchControl Rate Up -Battery estimator coefficient1 +Maximum rate when retracting line -- Range: 100 200 +- Range: 0.1 5.0 -## BATT_SOC4_C2: Battery estimator coefficient2 +## WINCH_RATE_DN: WinchControl Rate Down -Battery estimator coefficient2 +Maximum rate when releasing line -- Range: 2 5 +- Range: 0.1 5.0 -## BATT_SOC4_C3: Battery estimator coefficient3 +## WINCH_RC_FUNC: Winch Rate Control RC function -Battery estimator coefficient3 +RCn_OPTION number to use to control winch rate -- Range: 0.01 0.5 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -1386,59 +1375,49 @@ 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 - -## QUIK_DOUBLE_TIME: Quicktune doubling time - -Time to double a tuning parameter. Raise this for a slower tune. - -- Range: 5 20 - -- Units: s - -## QUIK_GAIN_MARGIN: Quicktune gain margin +- Bitmask: 0:Steering,1:Speed -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -- Range: 20 80 +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Units: % +- Range: 0 1.0 -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -Threshold for oscillation detection. A lower value will lead to 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: 1 10 +- Range: 0 2.0 -## QUIK_YAW_P_MAX: Quicktune Yaw P max +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -Maximum value for yaw P gain +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -- Range: 0.1 3 +- Range: 0 2.0 -## QUIK_YAW_D_MAX: Quicktune Yaw D max +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -Maximum value for yaw D gain +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -- Range: 0.001 1 +- Range: 0 1.0 -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -- Range: 0.5 1.0 +- Range: 0 2.0 -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -Ratio between P and I gains for yaw. 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 20 +- Range: 0 2.0 -## QUIK_AUTO_FILTER: Quicktune auto filter enable +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -1447,81 +1426,26 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune 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: s -## QUIK_RC_FUNC: Quicktune RC function +## RTUN_RC_FUNC: Rover Quicktune RC function RCn_OPTION number to use to control tuning stop/start/save -## 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. - -- Units: % - -- Range: 0 100 - -## QUIK_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 - -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold - -ExternalNav may be used if innovations are below this threshold - -- Range: 0 1 - -## 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 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| ## POI_DIST_MAX: Mount POI distance max @@ -1603,7 +1527,20 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## RTUN_ENABLE: Rover Quicktune enable +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## QUIK_ENABLE: Quicktune enable Enable quicktune system @@ -1612,49 +1549,59 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## RTUN_AXES: Rover Quicktune axes +## QUIK_AXES: Quicktune axes axes to tune -- Bitmask: 0:Steering,1:Speed +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +## QUIK_DOUBLE_TIME: Quicktune doubling time -Ratio between measured response and FF gain. Raise this to get a higher FF gain +Time to double a tuning parameter. Raise this for a slower tune. -- Range: 0 1.0 +- Range: 5 20 -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio +- Units: s -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged +## QUIK_GAIN_MARGIN: Quicktune gain margin -- Range: 0 2.0 +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio +- Range: 20 80 -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged +- Units: % -- Range: 0 2.0 +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value +- Range: 1 10 -- Range: 0 1.0 +## QUIK_YAW_P_MAX: Quicktune Yaw P max -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio +Maximum value for yaw P gain -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged +- Range: 0.1 3 -- Range: 0 2.0 +## QUIK_YAW_D_MAX: Quicktune Yaw D max -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio +Maximum value for yaw D gain -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged +- Range: 0.001 1 -- Range: 0 2.0 +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -1663,118 +1610,206 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## RTUN_AUTO_SAVE: Rover Quicktune 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: s -## RTUN_RC_FUNC: Rover Quicktune RC function +## QUIK_RC_FUNC: 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| +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -## WEB_ENABLE: enable web server +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. -enable web server +- Units: % + +- Range: 0 100 + +## QUIK_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 + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## RCK_PERIOD: Update rate -web server TCP port +When in High Latency mode, send Rockblock updates every N seconds -- Range: 1 65535 +- Range: 0 600 -## WEB_DEBUG: web server debugging +- Units: s -*Note: This parameter is for advanced users* +## RCK_DEBUG: Display Rockblock debugging text -web server debugging +Sends Rockblock debug text to GCS via statustexts |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BLOCK_SIZE: web server block size +## RCK_ENABLE: Enable Message transmission -*Note: This parameter is for advanced users* +Enables the Rockblock sending and recieving -web server block size for download +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 1 65535 +## BATT_SOC_COUNT: Count of SOC estimators -## WEB_TIMEOUT: web server timeout +Number of battery SOC estimators -*Note: This parameter is for advanced users* +- Range: 0 4 -timeout for inactive connections +## BATT_SOC1_IDX: Battery estimator index -- Units: s +Battery estimator index -- Range: 0.1 60 +- Range: 0 4 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +## BATT_SOC1_NCELL: Battery estimator cell count -*Note: This parameter is for advanced users* +Battery estimator cell count -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 48 -- Range: 0 10000000 +## BATT_SOC1_C1: Battery estimator coefficient1 -## WINCH_RATE_UP: WinchControl Rate Up +Battery estimator coefficient1 -Maximum rate when retracting line +- Range: 100 200 -- Range: 0.1 5.0 +## BATT_SOC1_C2: Battery estimator coefficient2 -## WINCH_RATE_DN: WinchControl Rate Down +Battery estimator coefficient2 -Maximum rate when releasing line +- Range: 2 5 -- Range: 0.1 5.0 +## BATT_SOC1_C3: Battery estimator coefficient3 -## WINCH_RC_FUNC: Winch Rate Control RC function +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## PLND_ALT_CUTOFF: Precland altitude cutoff -RCn_OPTION number to use to control winch rate +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +- Range: 0 20 -## PREV_ENABLE: parameter reversion enable +- Units: m -Enable parameter reversion system +## DIST_CUTOFF: Precland distance cutoff -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +The distance from target beyond which the target is ignored -## PREV_RC_FUNC: param reversion RC function +- Range: 0 100 -RCn_OPTION number to used to trigger parameter reversion +- Units: m ## SHIP_ENABLE: Ship landing enable @@ -1802,41 +1837,6 @@ Settings this parameter to one triggers an automatic follow offset calculation b |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 - -- 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| - ## AEROM_ANG_ACCEL: Angular acceleration limit Maximum angular acceleration in maneuvers @@ -2025,56 +2025,73 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## 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| - -## BATT_ANX_INDEX: ANX CAN battery index - -ANX CAN battery index - -- Range: 1 10 - -## BATT_ANX_OPTIONS: ANX CAN battery options +|0|Right side up| +|1|Upside down| -*Note: This parameter is for advanced users* +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver -ANX CAN battery options +Enable Halo6000 EFI driver -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## EFI_SVF_ENABLE: Generator SVFFI enable +## EFI_H6K_CANDRV: Halo6000 CAN driver -Enable SVFFI generator support +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|1|FirstCAN| +|2|SecondCAN| -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## EFI_H6K_START_FN: Halo6000 start auxilliary function -Check for Generator ARM state before arming +The RC auxilliary function number for start/stop of the generator. Zero to disable start function |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres ## ESC_HW_ENABLE: Hobbywing ESC Enable @@ -2241,82 +2258,55 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_INF_ENABLE: EFI INF-Inject enable +## EFI_DLA_ENABLE: EFI DLA enable -Enable EFI INF-Inject driver +Enable EFI DLA driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_H6K_ENABLE: Enable Halo6000 EFI driver +## EFI_DLA_LPS: EFI DLA fuel scale -Enable Halo6000 EFI driver +EFI DLA litres of fuel per second of injection time -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.00001 1 -## EFI_H6K_CANDRV: Halo6000 CAN driver +- Units: litres -Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|FirstCAN| -|2|SecondCAN| +|1|Enabled| -## EFI_H6K_START_FN: Halo6000 start auxilliary function +## BATT_ANX_CANDRV: Set ANX CAN driver -The RC auxilliary function number for start/stop of the generator. Zero to disable start function +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|300|300| -|301|301| -|302|302| -|303|303| -|304|304| -|305|305| -|306|306| -|307|307| - -## EFI_H6K_TELEM_RT: Halo6000 telemetry rate - -The rate that additional generator telemetry is sent - -- Units: Hz +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -## EFI_H6K_FUELTOT: Halo6000 total fuel capacity +## BATT_ANX_INDEX: ANX CAN battery index -The capacity of the tank in litres +ANX CAN battery index -- Units: litres +- Range: 1 10 -## DJIR_DEBUG: DJIRS2 debug +## BATT_ANX_OPTIONS: ANX CAN battery options *Note: This parameter is for advanced users* -Enable DJIRS2 debug - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled with attitude reporting| - -## DJIR_UPSIDEDOWN: DJIRS2 upside down - -DJIRS2 upside down +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Right side up| -|1|Upside down| +- Bitmask: 0:LogAllFrames ## VIEP_DEBUG: ViewPro debug @@ -2387,22 +2377,51 @@ ViewPro Zoom Times Max - Range: 0 30 -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_INF_ENABLE: EFI INF-Inject enable -Enable EFI DLA driver +Enable EFI INF-Inject driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale +## EFI_SVF_ENABLE: Generator SVFFI enable -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -- Range: 0.00001 1 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Units: litres +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2464,25 +2483,6 @@ 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 diff --git a/Copter-4.5/ParametersLatex.rst b/Copter-4.5/ParametersLatex.rst index c753278..185d430 100644 --- a/Copter-4.5/ParametersLatex.rst +++ b/Copter-4.5/ParametersLatex.rst @@ -2756,914 +2756,926 @@ Lua Script Parameters --------------------- -.. _BATT_SOC_COUNT: +.. _WEB_ENABLE: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +enable web server -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_IDX: +.. _WEB_BIND_PORT: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +web server TCP port -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _BATT_SOC1_NCELL: +.. _WEB_DEBUG: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator cell count +web server debugging -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_C1: +.. _WEB_BLOCK_SIZE: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download +------------+ | Range | +============+ -| 100 to 200 | +| 1 to 65535 | +------------+ -.. _BATT_SOC1_C2: +.. _WEB_TIMEOUT: -BATT\_SOC1\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient2 +timeout for inactive connections -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _BATT_SOC1_C3: +.. _WEB_SENDFILE_MIN: -BATT\_SOC1\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient3 +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 | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _BATT_SOC2_IDX: +.. _ESRC_EXTN_THRESH: -BATT\_SOC2\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +ExternalNav may be used if innovations are below this threshold +--------+ | Range | +========+ -| 0 to 4 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_NCELL: - -BATT\_SOC2\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator cell count - - -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ - - - - -.. _BATT_SOC2_C1: +.. _ESRC_EXTN_QUAL: -BATT\_SOC2\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC2_C2: +.. _ESRC_FLOW_THRESH: -BATT\_SOC2\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +OpticalFlow may be used if innovations are below this threshold +--------+ | Range | +========+ -| 2 to 5 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_C3: - -BATT\_SOC2\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator coefficient3 - - -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ - - - - -.. _BATT_SOC3_IDX: +.. _ESRC_FLOW_QUAL: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +OpticalFlow may be used if quality is above this threshold -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC3_NCELL: +.. _ESRC_RNGFND_MAX: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _BATT_SOC3_C1: +.. _WINCH_RATE_UP: -BATT\_SOC3\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Maximum rate when retracting line +------------+ | Range | +============+ -| 100 to 200 | +| 0.1 to 5.0 | +------------+ -.. _BATT_SOC3_C2: +.. _WINCH_RATE_DN: -BATT\_SOC3\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Maximum rate when releasing line -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _BATT_SOC3_C3: +.. _WINCH_RC_FUNC: -BATT\_SOC3\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +RCn\_OPTION number to use to control winch rate -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _BATT_SOC4_IDX: +.. _RTUN_ENABLE: -BATT\_SOC4\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Enable quicktune system -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC4_NCELL: +.. _RTUN_AXES: -BATT\_SOC4\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +axes to tune -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ -.. _BATT_SOC4_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC4\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Ratio between measured response and FF gain\. Raise this to get a higher FF gain -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC4_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC4\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _BATT_SOC4_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_ENABLE: +.. _RTUN_SPD_FFRATIO: -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _QUIK_AXES: +.. _RTUN_SPD_P_RATIO: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_DOUBLE_TIME: +.. _RTUN_SPD_I_RATIO: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Time to double a tuning parameter\. Raise this for a slower tune\. +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_GAIN_MARGIN: +.. _RTUN_AUTO_FILTER: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_OSC_SMAX: +.. _RTUN_AUTO_SAVE: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ -| Range | +| Units | +=========+ -| 1 to 10 | +| seconds | +---------+ -.. _QUIK_YAW_P_MAX: +.. _RTUN_RC_FUNC: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw P gain +RCn\_OPTION number to use to control tuning stop\/start\/save -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_YAW_D_MAX: +.. _POI_DIST_MAX: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +POI\_DIST\_MAX: Mount POI distance max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 0.001 to 1 | +| 0 to 10000 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _DR_ENABLE: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Deadreckoning Enable -+------------+ -| Range | -+============+ -| 0.5 to 1.0 | -+------------+ - - - - -.. _QUIK_Y_PI_RATIO: - -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for yaw\. Raise this to get a lower I gain - - -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_AUTO_FILTER: +.. _DR_ENABLE_DIST: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Distance from home \(in meters\) beyond which the dead reckoning will be enabled -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Units | ++========+ +| meters | ++--------+ -.. _QUIK_AUTO_SAVE: +.. _DR_GPS_SACC_MAX: -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +---------+ -| Units | +| Range | +=========+ -| seconds | +| 0 to 10 | +---------+ -.. _QUIK_RC_FUNC: +.. _DR_GPS_SAT_MIN: -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count -.. _QUIK_MAX_REDUCE: ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -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\. +.. _DR_GPS_TRIGG_SEC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +GPS checks must fail for this many seconds before dead reckoning will be triggered -.. _QUIK_OPTIONS: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -QUIK\_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\. +.. _DR_FLY_ANGLE: -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +lean angle \(in degrees\) during deadreckoning -.. _ESRC_EXTN_THRESH: ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +.. _DR_FLY_ALT_MIN: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning -.. _ESRC_EXTN_QUAL: ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +.. _DR_FLY_TIMEOUT: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout -.. _ESRC_FLOW_THRESH: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +.. _DR_NEXT_MODE: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +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 -.. _ESRC_FLOW_QUAL: ++-------+--------------+ +| 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 | ++-------+--------------+ -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +.. _PREV_ENABLE: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable parameter reversion system -.. _ESRC_RNGFND_MAX: ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +.. _PREV_RC_FUNC: -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _PLND_ALT_CUTOFF: +.. _QUIK_ENABLE: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Enable quicktune system -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _QUIK_AXES: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +axes to tune -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _POI_DIST_MAX: +.. _QUIK_DOUBLE_TIME: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Time to double a tuning parameter\. Raise this for a slower tune\. -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _DR_ENABLE: +.. _QUIK_GAIN_MARGIN: -DR\_ENABLE: Deadreckoning Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Deadreckoning Enable +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _DR_ENABLE_DIST: +.. _QUIK_OSC_SMAX: -DR\_ENABLE\_DIST: Deadreckoning Enable Distance -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Distance from home \(in meters\) beyond which the dead reckoning will be enabled +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+--------+ -| Units | -+========+ -| meters | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DR_GPS_SACC_MAX: +.. _QUIK_YAW_P_MAX: -DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +Maximum value for yaw P gain -+---------+ -| Range | -+=========+ -| 0 to 10 | -+---------+ ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ -.. _DR_GPS_SAT_MIN: +.. _QUIK_YAW_D_MAX: -DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count +Maximum value for yaw D gain -+---------+ -| Range | -+=========+ -| 0 to 30 | -+---------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _DR_GPS_TRIGG_SEC: +.. _QUIK_RP_PI_RATIO: -DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS checks must fail for this many seconds before dead reckoning will be triggered +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _DR_FLY_ANGLE: +.. _QUIK_Y_PI_RATIO: -DR\_FLY\_ANGLE: Deadreckoning Lean Angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -lean angle \(in degrees\) during deadreckoning +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 45 | degrees | -+---------+---------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _DR_FLY_ALT_MIN: +.. _QUIK_AUTO_FILTER: -DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will fly at at least this altitude \(in meters\) above home during deadreckoning +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+-----------+--------+ -| Range | Units | -+===========+========+ -| 0 to 1000 | meters | -+-----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DR_FLY_TIMEOUT: +.. _QUIK_AUTO_SAVE: -DR\_FLY\_TIMEOUT: Deadreckoning flight timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ @@ -3675,53 +3687,58 @@ Copter will attempt to switch to NEXT\_MODE after this many seconds of deadrecko -.. _DR_NEXT_MODE: +.. _QUIK_RC_FUNC: -DR\_NEXT\_MODE: Deadreckoning Next Mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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 +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 | -+-------+--------------+ +.. _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\. ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _RTUN_ENABLE: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _QUIK_OPTIONS: -Enable quicktune system +QUIK\_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 | ++-----+----------------------+ + + + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -3735,520 +3752,485 @@ Enable quicktune system -.. _RTUN_AXES: +.. _RCK_PERIOD: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +When in High Latency mode\, send Rockblock updates every N seconds -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ -.. _RTUN_STR_FFRATIO: +.. _RCK_DEBUG: -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and FF gain\. Raise this to get a higher FF gain +Sends Rockblock debug text to GCS via statustexts -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_P_RATIO: +.. _RCK_ENABLE: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Enables the Rockblock sending and recieving -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_I_RATIO: +.. _BATT_SOC_COUNT: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Number of battery SOC estimators -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_FFRATIO: +.. _BATT_SOC1_IDX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Battery estimator index -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_P_RATIO: +.. _BATT_SOC1_NCELL: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Battery estimator cell count -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _RTUN_SPD_I_RATIO: +.. _BATT_SOC1_C1: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Battery estimator coefficient1 -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _BATT_SOC1_C2: -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _RTUN_AUTO_SAVE: +.. _BATT_SOC1_C3: -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +Battery estimator coefficient3 -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RTUN_RC_FUNC: +.. _BATT_SOC2_IDX: -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +Battery estimator index -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_ENABLE: +.. _BATT_SOC2_NCELL: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +Battery estimator cell count -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WEB_BIND_PORT: +.. _BATT_SOC2_C1: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +Battery estimator coefficient1 +------------+ | Range | +============+ -| 1 to 65535 | +| 100 to 200 | +------------+ -.. _WEB_DEBUG: +.. _BATT_SOC2_C2: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WEB_BLOCK_SIZE: +.. _BATT_SOC2_C3: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +Battery estimator coefficient3 -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _WEB_TIMEOUT: +.. _BATT_SOC3_IDX: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Battery estimator index -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_SENDFILE_MIN: +.. _BATT_SOC3_NCELL: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +Battery estimator cell count -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WINCH_RATE_UP: +.. _BATT_SOC3_C1: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +Battery estimator coefficient1 +------------+ | Range | +============+ -| 0.1 to 5.0 | +| 100 to 200 | +------------+ -.. _WINCH_RATE_DN: +.. _BATT_SOC3_C2: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +Battery estimator coefficient2 -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WINCH_RC_FUNC: +.. _BATT_SOC3_C3: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +Battery estimator coefficient3 -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _PREV_ENABLE: +.. _BATT_SOC4_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable parameter reversion system +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _PREV_RC_FUNC: +.. _BATT_SOC4_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _SHIP_ENABLE: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +.. _BATT_SOC4_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _SHIP_LAND_ANGLE: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -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\. +.. _BATT_SOC4_C2: -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _SHIP_AUTO_OFS: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -SHIP\_AUTO\_OFS: Ship automatic offset trigger + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +Battery estimator coefficient3 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RCK_FORCEHL: +.. _PLND_ALT_CUTOFF: -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _RCK_PERIOD: +.. _DIST_CUTOFF: -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +The distance from target beyond which the target is ignored -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _RCK_DEBUG: +.. _SHIP_ENABLE: -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +Enable ship landing system +-------+----------+ @@ -4262,13 +4244,31 @@ Sends Rockblock debug text to GCS via statustexts -.. _RCK_ENABLE: +.. _SHIP_LAND_ANGLE: -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +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 | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +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\. +-------+----------+ @@ -4276,7 +4276,7 @@ Enables the Rockblock sending and recieving +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ @@ -4835,92 +4835,98 @@ Number of tricks which can be selected over the range of the trik selection RC c -.. _BATT_ANX_ENABLE: +.. _DJIR_DEBUG: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable ANX battery support +Enable DJIRS2 debug -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _BATT_ANX_CANDRV: +.. _DJIR_UPSIDEDOWN: -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 | -+-------+--------------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _BATT_ANX_INDEX: +.. _EFI_H6K_ENABLE: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Enable Halo6000 EFI driver -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_H6K_CANDRV: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SVF_ENABLE: +.. _EFI_H6K_START_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -4928,28 +4934,58 @@ Enable SVFFI generator support +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SVF_ARMCHECK: +.. _EFI_H6K_TELEM_RT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +The rate that additional generator telemetry is sent -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ @@ -5315,33 +5351,13 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_INF_ENABLE: - -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI INF\-Inject driver - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_H6K_ENABLE: +.. _EFI_DLA_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Halo6000 EFI driver +Enable EFI DLA driver +-------+----------+ @@ -5355,35 +5371,31 @@ Enable Halo6000 EFI driver -.. _EFI_H6K_CANDRV: - -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - +.. _EFI_DLA_LPS: -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +EFI DLA litres of fuel per second of injection time ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _BATT_ANX_ENABLE: -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support +-------+----------+ @@ -5391,101 +5403,67 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis +=======+==========+ | 0 | Disabled | +-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | +| 1 | Enabled | +-------+----------+ -.. _EFI_H6K_TELEM_RT: +.. _BATT_ANX_CANDRV: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +Set ANX CAN driver -+-------+ -| Units | -+=======+ -| hertz | -+-------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _EFI_H6K_FUELTOT: +.. _BATT_ANX_INDEX: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The capacity of the tank in litres +ANX CAN battery index -+--------+ -| Units | -+========+ -| litres | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DJIR_DEBUG: +.. _BATT_ANX_OPTIONS: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +ANX CAN battery options -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -5645,13 +5623,13 @@ ViewPro Zoom Times Max -.. _EFI_DLA_ENABLE: +.. _EFI_INF_ENABLE: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver +Enable EFI INF\-Inject driver +-------+----------+ @@ -5665,22 +5643,91 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ENABLE: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| 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 | ++-------+----------+ + + + + +.. _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 .. _TOFSENSE_PRX: @@ -5849,53 +5896,6 @@ 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_: diff --git a/Copter-4.5/apm.pdef.xml b/Copter-4.5/apm.pdef.xml index 0434e9f..a115f2a 100644 --- a/Copter-4.5/apm.pdef.xml +++ b/Copter-4.5/apm.pdef.xml @@ -830,122 +830,31 @@ - - 0 4 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 - - - 0.5 1.0 - - - 0.5 20 + + 1 65535 - + Disabled Enabled - + + 1 65535 + + s seconds + 0.1 60 - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch + + 0 10000000 0 1 @@ -968,15 +877,72 @@ m meters - - 0 20 - m - meters + + 0.1 5.0 - - 0 100 - m - meters + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + 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 10000 @@ -1031,107 +997,164 @@ Auto RTL - + Disabled Enabled - - 0:Steering,1:Speed + + + + + Disabled + Enabled + - - 0 1.0 + + 0:Roll,1:Pitch,2:Yaw - - 0 2.0 + + 5 20 + s + seconds - - 0 2.0 + + 20 80 + % + percent - - 0 1.0 + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + + + Disabled + Enabled + + + + s + seconds + + + + + % + percent + 0 100 + + + 0:UseTwoPositionSwitch + + + + Disabled + Enabled + + + + 0 600 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0 4 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 - - 0 2.0 + + 100 200 - - 0 2.0 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - s - seconds + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 - - - Disabled - Enabled - + + 100 200 - - 1 65535 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - 1 65535 + + 0 4 - - s - seconds - 0.1 60 + + 0 48 - - 0 10000000 + + 100 200 - - 0.1 5.0 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 20 + m + meters - - - Disabled - Enabled - + + 0 100 + m + meters - - Disabled @@ -1149,29 +1172,6 @@ Trigger - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - deg/s/s degrees per square second @@ -1289,37 +1289,53 @@ 1 11 - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 - - - 0:LogAllFrames - - + Disabled Enabled - + Disabled - Enabled + FirstCAN + SecondCAN + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + Hz + hertz + + + litres + litres + Disabled @@ -1424,59 +1440,36 @@ s seconds - - - Disabled - Enabled - - - + Disabled Enabled - - - Disabled - FirstCAN - SecondCAN - - - - - Disabled - 300 - 301 - 302 - 303 - 304 - 305 - 306 - 307 - - - - Hz - hertz - - + + 0.00001 1 litres litres - + Disabled Enabled - Enabled with attitude reporting - + - Right side up - Upside down + None + 1stCANDriver + 2ndCanDriver + + 1 10 + + + 0:LogAllFrames + Disabled @@ -1526,17 +1519,35 @@ 0 30 - + Disabled Enabled - - 0.00001 1 - litres - litres + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Set as Rangefinder + Set as Proximity sensor + + + 1 4 + + + Set as Rangefinder @@ -1570,17 +1581,6 @@ 1 255 - - - Set as Rangefinder - Set as Proximity sensor - - - - 1 4 - - - diff --git a/Plane-4.5/Parameters.html b/Plane-4.5/Parameters.html index a9a2cf3..e980b46 100644 --- a/Plane-4.5/Parameters.html +++ b/Plane-4.5/Parameters.html @@ -1319,456 +1319,510 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Count of SOC estimators (BATT_SOC_COUNT)

+

enable web server (WEB_ENABLE)

-

Number of battery SOC estimators

+

enable web server

-

Battery estimator index (BATT_SOC1_IDX)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator index

+

web server TCP port

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator cell count

+

web server debugging

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server block size for download

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

timeout for inactive connections

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC2_IDX)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

Battery estimator index

+

ExternalNav may be used if innovations are below this threshold

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Battery estimator cell count

+

ExternalNav may be used if quality is above this threshold

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Battery estimator coefficient1

+

OpticalFlow may be used if innovations are below this threshold

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

Battery estimator coefficient2

+

OpticalFlow may be used if quality is above this threshold

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Battery estimator coefficient3

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Battery estimator index (BATT_SOC3_IDX)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

Battery estimator index

+

Maximum rate when retracting line

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Battery estimator cell count

+

Maximum rate when releasing line

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

Battery estimator coefficient1

+

RCn_OPTION number to use to control winch rate

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator coefficient2

+

Enable quicktune system

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient3

+

axes to tune

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Enable quicktune system

+

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

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

axes to tune

+

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

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

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

+

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

-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Mount POI distance max (POI_DIST_MAX)

-

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

+

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

-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning Enable (DR_ENABLE)

-

Maximum value for yaw P gain

+

Deadreckoning Enable

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

Maximum value for yaw D gain

+

Distance from home (in meters) beyond which the dead reckoning will be enabled

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

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

+

GPS checks must fail for this many seconds before dead reckoning will be triggered

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

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

+

lean angle (in degrees) during deadreckoning

-

Quicktune RC function (QUIK_RC_FUNC)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

Copter will fly at at least this altitude (in meters) above home during deadreckoning

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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.

+

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

-

Quicktune options (QUIK_OPTIONS)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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.

+

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

- + + + + + + + + + + + + + +
ValueMeaning
2AltHold
3Auto
4Guided
5Loiter
6RTL
7Circle
9Land
16PosHold
17Brake
20Guided_NoGPS
21Smart_RTL
27Auto RTL
+ -

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

ExternalNav may be used if innovations are below this threshold

+

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

param reversion RC function (PREV_RC_FUNC)

-

ExternalNav may be used if quality is above this threshold

+

RCn_OPTION number to used to trigger parameter reversion

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

Quicktune enable (QUIK_ENABLE)

-

OpticalFlow may be used if innovations are below this threshold

+

Enable quicktune system

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Quicktune axes (QUIK_AXES)

-

OpticalFlow may be used if quality is above this threshold

+

axes to tune

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Quicktune doubling time (QUIK_DOUBLE_TIME)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

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

-

Precland altitude cutoff (PLND_ALT_CUTOFF)

+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

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

+

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

The distance from target beyond which the target is ignored

+

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

-

Mount POI distance max (POI_DIST_MAX)

+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

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

+

Maximum value for yaw P gain

-

Deadreckoning Enable (DR_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Deadreckoning Enable

+

Maximum value for yaw D gain

-

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

Distance from home (in meters) beyond which the dead reckoning will be enabled

+

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

-

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+

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

-

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+

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

-

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+

Quicktune auto save (QUIK_AUTO_SAVE)

-

GPS checks must fail for this many seconds before dead reckoning will be triggered

+

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

-

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+

Quicktune RC function (QUIK_RC_FUNC)

-

lean angle (in degrees) during deadreckoning

+

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

-

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+

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.

-

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+

Quicktune options (QUIK_OPTIONS)

-

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+

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.

+ + +

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

+ -

Deadreckoning Next Mode (DR_NEXT_MODE)

+

Display Rockblock debugging text (RCK_DEBUG)

-

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

+

Sends Rockblock debug text to GCS via statustexts

-

Rover Quicktune enable (RTUN_ENABLE)

+

Enable Message transmission (RCK_ENABLE)

-

Enable quicktune system

+

Enables the Rockblock sending and recieving

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune RC function (RTUN_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

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

+

Battery estimator coefficient2

-

enable web server (WEB_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

enable web server

+

Battery estimator coefficient3

-

web server TCP port (WEB_BIND_PORT)

+

Battery estimator index (BATT_SOC3_IDX)

-

web server TCP port

+

Battery estimator index

-

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+

Battery estimator cell count (BATT_SOC3_NCELL)

-

web server debugging

+

Battery estimator cell count

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

web server block size for download

+

Battery estimator coefficient1

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

timeout for inactive connections

+

Battery estimator coefficient2

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

WinchControl Rate Up (WINCH_RATE_UP)

+

Battery estimator index (BATT_SOC4_IDX)

-

Maximum rate when retracting line

+

Battery estimator index

-

WinchControl Rate Down (WINCH_RATE_DN)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

Maximum rate when releasing line

+

Battery estimator cell count

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

Battery estimator coefficient1 (BATT_SOC4_C1)

-

RCn_OPTION number to use to control winch rate

+

Battery estimator coefficient1

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC4_C2)

-

Enable parameter reversion system

+

Battery estimator coefficient2

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient3

+ + + +

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

@@ -2006,48 +2048,6 @@

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

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

- - -

Angular acceleration limit (AEROM_ANG_ACCEL)

Maximum angular acceleration in maneuvers

@@ -2307,64 +2307,83 @@

Trik Count (TRIK_COUNT)

-

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)

+

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

-

ANX CAN battery index

+

Enable Halo6000 EFI driver

-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

Halo6000 CAN driver (EFI_H6K_CANDRV)

-

ANX CAN battery options

+

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

-

Generator SVFFI enable (EFI_SVF_ENABLE)

+

Halo6000 start auxilliary function (EFI_H6K_START_FN)

-

Enable SVFFI generator support

+

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

-

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

-

Check for Generator ARM state before arming

+

The rate that additional generator telemetry is sent

+ + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ @@ -2552,9 +2571,9 @@

SkyPower EFI restart time (EFI_SP_RST_TIME)

-

EFI INF-Inject enable (EFI_INF_ENABLE)

+

EFI DLA enable (EFI_DLA_ENABLE)

-

Enable EFI INF-Inject driver

+

Enable EFI DLA driver

-

Halo6000 CAN driver (EFI_H6K_CANDRV)

+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+

Enable ANX battery support

-

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+

Set ANX CAN driver

-

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

- -

The rate that additional generator telemetry is sent

- - - -

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

- -

The capacity of the tank in litres

- - - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

ANX CAN battery index (BATT_ANX_INDEX)

-

Enable DJIRS2 debug

+

ANX CAN battery index

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

DJIRS2 upside down

+

ANX CAN battery options

@@ -2722,9 +2709,9 @@

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

-

EFI DLA enable (EFI_DLA_ENABLE)

+

EFI INF-Inject enable (EFI_INF_ENABLE)

-

Enable EFI DLA driver

+

Enable EFI INF-Inject driver

+ + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

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

@@ -2820,32 +2846,6 @@

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

diff --git a/Plane-4.5/Parameters.md b/Plane-4.5/Parameters.md index 246416e..d9407f9 100644 --- a/Plane-4.5/Parameters.md +++ b/Plane-4.5/Parameters.md @@ -1290,133 +1290,122 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## BATT_SOC_COUNT: Count of SOC estimators - -Number of battery SOC estimators - -- Range: 0 4 - -## BATT_SOC1_IDX: Battery estimator index - -Battery estimator index - -- Range: 0 4 - -## BATT_SOC1_NCELL: Battery estimator cell count - -Battery estimator cell count - -- Range: 0 48 - -## BATT_SOC1_C1: Battery estimator coefficient1 - -Battery estimator coefficient1 - -- Range: 100 200 - -## BATT_SOC1_C2: Battery estimator coefficient2 - -Battery estimator coefficient2 +## WEB_ENABLE: enable web server -- Range: 2 5 +enable web server -## BATT_SOC1_C3: Battery estimator coefficient3 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Battery estimator coefficient3 +## WEB_BIND_PORT: web server TCP port -- Range: 0.01 0.5 +web server TCP port -## BATT_SOC2_IDX: Battery estimator index +- Range: 1 65535 -Battery estimator index +## WEB_DEBUG: web server debugging -- Range: 0 4 +*Note: This parameter is for advanced users* -## BATT_SOC2_NCELL: Battery estimator cell count +web server debugging -Battery estimator cell count +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 0 48 +## WEB_BLOCK_SIZE: web server block size -## BATT_SOC2_C1: Battery estimator coefficient1 +*Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download -- Range: 100 200 +- Range: 1 65535 -## BATT_SOC2_C2: Battery estimator coefficient2 +## WEB_TIMEOUT: web server timeout -Battery estimator coefficient2 +*Note: This parameter is for advanced users* -- Range: 2 5 +timeout for inactive connections -## BATT_SOC2_C3: Battery estimator coefficient3 +- Units: s -Battery estimator coefficient3 +- Range: 0.1 60 -- Range: 0.01 0.5 +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## BATT_SOC3_IDX: Battery estimator index +*Note: This parameter is for advanced users* -Battery estimator index +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 4 +- Range: 0 10000000 -## BATT_SOC3_NCELL: Battery estimator cell count +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -Battery estimator cell count +ExternalNav may be used if innovations are below this threshold -- Range: 0 48 +- Range: 0 1 -## BATT_SOC3_C1: Battery estimator coefficient1 +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -- Range: 100 200 +- Range: 0 100 -## BATT_SOC3_C2: Battery estimator coefficient2 +- Units: % -Battery estimator coefficient2 +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold -- Range: 2 5 +OpticalFlow may be used if innovations are below this threshold -## BATT_SOC3_C3: Battery estimator coefficient3 +- Range: 0 1 -Battery estimator coefficient3 +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold -- Range: 0.01 0.5 +OpticalFlow may be used if quality is above this threshold -## BATT_SOC4_IDX: Battery estimator index +- Range: 0 100 -Battery estimator index +- Units: % -- Range: 0 4 +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max -## BATT_SOC4_NCELL: Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -Battery estimator cell count +- Range: 0 50 -- Range: 0 48 +- Units: m -## BATT_SOC4_C1: Battery estimator coefficient1 +## WINCH_RATE_UP: WinchControl Rate Up -Battery estimator coefficient1 +Maximum rate when retracting line -- Range: 100 200 +- Range: 0.1 5.0 -## BATT_SOC4_C2: Battery estimator coefficient2 +## WINCH_RATE_DN: WinchControl Rate Down -Battery estimator coefficient2 +Maximum rate when releasing line -- Range: 2 5 +- Range: 0.1 5.0 -## BATT_SOC4_C3: Battery estimator coefficient3 +## WINCH_RC_FUNC: Winch Rate Control RC function -Battery estimator coefficient3 +RCn_OPTION number to use to control winch rate -- Range: 0.01 0.5 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -1425,59 +1414,49 @@ 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 - -## QUIK_DOUBLE_TIME: Quicktune doubling time - -Time to double a tuning parameter. Raise this for a slower tune. - -- Range: 5 20 - -- Units: s - -## QUIK_GAIN_MARGIN: Quicktune gain margin +- Bitmask: 0:Steering,1:Speed -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -- Range: 20 80 +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Units: % +- Range: 0 1.0 -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -Threshold for oscillation detection. A lower value will lead to 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: 1 10 +- Range: 0 2.0 -## QUIK_YAW_P_MAX: Quicktune Yaw P max +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -Maximum value for yaw P gain +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -- Range: 0.1 3 +- Range: 0 2.0 -## QUIK_YAW_D_MAX: Quicktune Yaw D max +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -Maximum value for yaw D gain +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -- Range: 0.001 1 +- Range: 0 1.0 -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -- Range: 0.5 1.0 +- Range: 0 2.0 -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -Ratio between P and I gains for yaw. 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 20 +- Range: 0 2.0 -## QUIK_AUTO_FILTER: Quicktune auto filter enable +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -1486,81 +1465,26 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune 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: s -## QUIK_RC_FUNC: Quicktune RC function +## RTUN_RC_FUNC: Rover Quicktune RC function RCn_OPTION number to use to control tuning stop/start/save -## 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. - -- Units: % - -- Range: 0 100 - -## QUIK_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 - -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold - -ExternalNav may be used if innovations are below this threshold - -- Range: 0 1 - -## 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 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| ## POI_DIST_MAX: Mount POI distance max @@ -1642,7 +1566,20 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## RTUN_ENABLE: Rover Quicktune enable +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## QUIK_ENABLE: Quicktune enable Enable quicktune system @@ -1651,49 +1588,59 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## RTUN_AXES: Rover Quicktune axes +## QUIK_AXES: Quicktune axes axes to tune -- Bitmask: 0:Steering,1:Speed +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +## QUIK_DOUBLE_TIME: Quicktune doubling time -Ratio between measured response and FF gain. Raise this to get a higher FF gain +Time to double a tuning parameter. Raise this for a slower tune. -- Range: 0 1.0 +- Range: 5 20 -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio +- Units: s -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged +## QUIK_GAIN_MARGIN: Quicktune gain margin -- Range: 0 2.0 +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio +- Range: 20 80 -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged +- Units: % -- Range: 0 2.0 +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value +- Range: 1 10 -- Range: 0 1.0 +## QUIK_YAW_P_MAX: Quicktune Yaw P max -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio +Maximum value for yaw P gain -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged +- Range: 0.1 3 -- Range: 0 2.0 +## QUIK_YAW_D_MAX: Quicktune Yaw D max -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio +Maximum value for yaw D gain -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged +- Range: 0.001 1 -- Range: 0 2.0 +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -1702,118 +1649,206 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## RTUN_AUTO_SAVE: Rover Quicktune 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: s -## RTUN_RC_FUNC: Rover Quicktune RC function +## QUIK_RC_FUNC: 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| +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -## WEB_ENABLE: enable web server +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. -enable web server +- Units: % + +- Range: 0 100 + +## QUIK_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 + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## RCK_PERIOD: Update rate -web server TCP port +When in High Latency mode, send Rockblock updates every N seconds -- Range: 1 65535 +- Range: 0 600 -## WEB_DEBUG: web server debugging +- Units: s -*Note: This parameter is for advanced users* +## RCK_DEBUG: Display Rockblock debugging text -web server debugging +Sends Rockblock debug text to GCS via statustexts |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BLOCK_SIZE: web server block size +## RCK_ENABLE: Enable Message transmission -*Note: This parameter is for advanced users* +Enables the Rockblock sending and recieving -web server block size for download +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 1 65535 +## BATT_SOC_COUNT: Count of SOC estimators -## WEB_TIMEOUT: web server timeout +Number of battery SOC estimators -*Note: This parameter is for advanced users* +- Range: 0 4 -timeout for inactive connections +## BATT_SOC1_IDX: Battery estimator index -- Units: s +Battery estimator index -- Range: 0.1 60 +- Range: 0 4 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +## BATT_SOC1_NCELL: Battery estimator cell count -*Note: This parameter is for advanced users* +Battery estimator cell count -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 48 -- Range: 0 10000000 +## BATT_SOC1_C1: Battery estimator coefficient1 -## WINCH_RATE_UP: WinchControl Rate Up +Battery estimator coefficient1 -Maximum rate when retracting line +- Range: 100 200 -- Range: 0.1 5.0 +## BATT_SOC1_C2: Battery estimator coefficient2 -## WINCH_RATE_DN: WinchControl Rate Down +Battery estimator coefficient2 -Maximum rate when releasing line +- Range: 2 5 -- Range: 0.1 5.0 +## BATT_SOC1_C3: Battery estimator coefficient3 -## WINCH_RC_FUNC: Winch Rate Control RC function +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## PLND_ALT_CUTOFF: Precland altitude cutoff -RCn_OPTION number to use to control winch rate +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +- Range: 0 20 -## PREV_ENABLE: parameter reversion enable +- Units: m -Enable parameter reversion system +## DIST_CUTOFF: Precland distance cutoff -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +The distance from target beyond which the target is ignored -## PREV_RC_FUNC: param reversion RC function +- Range: 0 100 -RCn_OPTION number to used to trigger parameter reversion +- Units: m ## SHIP_ENABLE: Ship landing enable @@ -1841,41 +1876,6 @@ Settings this parameter to one triggers an automatic follow offset calculation b |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 - -- 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| - ## AEROM_ANG_ACCEL: Angular acceleration limit Maximum angular acceleration in maneuvers @@ -2064,56 +2064,73 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## 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| - -## BATT_ANX_INDEX: ANX CAN battery index - -ANX CAN battery index - -- Range: 1 10 - -## BATT_ANX_OPTIONS: ANX CAN battery options +|0|Right side up| +|1|Upside down| -*Note: This parameter is for advanced users* +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver -ANX CAN battery options +Enable Halo6000 EFI driver -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## EFI_SVF_ENABLE: Generator SVFFI enable +## EFI_H6K_CANDRV: Halo6000 CAN driver -Enable SVFFI generator support +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|1|FirstCAN| +|2|SecondCAN| -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## EFI_H6K_START_FN: Halo6000 start auxilliary function -Check for Generator ARM state before arming +The RC auxilliary function number for start/stop of the generator. Zero to disable start function |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres ## ESC_HW_ENABLE: Hobbywing ESC Enable @@ -2280,82 +2297,55 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_INF_ENABLE: EFI INF-Inject enable +## EFI_DLA_ENABLE: EFI DLA enable -Enable EFI INF-Inject driver +Enable EFI DLA driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_H6K_ENABLE: Enable Halo6000 EFI driver +## EFI_DLA_LPS: EFI DLA fuel scale -Enable Halo6000 EFI driver +EFI DLA litres of fuel per second of injection time -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.00001 1 -## EFI_H6K_CANDRV: Halo6000 CAN driver +- Units: litres -Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|FirstCAN| -|2|SecondCAN| +|1|Enabled| -## EFI_H6K_START_FN: Halo6000 start auxilliary function +## BATT_ANX_CANDRV: Set ANX CAN driver -The RC auxilliary function number for start/stop of the generator. Zero to disable start function +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|300|300| -|301|301| -|302|302| -|303|303| -|304|304| -|305|305| -|306|306| -|307|307| - -## EFI_H6K_TELEM_RT: Halo6000 telemetry rate - -The rate that additional generator telemetry is sent - -- Units: Hz +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -## EFI_H6K_FUELTOT: Halo6000 total fuel capacity +## BATT_ANX_INDEX: ANX CAN battery index -The capacity of the tank in litres +ANX CAN battery index -- Units: litres +- Range: 1 10 -## DJIR_DEBUG: DJIRS2 debug +## BATT_ANX_OPTIONS: ANX CAN battery options *Note: This parameter is for advanced users* -Enable DJIRS2 debug - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled with attitude reporting| - -## DJIR_UPSIDEDOWN: DJIRS2 upside down - -DJIRS2 upside down +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Right side up| -|1|Upside down| +- Bitmask: 0:LogAllFrames ## VIEP_DEBUG: ViewPro debug @@ -2426,22 +2416,51 @@ ViewPro Zoom Times Max - Range: 0 30 -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_INF_ENABLE: EFI INF-Inject enable -Enable EFI DLA driver +Enable EFI INF-Inject driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale +## EFI_SVF_ENABLE: Generator SVFFI enable -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -- Range: 0.00001 1 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Units: litres +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2503,25 +2522,6 @@ 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 diff --git a/Plane-4.5/ParametersLatex.rst b/Plane-4.5/ParametersLatex.rst index e4a2807..87664c5 100644 --- a/Plane-4.5/ParametersLatex.rst +++ b/Plane-4.5/ParametersLatex.rst @@ -2788,914 +2788,926 @@ Lua Script Parameters --------------------- -.. _BATT_SOC_COUNT: +.. _WEB_ENABLE: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +enable web server -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_IDX: +.. _WEB_BIND_PORT: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +web server TCP port -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _BATT_SOC1_NCELL: +.. _WEB_DEBUG: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator cell count +web server debugging -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_C1: +.. _WEB_BLOCK_SIZE: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download +------------+ | Range | +============+ -| 100 to 200 | +| 1 to 65535 | +------------+ -.. _BATT_SOC1_C2: +.. _WEB_TIMEOUT: -BATT\_SOC1\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient2 +timeout for inactive connections -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _BATT_SOC1_C3: +.. _WEB_SENDFILE_MIN: -BATT\_SOC1\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient3 +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 | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _BATT_SOC2_IDX: +.. _ESRC_EXTN_THRESH: -BATT\_SOC2\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +ExternalNav may be used if innovations are below this threshold +--------+ | Range | +========+ -| 0 to 4 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_NCELL: - -BATT\_SOC2\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator cell count - - -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ - - - - -.. _BATT_SOC2_C1: +.. _ESRC_EXTN_QUAL: -BATT\_SOC2\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC2_C2: +.. _ESRC_FLOW_THRESH: -BATT\_SOC2\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +OpticalFlow may be used if innovations are below this threshold +--------+ | Range | +========+ -| 2 to 5 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_C3: - -BATT\_SOC2\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator coefficient3 - - -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ - - - - -.. _BATT_SOC3_IDX: +.. _ESRC_FLOW_QUAL: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +OpticalFlow may be used if quality is above this threshold -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC3_NCELL: +.. _ESRC_RNGFND_MAX: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _BATT_SOC3_C1: +.. _WINCH_RATE_UP: -BATT\_SOC3\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Maximum rate when retracting line +------------+ | Range | +============+ -| 100 to 200 | +| 0.1 to 5.0 | +------------+ -.. _BATT_SOC3_C2: +.. _WINCH_RATE_DN: -BATT\_SOC3\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Maximum rate when releasing line -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _BATT_SOC3_C3: +.. _WINCH_RC_FUNC: -BATT\_SOC3\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +RCn\_OPTION number to use to control winch rate -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _BATT_SOC4_IDX: +.. _RTUN_ENABLE: -BATT\_SOC4\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Enable quicktune system -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC4_NCELL: +.. _RTUN_AXES: -BATT\_SOC4\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +axes to tune -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ -.. _BATT_SOC4_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC4\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Ratio between measured response and FF gain\. Raise this to get a higher FF gain -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC4_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC4\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _BATT_SOC4_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_ENABLE: +.. _RTUN_SPD_FFRATIO: -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _QUIK_AXES: +.. _RTUN_SPD_P_RATIO: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_DOUBLE_TIME: +.. _RTUN_SPD_I_RATIO: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Time to double a tuning parameter\. Raise this for a slower tune\. +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_GAIN_MARGIN: +.. _RTUN_AUTO_FILTER: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_OSC_SMAX: +.. _RTUN_AUTO_SAVE: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ -| Range | +| Units | +=========+ -| 1 to 10 | +| seconds | +---------+ -.. _QUIK_YAW_P_MAX: +.. _RTUN_RC_FUNC: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw P gain +RCn\_OPTION number to use to control tuning stop\/start\/save -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_YAW_D_MAX: +.. _POI_DIST_MAX: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +POI\_DIST\_MAX: Mount POI distance max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 0.001 to 1 | +| 0 to 10000 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _DR_ENABLE: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Deadreckoning Enable -+------------+ -| Range | -+============+ -| 0.5 to 1.0 | -+------------+ - - - - -.. _QUIK_Y_PI_RATIO: - -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for yaw\. Raise this to get a lower I gain - - -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_AUTO_FILTER: +.. _DR_ENABLE_DIST: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Distance from home \(in meters\) beyond which the dead reckoning will be enabled -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Units | ++========+ +| meters | ++--------+ -.. _QUIK_AUTO_SAVE: +.. _DR_GPS_SACC_MAX: -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +---------+ -| Units | +| Range | +=========+ -| seconds | +| 0 to 10 | +---------+ -.. _QUIK_RC_FUNC: +.. _DR_GPS_SAT_MIN: -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count -.. _QUIK_MAX_REDUCE: ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -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\. +.. _DR_GPS_TRIGG_SEC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +GPS checks must fail for this many seconds before dead reckoning will be triggered -.. _QUIK_OPTIONS: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -QUIK\_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\. +.. _DR_FLY_ANGLE: -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +lean angle \(in degrees\) during deadreckoning -.. _ESRC_EXTN_THRESH: ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +.. _DR_FLY_ALT_MIN: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning -.. _ESRC_EXTN_QUAL: ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +.. _DR_FLY_TIMEOUT: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout -.. _ESRC_FLOW_THRESH: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +.. _DR_NEXT_MODE: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +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 -.. _ESRC_FLOW_QUAL: ++-------+--------------+ +| 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 | ++-------+--------------+ -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +.. _PREV_ENABLE: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable parameter reversion system -.. _ESRC_RNGFND_MAX: ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +.. _PREV_RC_FUNC: -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _PLND_ALT_CUTOFF: +.. _QUIK_ENABLE: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Enable quicktune system -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _QUIK_AXES: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +axes to tune -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _POI_DIST_MAX: +.. _QUIK_DOUBLE_TIME: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Time to double a tuning parameter\. Raise this for a slower tune\. -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _DR_ENABLE: +.. _QUIK_GAIN_MARGIN: -DR\_ENABLE: Deadreckoning Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Deadreckoning Enable +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _DR_ENABLE_DIST: +.. _QUIK_OSC_SMAX: -DR\_ENABLE\_DIST: Deadreckoning Enable Distance -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Distance from home \(in meters\) beyond which the dead reckoning will be enabled +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+--------+ -| Units | -+========+ -| meters | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DR_GPS_SACC_MAX: +.. _QUIK_YAW_P_MAX: -DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +Maximum value for yaw P gain -+---------+ -| Range | -+=========+ -| 0 to 10 | -+---------+ ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ -.. _DR_GPS_SAT_MIN: +.. _QUIK_YAW_D_MAX: -DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count +Maximum value for yaw D gain -+---------+ -| Range | -+=========+ -| 0 to 30 | -+---------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _DR_GPS_TRIGG_SEC: +.. _QUIK_RP_PI_RATIO: -DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS checks must fail for this many seconds before dead reckoning will be triggered +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _DR_FLY_ANGLE: +.. _QUIK_Y_PI_RATIO: -DR\_FLY\_ANGLE: Deadreckoning Lean Angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -lean angle \(in degrees\) during deadreckoning +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 45 | degrees | -+---------+---------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _DR_FLY_ALT_MIN: +.. _QUIK_AUTO_FILTER: -DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will fly at at least this altitude \(in meters\) above home during deadreckoning +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+-----------+--------+ -| Range | Units | -+===========+========+ -| 0 to 1000 | meters | -+-----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DR_FLY_TIMEOUT: +.. _QUIK_AUTO_SAVE: -DR\_FLY\_TIMEOUT: Deadreckoning flight timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ @@ -3707,53 +3719,58 @@ Copter will attempt to switch to NEXT\_MODE after this many seconds of deadrecko -.. _DR_NEXT_MODE: +.. _QUIK_RC_FUNC: -DR\_NEXT\_MODE: Deadreckoning Next Mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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 +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 | -+-------+--------------+ +.. _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\. ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _RTUN_ENABLE: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _QUIK_OPTIONS: -Enable quicktune system +QUIK\_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 | ++-----+----------------------+ + + + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -3767,520 +3784,485 @@ Enable quicktune system -.. _RTUN_AXES: +.. _RCK_PERIOD: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +When in High Latency mode\, send Rockblock updates every N seconds -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ -.. _RTUN_STR_FFRATIO: +.. _RCK_DEBUG: -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and FF gain\. Raise this to get a higher FF gain +Sends Rockblock debug text to GCS via statustexts -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_P_RATIO: +.. _RCK_ENABLE: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Enables the Rockblock sending and recieving -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_I_RATIO: +.. _BATT_SOC_COUNT: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Number of battery SOC estimators -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_FFRATIO: +.. _BATT_SOC1_IDX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Battery estimator index -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_P_RATIO: +.. _BATT_SOC1_NCELL: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Battery estimator cell count -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _RTUN_SPD_I_RATIO: +.. _BATT_SOC1_C1: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Battery estimator coefficient1 -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _BATT_SOC1_C2: -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _RTUN_AUTO_SAVE: +.. _BATT_SOC1_C3: -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +Battery estimator coefficient3 -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RTUN_RC_FUNC: +.. _BATT_SOC2_IDX: -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +Battery estimator index -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_ENABLE: +.. _BATT_SOC2_NCELL: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +Battery estimator cell count -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WEB_BIND_PORT: +.. _BATT_SOC2_C1: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +Battery estimator coefficient1 +------------+ | Range | +============+ -| 1 to 65535 | +| 100 to 200 | +------------+ -.. _WEB_DEBUG: +.. _BATT_SOC2_C2: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WEB_BLOCK_SIZE: +.. _BATT_SOC2_C3: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +Battery estimator coefficient3 -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _WEB_TIMEOUT: +.. _BATT_SOC3_IDX: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Battery estimator index -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_SENDFILE_MIN: +.. _BATT_SOC3_NCELL: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +Battery estimator cell count -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WINCH_RATE_UP: +.. _BATT_SOC3_C1: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +Battery estimator coefficient1 +------------+ | Range | +============+ -| 0.1 to 5.0 | +| 100 to 200 | +------------+ -.. _WINCH_RATE_DN: +.. _BATT_SOC3_C2: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +Battery estimator coefficient2 -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WINCH_RC_FUNC: +.. _BATT_SOC3_C3: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +Battery estimator coefficient3 -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _PREV_ENABLE: +.. _BATT_SOC4_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable parameter reversion system +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _PREV_RC_FUNC: +.. _BATT_SOC4_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _SHIP_ENABLE: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +.. _BATT_SOC4_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _SHIP_LAND_ANGLE: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -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\. +.. _BATT_SOC4_C2: -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _SHIP_AUTO_OFS: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -SHIP\_AUTO\_OFS: Ship automatic offset trigger + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +Battery estimator coefficient3 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RCK_FORCEHL: +.. _PLND_ALT_CUTOFF: -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _RCK_PERIOD: +.. _DIST_CUTOFF: -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +The distance from target beyond which the target is ignored -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _RCK_DEBUG: +.. _SHIP_ENABLE: -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +Enable ship landing system +-------+----------+ @@ -4294,13 +4276,31 @@ Sends Rockblock debug text to GCS via statustexts -.. _RCK_ENABLE: +.. _SHIP_LAND_ANGLE: -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +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 | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +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\. +-------+----------+ @@ -4308,7 +4308,7 @@ Enables the Rockblock sending and recieving +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ @@ -4867,92 +4867,98 @@ Number of tricks which can be selected over the range of the trik selection RC c -.. _BATT_ANX_ENABLE: +.. _DJIR_DEBUG: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable ANX battery support +Enable DJIRS2 debug -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _BATT_ANX_CANDRV: +.. _DJIR_UPSIDEDOWN: -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 | -+-------+--------------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _BATT_ANX_INDEX: +.. _EFI_H6K_ENABLE: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Enable Halo6000 EFI driver -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_H6K_CANDRV: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SVF_ENABLE: +.. _EFI_H6K_START_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -4960,28 +4966,58 @@ Enable SVFFI generator support +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SVF_ARMCHECK: +.. _EFI_H6K_TELEM_RT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +The rate that additional generator telemetry is sent -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ @@ -5347,33 +5383,13 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_INF_ENABLE: - -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI INF\-Inject driver - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_H6K_ENABLE: +.. _EFI_DLA_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Halo6000 EFI driver +Enable EFI DLA driver +-------+----------+ @@ -5387,35 +5403,31 @@ Enable Halo6000 EFI driver -.. _EFI_H6K_CANDRV: - -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - +.. _EFI_DLA_LPS: -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +EFI DLA litres of fuel per second of injection time ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _BATT_ANX_ENABLE: -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support +-------+----------+ @@ -5423,101 +5435,67 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis +=======+==========+ | 0 | Disabled | +-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | +| 1 | Enabled | +-------+----------+ -.. _EFI_H6K_TELEM_RT: +.. _BATT_ANX_CANDRV: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +Set ANX CAN driver -+-------+ -| Units | -+=======+ -| hertz | -+-------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _EFI_H6K_FUELTOT: +.. _BATT_ANX_INDEX: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The capacity of the tank in litres +ANX CAN battery index -+--------+ -| Units | -+========+ -| litres | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DJIR_DEBUG: +.. _BATT_ANX_OPTIONS: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +ANX CAN battery options -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -5677,13 +5655,13 @@ ViewPro Zoom Times Max -.. _EFI_DLA_ENABLE: +.. _EFI_INF_ENABLE: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver +Enable EFI INF\-Inject driver +-------+----------+ @@ -5697,22 +5675,91 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ENABLE: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| 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 | ++-------+----------+ + + + + +.. _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 .. _TOFSENSE_PRX: @@ -5881,53 +5928,6 @@ 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_: diff --git a/Plane-4.5/apm.pdef.xml b/Plane-4.5/apm.pdef.xml index 3441f44..f8a32dd 100644 --- a/Plane-4.5/apm.pdef.xml +++ b/Plane-4.5/apm.pdef.xml @@ -806,122 +806,31 @@ - - 0 4 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 - - - 0.5 1.0 - - - 0.5 20 + + 1 65535 - + Disabled Enabled - + + 1 65535 + + s seconds + 0.1 60 - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch + + 0 10000000 0 1 @@ -944,15 +853,72 @@ m meters - - 0 20 - m - meters + + 0.1 5.0 - - 0 100 - m - meters + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + 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 10000 @@ -1007,107 +973,164 @@ Auto RTL - + Disabled Enabled - - 0:Steering,1:Speed + + + + + Disabled + Enabled + - - 0 1.0 + + 0:Roll,1:Pitch,2:Yaw - - 0 2.0 + + 5 20 + s + seconds - - 0 2.0 + + 20 80 + % + percent - - 0 1.0 + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + + + Disabled + Enabled + + + + s + seconds + + + + + % + percent + 0 100 + + + 0:UseTwoPositionSwitch + + + + Disabled + Enabled + + + + 0 600 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0 4 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 - - 0 2.0 + + 100 200 - - 0 2.0 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - s - seconds + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 - - - Disabled - Enabled - + + 100 200 - - 1 65535 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - 1 65535 + + 0 4 - - s - seconds - 0.1 60 + + 0 48 - - 0 10000000 + + 100 200 - - 0.1 5.0 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 20 + m + meters - - - Disabled - Enabled - + + 0 100 + m + meters - - Disabled @@ -1125,29 +1148,6 @@ Trigger - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - deg/s/s degrees per square second @@ -1265,37 +1265,53 @@ 1 11 - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 - - - 0:LogAllFrames - - + Disabled Enabled - + Disabled - Enabled + FirstCAN + SecondCAN + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + Hz + hertz + + + litres + litres + Disabled @@ -1400,59 +1416,36 @@ s seconds - - - Disabled - Enabled - - - + Disabled Enabled - - - Disabled - FirstCAN - SecondCAN - - - - - Disabled - 300 - 301 - 302 - 303 - 304 - 305 - 306 - 307 - - - - Hz - hertz - - + + 0.00001 1 litres litres - + Disabled Enabled - Enabled with attitude reporting - + - Right side up - Upside down + None + 1stCANDriver + 2ndCanDriver + + 1 10 + + + 0:LogAllFrames + Disabled @@ -1502,17 +1495,35 @@ 0 30 - + Disabled Enabled - - 0.00001 1 - litres - litres + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Set as Rangefinder + Set as Proximity sensor + + + 1 4 + + + Set as Rangefinder @@ -1546,17 +1557,6 @@ 1 255 - - - Set as Rangefinder - Set as Proximity sensor - - - - 1 4 - - - diff --git a/Rover-4.5/Parameters.html b/Rover-4.5/Parameters.html index 0f57e65..6463303 100644 --- a/Rover-4.5/Parameters.html +++ b/Rover-4.5/Parameters.html @@ -700,456 +700,510 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Count of SOC estimators (BATT_SOC_COUNT)

+

enable web server (WEB_ENABLE)

-

Number of battery SOC estimators

+

enable web server

-

Battery estimator index (BATT_SOC1_IDX)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator index

+

web server TCP port

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator cell count

+

web server debugging

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server block size for download

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

timeout for inactive connections

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC2_IDX)

+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

Battery estimator index

+

ExternalNav may be used if innovations are below this threshold

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Battery estimator cell count

+

ExternalNav may be used if quality is above this threshold

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Battery estimator coefficient1

+

OpticalFlow may be used if innovations are below this threshold

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

Battery estimator coefficient2

+

OpticalFlow may be used if quality is above this threshold

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Battery estimator coefficient3

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Battery estimator index (BATT_SOC3_IDX)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

Battery estimator index

+

Maximum rate when retracting line

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

Battery estimator cell count

+

Maximum rate when releasing line

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

Battery estimator coefficient1

+

RCn_OPTION number to use to control winch rate

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator coefficient2

+

Enable quicktune system

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient3

+

axes to tune

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Quicktune enable (QUIK_ENABLE)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Enable quicktune system

+

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

-

Quicktune axes (QUIK_AXES)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

axes to tune

+

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

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

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

+

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

-

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+

Mount POI distance max (POI_DIST_MAX)

-

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

+

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

-

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning Enable (DR_ENABLE)

-

Maximum value for yaw P gain

+

Deadreckoning Enable

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

Maximum value for yaw D gain

+

Distance from home (in meters) beyond which the dead reckoning will be enabled

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

-

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

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

+

GPS checks must fail for this many seconds before dead reckoning will be triggered

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

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

+

lean angle (in degrees) during deadreckoning

-

Quicktune RC function (QUIK_RC_FUNC)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

Copter will fly at at least this altitude (in meters) above home during deadreckoning

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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.

+

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

-

Quicktune options (QUIK_OPTIONS)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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.

+

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

- + + + + + + + + + + + + + +
ValueMeaning
2AltHold
3Auto
4Guided
5Loiter
6RTL
7Circle
9Land
16PosHold
17Brake
20Guided_NoGPS
21Smart_RTL
27Auto RTL
+ -

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

ExternalNav may be used if innovations are below this threshold

+

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

param reversion RC function (PREV_RC_FUNC)

-

ExternalNav may be used if quality is above this threshold

+

RCn_OPTION number to used to trigger parameter reversion

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

Quicktune enable (QUIK_ENABLE)

-

OpticalFlow may be used if innovations are below this threshold

+

Enable quicktune system

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

Quicktune axes (QUIK_AXES)

-

OpticalFlow may be used if quality is above this threshold

+

axes to tune

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Quicktune doubling time (QUIK_DOUBLE_TIME)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

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

-

Precland altitude cutoff (PLND_ALT_CUTOFF)

+

Quicktune gain margin (QUIK_GAIN_MARGIN)

-

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

+

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

-

The distance from target beyond which the target is ignored

+

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

-

Mount POI distance max (POI_DIST_MAX)

+

Quicktune Yaw P max (QUIK_YAW_P_MAX)

-

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

+

Maximum value for yaw P gain

-

Deadreckoning Enable (DR_ENABLE)

+

Quicktune Yaw D max (QUIK_YAW_D_MAX)

-

Deadreckoning Enable

+

Maximum value for yaw D gain

-

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

-

Distance from home (in meters) beyond which the dead reckoning will be enabled

+

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

-

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

-

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+

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

-

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+

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

-

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+

Quicktune auto save (QUIK_AUTO_SAVE)

-

GPS checks must fail for this many seconds before dead reckoning will be triggered

+

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

-

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+

Quicktune RC function (QUIK_RC_FUNC)

-

lean angle (in degrees) during deadreckoning

+

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

-

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+

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.

-

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+

Quicktune options (QUIK_OPTIONS)

-

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+

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.

+ + +

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

+ -

Deadreckoning Next Mode (DR_NEXT_MODE)

+

Display Rockblock debugging text (RCK_DEBUG)

-

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

+

Sends Rockblock debug text to GCS via statustexts

-

Rover Quicktune enable (RTUN_ENABLE)

+

Enable Message transmission (RCK_ENABLE)

-

Enable quicktune system

+

Enables the Rockblock sending and recieving

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune RC function (RTUN_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

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

+

Battery estimator coefficient2

-

enable web server (WEB_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

enable web server

+

Battery estimator coefficient3

-

web server TCP port (WEB_BIND_PORT)

+

Battery estimator index (BATT_SOC3_IDX)

-

web server TCP port

+

Battery estimator index

-

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+

Battery estimator cell count (BATT_SOC3_NCELL)

-

web server debugging

+

Battery estimator cell count

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

web server block size for download

+

Battery estimator coefficient1

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

timeout for inactive connections

+

Battery estimator coefficient2

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

WinchControl Rate Up (WINCH_RATE_UP)

+

Battery estimator index (BATT_SOC4_IDX)

-

Maximum rate when retracting line

+

Battery estimator index

-

WinchControl Rate Down (WINCH_RATE_DN)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

Maximum rate when releasing line

+

Battery estimator cell count

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

Battery estimator coefficient1 (BATT_SOC4_C1)

-

RCn_OPTION number to use to control winch rate

+

Battery estimator coefficient1

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC4_C2)

-

Enable parameter reversion system

+

Battery estimator coefficient2

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient3

+ + + +

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

@@ -1387,48 +1429,6 @@

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

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

- - -

Angular acceleration limit (AEROM_ANG_ACCEL)

Maximum angular acceleration in maneuvers

@@ -1688,64 +1688,83 @@

Trik Count (TRIK_COUNT)

-

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)

+

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

-

ANX CAN battery index

+

Enable Halo6000 EFI driver

-

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+

Halo6000 CAN driver (EFI_H6K_CANDRV)

-

ANX CAN battery options

+

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

-

Generator SVFFI enable (EFI_SVF_ENABLE)

+

Halo6000 start auxilliary function (EFI_H6K_START_FN)

-

Enable SVFFI generator support

+

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

-

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

-

Check for Generator ARM state before arming

+

The rate that additional generator telemetry is sent

+ + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ @@ -1933,9 +1952,9 @@

SkyPower EFI restart time (EFI_SP_RST_TIME)

-

EFI INF-Inject enable (EFI_INF_ENABLE)

+

EFI DLA enable (EFI_DLA_ENABLE)

-

Enable EFI INF-Inject driver

+

Enable EFI DLA driver

-

Halo6000 CAN driver (EFI_H6K_CANDRV)

+

Enable ANX battery support (BATT_ANX_ENABLE)

-

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+

Enable ANX battery support

-

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+

Set ANX CAN driver

-

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

- -

The rate that additional generator telemetry is sent

- - - -

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

- -

The capacity of the tank in litres

- - - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+

ANX CAN battery index (BATT_ANX_INDEX)

-

Enable DJIRS2 debug

+

ANX CAN battery index

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
-

DJIRS2 upside down

+

ANX CAN battery options

@@ -2103,9 +2090,9 @@

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

-

EFI DLA enable (EFI_DLA_ENABLE)

+

EFI INF-Inject enable (EFI_INF_ENABLE)

-

Enable EFI DLA driver

+

Enable EFI INF-Inject driver

+ + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

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

@@ -2201,32 +2227,6 @@

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

- - -

AFS_ Parameters

diff --git a/Rover-4.5/Parameters.md b/Rover-4.5/Parameters.md index 928fce7..56521c2 100644 --- a/Rover-4.5/Parameters.md +++ b/Rover-4.5/Parameters.md @@ -649,133 +649,122 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## BATT_SOC_COUNT: Count of SOC estimators - -Number of battery SOC estimators - -- Range: 0 4 - -## BATT_SOC1_IDX: Battery estimator index - -Battery estimator index - -- Range: 0 4 - -## BATT_SOC1_NCELL: Battery estimator cell count - -Battery estimator cell count - -- Range: 0 48 - -## BATT_SOC1_C1: Battery estimator coefficient1 - -Battery estimator coefficient1 - -- Range: 100 200 - -## BATT_SOC1_C2: Battery estimator coefficient2 - -Battery estimator coefficient2 +## WEB_ENABLE: enable web server -- Range: 2 5 +enable web server -## BATT_SOC1_C3: Battery estimator coefficient3 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Battery estimator coefficient3 +## WEB_BIND_PORT: web server TCP port -- Range: 0.01 0.5 +web server TCP port -## BATT_SOC2_IDX: Battery estimator index +- Range: 1 65535 -Battery estimator index +## WEB_DEBUG: web server debugging -- Range: 0 4 +*Note: This parameter is for advanced users* -## BATT_SOC2_NCELL: Battery estimator cell count +web server debugging -Battery estimator cell count +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 0 48 +## WEB_BLOCK_SIZE: web server block size -## BATT_SOC2_C1: Battery estimator coefficient1 +*Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download -- Range: 100 200 +- Range: 1 65535 -## BATT_SOC2_C2: Battery estimator coefficient2 +## WEB_TIMEOUT: web server timeout -Battery estimator coefficient2 +*Note: This parameter is for advanced users* -- Range: 2 5 +timeout for inactive connections -## BATT_SOC2_C3: Battery estimator coefficient3 +- Units: s -Battery estimator coefficient3 +- Range: 0.1 60 -- Range: 0.01 0.5 +## WEB_SENDFILE_MIN: web server minimum file size for sendfile -## BATT_SOC3_IDX: Battery estimator index +*Note: This parameter is for advanced users* -Battery estimator index +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 4 +- Range: 0 10000000 -## BATT_SOC3_NCELL: Battery estimator cell count +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold -Battery estimator cell count +ExternalNav may be used if innovations are below this threshold -- Range: 0 48 +- Range: 0 1 -## BATT_SOC3_C1: Battery estimator coefficient1 +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -- Range: 100 200 +- Range: 0 100 -## BATT_SOC3_C2: Battery estimator coefficient2 +- Units: % -Battery estimator coefficient2 +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold -- Range: 2 5 +OpticalFlow may be used if innovations are below this threshold -## BATT_SOC3_C3: Battery estimator coefficient3 +- Range: 0 1 -Battery estimator coefficient3 +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold -- Range: 0.01 0.5 +OpticalFlow may be used if quality is above this threshold -## BATT_SOC4_IDX: Battery estimator index +- Range: 0 100 -Battery estimator index +- Units: % -- Range: 0 4 +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max -## BATT_SOC4_NCELL: Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -Battery estimator cell count +- Range: 0 50 -- Range: 0 48 +- Units: m -## BATT_SOC4_C1: Battery estimator coefficient1 +## WINCH_RATE_UP: WinchControl Rate Up -Battery estimator coefficient1 +Maximum rate when retracting line -- Range: 100 200 +- Range: 0.1 5.0 -## BATT_SOC4_C2: Battery estimator coefficient2 +## WINCH_RATE_DN: WinchControl Rate Down -Battery estimator coefficient2 +Maximum rate when releasing line -- Range: 2 5 +- Range: 0.1 5.0 -## BATT_SOC4_C3: Battery estimator coefficient3 +## WINCH_RC_FUNC: Winch Rate Control RC function -Battery estimator coefficient3 +RCn_OPTION number to use to control winch rate -- Range: 0.01 0.5 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| -## QUIK_ENABLE: Quicktune enable +## RTUN_ENABLE: Rover Quicktune enable Enable quicktune system @@ -784,59 +773,49 @@ 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 - -## QUIK_DOUBLE_TIME: Quicktune doubling time - -Time to double a tuning parameter. Raise this for a slower tune. - -- Range: 5 20 - -- Units: s - -## QUIK_GAIN_MARGIN: Quicktune gain margin +- Bitmask: 0:Steering,1:Speed -Reduction in gain after oscillation detected. Raise this number to get a more conservative tune +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -- Range: 20 80 +Ratio between measured response and FF gain. Raise this to get a higher FF gain -- Units: % +- Range: 0 1.0 -## QUIK_OSC_SMAX: Quicktune oscillation rate threshold +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio -Threshold for oscillation detection. A lower value will lead to 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: 1 10 +- Range: 0 2.0 -## QUIK_YAW_P_MAX: Quicktune Yaw P max +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio -Maximum value for yaw P gain +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged -- Range: 0.1 3 +- Range: 0 2.0 -## QUIK_YAW_D_MAX: Quicktune Yaw D max +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio -Maximum value for yaw D gain +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value -- Range: 0.001 1 +- Range: 0 1.0 -## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio -Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged -- Range: 0.5 1.0 +- Range: 0 2.0 -## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio -Ratio between P and I gains for yaw. 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 20 +- Range: 0 2.0 -## QUIK_AUTO_FILTER: Quicktune auto filter enable +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -845,81 +824,26 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## QUIK_AUTO_SAVE: Quicktune 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: s -## QUIK_RC_FUNC: Quicktune RC function +## RTUN_RC_FUNC: Rover Quicktune RC function RCn_OPTION number to use to control tuning stop/start/save -## 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. - -- Units: % - -- Range: 0 100 - -## QUIK_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 - -## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold - -ExternalNav may be used if innovations are below this threshold - -- Range: 0 1 - -## 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 +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| ## POI_DIST_MAX: Mount POI distance max @@ -1001,7 +925,20 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## RTUN_ENABLE: Rover Quicktune enable +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## QUIK_ENABLE: Quicktune enable Enable quicktune system @@ -1010,49 +947,59 @@ Enable quicktune system |0|Disabled| |1|Enabled| -## RTUN_AXES: Rover Quicktune axes +## QUIK_AXES: Quicktune axes axes to tune -- Bitmask: 0:Steering,1:Speed +- Bitmask: 0:Roll,1:Pitch,2:Yaw -## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +## QUIK_DOUBLE_TIME: Quicktune doubling time -Ratio between measured response and FF gain. Raise this to get a higher FF gain +Time to double a tuning parameter. Raise this for a slower tune. -- Range: 0 1.0 +- Range: 5 20 -## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio +- Units: s -Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged +## QUIK_GAIN_MARGIN: Quicktune gain margin -- Range: 0 2.0 +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune -## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio +- Range: 20 80 -Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged +- Units: % -- Range: 0 2.0 +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold -## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio +Threshold for oscillation detection. A lower value will lead to a more conservative tune. -Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value +- Range: 1 10 -- Range: 0 1.0 +## QUIK_YAW_P_MAX: Quicktune Yaw P max -## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio +Maximum value for yaw P gain -Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged +- Range: 0.1 3 -- Range: 0 2.0 +## QUIK_YAW_D_MAX: Quicktune Yaw D max -## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio +Maximum value for yaw D gain -Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged +- Range: 0.001 1 -- Range: 0 2.0 +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio -## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER @@ -1061,118 +1008,206 @@ When enabled the PID filter settings are automatically set based on INS_GYRO_FIL |0|Disabled| |1|Enabled| -## RTUN_AUTO_SAVE: Rover Quicktune 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: s -## RTUN_RC_FUNC: Rover Quicktune RC function +## QUIK_RC_FUNC: 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| +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction -## WEB_ENABLE: enable web server +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. -enable web server +- Units: % + +- Range: 0 100 + +## QUIK_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 + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BIND_PORT: web server TCP port +## RCK_PERIOD: Update rate -web server TCP port +When in High Latency mode, send Rockblock updates every N seconds -- Range: 1 65535 +- Range: 0 600 -## WEB_DEBUG: web server debugging +- Units: s -*Note: This parameter is for advanced users* +## RCK_DEBUG: Display Rockblock debugging text -web server debugging +Sends Rockblock debug text to GCS via statustexts |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## WEB_BLOCK_SIZE: web server block size +## RCK_ENABLE: Enable Message transmission -*Note: This parameter is for advanced users* +Enables the Rockblock sending and recieving -web server block size for download +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Range: 1 65535 +## BATT_SOC_COUNT: Count of SOC estimators -## WEB_TIMEOUT: web server timeout +Number of battery SOC estimators -*Note: This parameter is for advanced users* +- Range: 0 4 -timeout for inactive connections +## BATT_SOC1_IDX: Battery estimator index -- Units: s +Battery estimator index -- Range: 0.1 60 +- Range: 0 4 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +## BATT_SOC1_NCELL: Battery estimator cell count -*Note: This parameter is for advanced users* +Battery estimator cell count -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 48 -- Range: 0 10000000 +## BATT_SOC1_C1: Battery estimator coefficient1 -## WINCH_RATE_UP: WinchControl Rate Up +Battery estimator coefficient1 -Maximum rate when retracting line +- Range: 100 200 -- Range: 0.1 5.0 +## BATT_SOC1_C2: Battery estimator coefficient2 -## WINCH_RATE_DN: WinchControl Rate Down +Battery estimator coefficient2 -Maximum rate when releasing line +- Range: 2 5 -- Range: 0.1 5.0 +## BATT_SOC1_C3: Battery estimator coefficient3 -## WINCH_RC_FUNC: Winch Rate Control RC function +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## PLND_ALT_CUTOFF: Precland altitude cutoff -RCn_OPTION number to use to control winch rate +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +- Range: 0 20 -## PREV_ENABLE: parameter reversion enable +- Units: m -Enable parameter reversion system +## DIST_CUTOFF: Precland distance cutoff -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +The distance from target beyond which the target is ignored -## PREV_RC_FUNC: param reversion RC function +- Range: 0 100 -RCn_OPTION number to used to trigger parameter reversion +- Units: m ## SHIP_ENABLE: Ship landing enable @@ -1200,41 +1235,6 @@ Settings this parameter to one triggers an automatic follow offset calculation b |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 - -- 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| - ## AEROM_ANG_ACCEL: Angular acceleration limit Maximum angular acceleration in maneuvers @@ -1423,56 +1423,73 @@ Number of tricks which can be selected over the range of the trik selection RC c - Range: 1 11 -## 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| - -## BATT_ANX_INDEX: ANX CAN battery index - -ANX CAN battery index - -- Range: 1 10 - -## BATT_ANX_OPTIONS: ANX CAN battery options +|0|Right side up| +|1|Upside down| -*Note: This parameter is for advanced users* +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver -ANX CAN battery options +Enable Halo6000 EFI driver -- Bitmask: 0:LogAllFrames +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -## EFI_SVF_ENABLE: Generator SVFFI enable +## EFI_H6K_CANDRV: Halo6000 CAN driver -Enable SVFFI generator support +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|1|FirstCAN| +|2|SecondCAN| -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## EFI_H6K_START_FN: Halo6000 start auxilliary function -Check for Generator ARM state before arming +The RC auxilliary function number for start/stop of the generator. Zero to disable start function |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|Enabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres ## ESC_HW_ENABLE: Hobbywing ESC Enable @@ -1639,82 +1656,55 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## EFI_INF_ENABLE: EFI INF-Inject enable +## EFI_DLA_ENABLE: EFI DLA enable -Enable EFI INF-Inject driver +Enable EFI DLA driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_H6K_ENABLE: Enable Halo6000 EFI driver +## EFI_DLA_LPS: EFI DLA fuel scale -Enable Halo6000 EFI driver +EFI DLA litres of fuel per second of injection time -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0.00001 1 -## EFI_H6K_CANDRV: Halo6000 CAN driver +- Units: litres -Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| -|1|FirstCAN| -|2|SecondCAN| +|1|Enabled| -## EFI_H6K_START_FN: Halo6000 start auxilliary function +## BATT_ANX_CANDRV: Set ANX CAN driver -The RC auxilliary function number for start/stop of the generator. Zero to disable start function +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|300|300| -|301|301| -|302|302| -|303|303| -|304|304| -|305|305| -|306|306| -|307|307| - -## EFI_H6K_TELEM_RT: Halo6000 telemetry rate - -The rate that additional generator telemetry is sent - -- Units: Hz +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -## EFI_H6K_FUELTOT: Halo6000 total fuel capacity +## BATT_ANX_INDEX: ANX CAN battery index -The capacity of the tank in litres +ANX CAN battery index -- Units: litres +- Range: 1 10 -## DJIR_DEBUG: DJIRS2 debug +## BATT_ANX_OPTIONS: ANX CAN battery options *Note: This parameter is for advanced users* -Enable DJIRS2 debug - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| -|2|Enabled with attitude reporting| - -## DJIR_UPSIDEDOWN: DJIRS2 upside down - -DJIRS2 upside down +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Right side up| -|1|Upside down| +- Bitmask: 0:LogAllFrames ## VIEP_DEBUG: ViewPro debug @@ -1785,22 +1775,51 @@ ViewPro Zoom Times Max - Range: 0 30 -## EFI_DLA_ENABLE: EFI DLA enable +## EFI_INF_ENABLE: EFI INF-Inject enable -Enable EFI DLA driver +Enable EFI INF-Inject driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## EFI_DLA_LPS: EFI DLA fuel scale +## EFI_SVF_ENABLE: Generator SVFFI enable -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -- Range: 0.00001 1 +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -- Units: litres +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -1862,25 +1881,6 @@ 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 diff --git a/Rover-4.5/ParametersLatex.rst b/Rover-4.5/ParametersLatex.rst index f202c75..91f9dba 100644 --- a/Rover-4.5/ParametersLatex.rst +++ b/Rover-4.5/ParametersLatex.rst @@ -1400,914 +1400,926 @@ Lua Script Parameters --------------------- -.. _BATT_SOC_COUNT: +.. _WEB_ENABLE: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +enable web server -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_IDX: +.. _WEB_BIND_PORT: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +web server TCP port -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -.. _BATT_SOC1_NCELL: +.. _WEB_DEBUG: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator cell count +web server debugging -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_C1: +.. _WEB_BLOCK_SIZE: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient1 +web server block size for download +------------+ | Range | +============+ -| 100 to 200 | +| 1 to 65535 | +------------+ -.. _BATT_SOC1_C2: +.. _WEB_TIMEOUT: -BATT\_SOC1\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient2 +timeout for inactive connections -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ -.. _BATT_SOC1_C3: +.. _WEB_SENDFILE_MIN: -BATT\_SOC1\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Battery estimator coefficient3 +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 | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ -.. _BATT_SOC2_IDX: +.. _ESRC_EXTN_THRESH: -BATT\_SOC2\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +ExternalNav may be used if innovations are below this threshold +--------+ | Range | +========+ -| 0 to 4 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_NCELL: - -BATT\_SOC2\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator cell count - - -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ - - - - -.. _BATT_SOC2_C1: +.. _ESRC_EXTN_QUAL: -BATT\_SOC2\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +ExternalNav may be used if quality is above this threshold -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC2_C2: +.. _ESRC_FLOW_THRESH: -BATT\_SOC2\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +OpticalFlow may be used if innovations are below this threshold +--------+ | Range | +========+ -| 2 to 5 | +| 0 to 1 | +--------+ -.. _BATT_SOC2_C3: - -BATT\_SOC2\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Battery estimator coefficient3 - - -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ - - - - -.. _BATT_SOC3_IDX: +.. _ESRC_FLOW_QUAL: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +OpticalFlow may be used if quality is above this threshold -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _BATT_SOC3_NCELL: +.. _ESRC_RNGFND_MAX: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +OpticalFlow may be used if rangefinder distance is below this threshold -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ -.. _BATT_SOC3_C1: +.. _WINCH_RATE_UP: -BATT\_SOC3\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Maximum rate when retracting line +------------+ | Range | +============+ -| 100 to 200 | +| 0.1 to 5.0 | +------------+ -.. _BATT_SOC3_C2: +.. _WINCH_RATE_DN: -BATT\_SOC3\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Maximum rate when releasing line -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _BATT_SOC3_C3: +.. _WINCH_RC_FUNC: -BATT\_SOC3\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +RCn\_OPTION number to use to control winch rate -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _BATT_SOC4_IDX: +.. _RTUN_ENABLE: -BATT\_SOC4\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Enable quicktune system -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC4_NCELL: +.. _RTUN_AXES: -BATT\_SOC4\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +axes to tune -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ -.. _BATT_SOC4_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC4\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient1 +Ratio between measured response and FF gain\. Raise this to get a higher FF gain -+------------+ -| Range | -+============+ -| 100 to 200 | -+------------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC4_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC4\_C2: Battery estimator coefficient2 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient2 +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged -+--------+ -| Range | -+========+ -| 2 to 5 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _BATT_SOC4_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC4\_C3: Battery estimator coefficient3 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator coefficient3 +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged -+-------------+ -| Range | -+=============+ -| 0.01 to 0.5 | -+-------------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_ENABLE: +.. _RTUN_SPD_FFRATIO: -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable quicktune system +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _QUIK_AXES: +.. _RTUN_SPD_P_RATIO: -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_DOUBLE_TIME: +.. _RTUN_SPD_I_RATIO: -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Time to double a tuning parameter\. Raise this for a slower tune\. +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ -.. _QUIK_GAIN_MARGIN: +.. _RTUN_AUTO_FILTER: -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_OSC_SMAX: +.. _RTUN_AUTO_SAVE: -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ -| Range | +| Units | +=========+ -| 1 to 10 | +| seconds | +---------+ -.. _QUIK_YAW_P_MAX: +.. _RTUN_RC_FUNC: -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw P gain +RCn\_OPTION number to use to control tuning stop\/start\/save -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ -.. _QUIK_YAW_D_MAX: +.. _POI_DIST_MAX: -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +POI\_DIST\_MAX: Mount POI distance max ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum value for yaw D gain +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 0.001 to 1 | +| 0 to 10000 | +------------+ -.. _QUIK_RP_PI_RATIO: +.. _DR_ENABLE: -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain +Deadreckoning Enable -+------------+ -| Range | -+============+ -| 0.5 to 1.0 | -+------------+ - - - - -.. _QUIK_Y_PI_RATIO: - -QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for yaw\. Raise this to get a lower I gain - - -+-----------+ -| Range | -+===========+ -| 0.5 to 20 | -+-----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _QUIK_AUTO_FILTER: +.. _DR_ENABLE_DIST: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Distance from home \(in meters\) beyond which the dead reckoning will be enabled -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Units | ++========+ +| meters | ++--------+ -.. _QUIK_AUTO_SAVE: +.. _DR_GPS_SACC_MAX: -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +---------+ -| Units | +| Range | +=========+ -| seconds | +| 0 to 10 | +---------+ -.. _QUIK_RC_FUNC: +.. _DR_GPS_SAT_MIN: -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count -.. _QUIK_MAX_REDUCE: ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -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\. +.. _DR_GPS_TRIGG_SEC: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +GPS checks must fail for this many seconds before dead reckoning will be triggered -.. _QUIK_OPTIONS: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -QUIK\_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\. +.. _DR_FLY_ANGLE: -+-----+----------------------+ -| Bit | Meaning | -+=====+======================+ -| 0 | UseTwoPositionSwitch | -+-----+----------------------+ +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +lean angle \(in degrees\) during deadreckoning -.. _ESRC_EXTN_THRESH: ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if innovations are below this threshold +.. _DR_FLY_ALT_MIN: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning -.. _ESRC_EXTN_QUAL: ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ExternalNav may be used if quality is above this threshold +.. _DR_FLY_TIMEOUT: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout -.. _ESRC_FLOW_THRESH: ++---------+ +| Units | ++=========+ +| seconds | ++---------+ -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if innovations are below this threshold +.. _DR_NEXT_MODE: -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ +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 -.. _ESRC_FLOW_QUAL: ++-------+--------------+ +| 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 | ++-------+--------------+ -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +.. _PREV_ENABLE: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable parameter reversion system -.. _ESRC_RNGFND_MAX: ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if rangefinder distance is below this threshold +.. _PREV_RC_FUNC: -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCn\_OPTION number to used to trigger parameter reversion -.. _PLND_ALT_CUTOFF: +.. _QUIK_ENABLE: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Enable quicktune system -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _QUIK_AXES: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +axes to tune -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _POI_DIST_MAX: +.. _QUIK_DOUBLE_TIME: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Time to double a tuning parameter\. Raise this for a slower tune\. -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _DR_ENABLE: +.. _QUIK_GAIN_MARGIN: -DR\_ENABLE: Deadreckoning Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Deadreckoning Enable +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _DR_ENABLE_DIST: +.. _QUIK_OSC_SMAX: -DR\_ENABLE\_DIST: Deadreckoning Enable Distance -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Distance from home \(in meters\) beyond which the dead reckoning will be enabled +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+--------+ -| Units | -+========+ -| meters | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DR_GPS_SACC_MAX: +.. _QUIK_YAW_P_MAX: -DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy +Maximum value for yaw P gain -+---------+ -| Range | -+=========+ -| 0 to 10 | -+---------+ ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ -.. _DR_GPS_SAT_MIN: +.. _QUIK_YAW_D_MAX: -DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count +Maximum value for yaw D gain -+---------+ -| Range | -+=========+ -| 0 to 30 | -+---------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _DR_GPS_TRIGG_SEC: +.. _QUIK_RP_PI_RATIO: -DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -GPS checks must fail for this many seconds before dead reckoning will be triggered +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _DR_FLY_ANGLE: +.. _QUIK_Y_PI_RATIO: -DR\_FLY\_ANGLE: Deadreckoning Lean Angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -lean angle \(in degrees\) during deadreckoning +Ratio between P and I gains for yaw\. Raise this to get a lower I gain -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 45 | degrees | -+---------+---------+ ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ -.. _DR_FLY_ALT_MIN: +.. _QUIK_AUTO_FILTER: -DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will fly at at least this altitude \(in meters\) above home during deadreckoning +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER -+-----------+--------+ -| Range | Units | -+===========+========+ -| 0 to 1000 | meters | -+-----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DR_FLY_TIMEOUT: +.. _QUIK_AUTO_SAVE: -DR\_FLY\_TIMEOUT: Deadreckoning flight timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +---------+ @@ -2319,53 +2331,58 @@ Copter will attempt to switch to NEXT\_MODE after this many seconds of deadrecko -.. _DR_NEXT_MODE: +.. _QUIK_RC_FUNC: -DR\_NEXT\_MODE: Deadreckoning Next Mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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 +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 | -+-------+--------------+ +.. _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\. ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ -.. _RTUN_ENABLE: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _QUIK_OPTIONS: -Enable quicktune system +QUIK\_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 | ++-----+----------------------+ + + + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -2379,520 +2396,485 @@ Enable quicktune system -.. _RTUN_AXES: +.. _RCK_PERIOD: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -axes to tune +When in High Latency mode\, send Rockblock updates every N seconds -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ -.. _RTUN_STR_FFRATIO: +.. _RCK_DEBUG: -RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and FF gain\. Raise this to get a higher FF gain +Sends Rockblock debug text to GCS via statustexts -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_P_RATIO: +.. _RCK_ENABLE: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Enables the Rockblock sending and recieving -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _RTUN_STR_I_RATIO: +.. _BATT_SOC_COUNT: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Number of battery SOC estimators -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_FFRATIO: +.. _BATT_SOC1_IDX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Battery estimator index -+----------+ -| Range | -+==========+ -| 0 to 1.0 | -+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_SPD_P_RATIO: +.. _BATT_SOC1_NCELL: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Battery estimator cell count -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _RTUN_SPD_I_RATIO: +.. _BATT_SOC1_C1: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Battery estimator coefficient1 -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _BATT_SOC1_C2: -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _RTUN_AUTO_SAVE: +.. _BATT_SOC1_C3: -RTUN\_AUTO\_SAVE: Rover Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune +Battery estimator coefficient3 -+---------+ -| Units | -+=========+ -| seconds | -+---------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RTUN_RC_FUNC: +.. _BATT_SOC2_IDX: -RTUN\_RC\_FUNC: Rover Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control tuning stop\/start\/save +Battery estimator index -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_ENABLE: +.. _BATT_SOC2_NCELL: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +Battery estimator cell count -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WEB_BIND_PORT: +.. _BATT_SOC2_C1: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +Battery estimator coefficient1 +------------+ | Range | +============+ -| 1 to 65535 | +| 100 to 200 | +------------+ -.. _WEB_DEBUG: +.. _BATT_SOC2_C2: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +Battery estimator coefficient2 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WEB_BLOCK_SIZE: +.. _BATT_SOC2_C3: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +Battery estimator coefficient3 -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _WEB_TIMEOUT: +.. _BATT_SOC3_IDX: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Battery estimator index -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _WEB_SENDFILE_MIN: +.. _BATT_SOC3_NCELL: -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +Battery estimator cell count -+---------------+ -| Range | -+===============+ -| 0 to 10000000 | -+---------------+ ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -.. _WINCH_RATE_UP: +.. _BATT_SOC3_C1: -WINCH\_RATE\_UP: WinchControl Rate Up -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when retracting line +Battery estimator coefficient1 +------------+ | Range | +============+ -| 0.1 to 5.0 | +| 100 to 200 | +------------+ -.. _WINCH_RATE_DN: +.. _BATT_SOC3_C2: -WINCH\_RATE\_DN: WinchControl Rate Down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Maximum rate when releasing line +Battery estimator coefficient2 -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -.. _WINCH_RC_FUNC: +.. _BATT_SOC3_C3: -WINCH\_RC\_FUNC: Winch Rate Control RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to use to control winch rate +Battery estimator coefficient3 -+-------+------------+ -| Value | Meaning | -+=======+============+ -| 300 | Scripting1 | -+-------+------------+ -| 301 | Scripting2 | -+-------+------------+ -| 302 | Scripting3 | -+-------+------------+ -| 303 | Scripting4 | -+-------+------------+ -| 304 | Scripting5 | -+-------+------------+ -| 305 | Scripting6 | -+-------+------------+ -| 306 | Scripting7 | -+-------+------------+ -| 307 | Scripting8 | -+-------+------------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _PREV_ENABLE: +.. _BATT_SOC4_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable parameter reversion system +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _PREV_RC_FUNC: +.. _BATT_SOC4_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _SHIP_ENABLE: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ship landing system +.. _BATT_SOC4_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _SHIP_LAND_ANGLE: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -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\. +.. _BATT_SOC4_C2: -+-------------+---------+ -| Range | Units | -+=============+=========+ -| -180 to 180 | degrees | -+-------------+---------+ +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _SHIP_AUTO_OFS: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -SHIP\_AUTO\_OFS: Ship automatic offset trigger + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +Battery estimator coefficient3 -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -.. _RCK_FORCEHL: +.. _PLND_ALT_CUTOFF: -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ -.. _RCK_PERIOD: +.. _DIST_CUTOFF: -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +The distance from target beyond which the target is ignored -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ -.. _RCK_DEBUG: +.. _SHIP_ENABLE: -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +Enable ship landing system +-------+----------+ @@ -2906,13 +2888,31 @@ Sends Rockblock debug text to GCS via statustexts -.. _RCK_ENABLE: +.. _SHIP_LAND_ANGLE: -RCK\_ENABLE: Enable Message transmission -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +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 | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +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\. +-------+----------+ @@ -2920,7 +2920,7 @@ Enables the Rockblock sending and recieving +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ @@ -3479,92 +3479,98 @@ Number of tricks which can be selected over the range of the trik selection RC c -.. _BATT_ANX_ENABLE: +.. _DJIR_DEBUG: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable ANX battery support +Enable DJIRS2 debug -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _BATT_ANX_CANDRV: +.. _DJIR_UPSIDEDOWN: -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 | -+-------+--------------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _BATT_ANX_INDEX: +.. _EFI_H6K_ENABLE: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Enable Halo6000 EFI driver -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_H6K_CANDRV: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SVF_ENABLE: +.. _EFI_H6K_START_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -3572,28 +3578,58 @@ Enable SVFFI generator support +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SVF_ARMCHECK: +.. _EFI_H6K_TELEM_RT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +The rate that additional generator telemetry is sent -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ @@ -3959,33 +3995,13 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t -.. _EFI_INF_ENABLE: - -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI INF\-Inject driver - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _EFI_H6K_ENABLE: +.. _EFI_DLA_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Halo6000 EFI driver +Enable EFI DLA driver +-------+----------+ @@ -3999,35 +4015,31 @@ Enable Halo6000 EFI driver -.. _EFI_H6K_CANDRV: - -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - +.. _EFI_DLA_LPS: -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +EFI DLA litres of fuel per second of injection time ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _BATT_ANX_ENABLE: -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support +-------+----------+ @@ -4035,101 +4047,67 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis +=======+==========+ | 0 | Disabled | +-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | +| 1 | Enabled | +-------+----------+ -.. _EFI_H6K_TELEM_RT: +.. _BATT_ANX_CANDRV: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The rate that additional generator telemetry is sent +Set ANX CAN driver -+-------+ -| Units | -+=======+ -| hertz | -+-------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _EFI_H6K_FUELTOT: +.. _BATT_ANX_INDEX: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The capacity of the tank in litres +ANX CAN battery index -+--------+ -| Units | -+========+ -| litres | -+--------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _DJIR_DEBUG: +.. _BATT_ANX_OPTIONS: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +ANX CAN battery options -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -4289,13 +4267,13 @@ ViewPro Zoom Times Max -.. _EFI_DLA_ENABLE: +.. _EFI_INF_ENABLE: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver +Enable EFI INF\-Inject driver +-------+----------+ @@ -4309,22 +4287,91 @@ Enable EFI DLA driver -.. _EFI_DLA_LPS: +.. _EFI_SVF_ENABLE: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Enable SVFFI generator support -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++-------+----------+ +| 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 | ++-------+----------+ + + + + +.. _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 .. _TOFSENSE_PRX: @@ -4493,53 +4540,6 @@ 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_: diff --git a/Rover-4.5/apm.pdef.xml b/Rover-4.5/apm.pdef.xml index 65fe517..f48e3a7 100644 --- a/Rover-4.5/apm.pdef.xml +++ b/Rover-4.5/apm.pdef.xml @@ -431,122 +431,31 @@ - - 0 4 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - - 0 4 - - - 0 48 - - - 100 200 - - - 2 5 - - - 0.01 0.5 - - + Disabled Enabled - - 0:Roll,1:Pitch,2:Yaw - - - 5 20 - s - seconds - - - 20 80 - % - percent - - - 1 10 - - - 0.1 3 - - - 0.001 1 - - - 0.5 1.0 - - - 0.5 20 + + 1 65535 - + Disabled Enabled - + + 1 65535 + + s seconds + 0.1 60 - - - - % - percent - 0 100 - - - 0:UseTwoPositionSwitch + + 0 10000000 0 1 @@ -569,15 +478,72 @@ m meters - - 0 20 - m - meters + + 0.1 5.0 - - 0 100 - m - meters + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + + 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 10000 @@ -632,107 +598,164 @@ Auto RTL - + Disabled Enabled - - 0:Steering,1:Speed + + + + + Disabled + Enabled + - - 0 1.0 + + 0:Roll,1:Pitch,2:Yaw - - 0 2.0 + + 5 20 + s + seconds - - 0 2.0 + + 20 80 + % + percent - - 0 1.0 + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + + + Disabled + Enabled + + + + s + seconds + + + + + % + percent + 0 100 + + + 0:UseTwoPositionSwitch + + + + Disabled + Enabled + + + + 0 600 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0 4 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 - - 0 2.0 + + 100 200 - - 0 2.0 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - s - seconds + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 - - - Disabled - Enabled - + + 100 200 - - 1 65535 + + 2 5 - - - Disabled - Enabled - + + 0.01 0.5 - - 1 65535 + + 0 4 - - s - seconds - 0.1 60 + + 0 48 - - 0 10000000 + + 100 200 - - 0.1 5.0 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 20 + m + meters - - - Disabled - Enabled - + + 0 100 + m + meters - - Disabled @@ -750,29 +773,6 @@ Trigger - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - deg/s/s degrees per square second @@ -890,37 +890,53 @@ 1 11 - + Disabled Enabled + Enabled with attitude reporting - + - None - 1stCANDriver - 2ndCanDriver + Right side up + Upside down - - 1 10 - - - 0:LogAllFrames - - + Disabled Enabled - + Disabled - Enabled + FirstCAN + SecondCAN + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + Hz + hertz + + + litres + litres + Disabled @@ -1025,59 +1041,36 @@ s seconds - - - Disabled - Enabled - - - + Disabled Enabled - - - Disabled - FirstCAN - SecondCAN - - - - - Disabled - 300 - 301 - 302 - 303 - 304 - 305 - 306 - 307 - - - - Hz - hertz - - + + 0.00001 1 litres litres - + Disabled Enabled - Enabled with attitude reporting - + - Right side up - Upside down + None + 1stCANDriver + 2ndCanDriver + + 1 10 + + + 0:LogAllFrames + Disabled @@ -1127,17 +1120,35 @@ 0 30 - + Disabled Enabled - - 0.00001 1 - litres - litres + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Set as Rangefinder + Set as Proximity sensor + + + 1 4 + + + Set as Rangefinder @@ -1171,17 +1182,6 @@ 1 255 - - - Set as Rangefinder - Set as Proximity sensor - - - - 1 4 - - - diff --git a/Sub-4.5/Parameters.html b/Sub-4.5/Parameters.html index 0212b59..60b0bee 100644 --- a/Sub-4.5/Parameters.html +++ b/Sub-4.5/Parameters.html @@ -484,6 +484,61 @@

Backup altitude (MSL) for EKF origin (ArduSub:ORIGIN_ALT)

Lua Script Parameters

+

enable web server (WEB_ENABLE)

+ +

enable web server

+ + + +

web server TCP port (WEB_BIND_PORT)

+ +

web server TCP port

+ + + +

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+ +

web server debugging

+ + + +

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

+ + + +

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

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

+ + +

WinchControl Rate Up (WINCH_RATE_UP)

Maximum rate when retracting line

@@ -620,6 +675,14 @@

Rover Quicktune RC function (RTUN_RC_FUNC)

+

Mount POI distance max (POI_DIST_MAX)

+ +

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

+ + +

Deadreckoning Enable (DR_ENABLE)

Deadreckoning Enable

@@ -710,14 +773,6 @@

Deadreckoning Next Mode (DR_NEXT_MODE)

-

Mount POI distance max (POI_DIST_MAX)

- -

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

- - -

parameter reversion enable (PREV_ENABLE)

Enable parameter reversion system

@@ -736,48 +791,6 @@

param reversion RC function (PREV_RC_FUNC)

-

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

- - -

Quicktune enable (QUIK_ENABLE)

Enable quicktune system

@@ -898,6 +911,48 @@

Quicktune options (QUIK_OPTIONS)

+

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

@@ -1097,61 +1152,6 @@

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

enable web server (WEB_ENABLE)

- -

enable web server

- - - -

web server TCP port (WEB_BIND_PORT)

- -

web server TCP port

- - - -

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
- -

web server debugging

- - - -

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

- - - -

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

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

- - -

Angular acceleration limit (AEROM_ANG_ACCEL)

Maximum angular acceleration in maneuvers

@@ -1411,6 +1411,29 @@

Trik Count (TRIK_COUNT)

+

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+ +

Enable DJIRS2 debug

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + +

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

Enable Halo6000 EFI driver

@@ -1468,177 +1491,30 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

ViewPro debug

+

Enable Hobbywing ESC telemetry

-

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+

Hobbywing ESC motor poles (ESC_HW_POLES)

-

Camera selection when switch is in low position

+

Number of motor poles for eRPM scaling

-

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+

Hobbywing ESC motor offset (ESC_HW_OFS)

-

Camera selection when switch is in middle position

- - - -

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

- -

Camera selection when switch is in high position

- - - -

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

- - - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
- -

Enable DJIRS2 debug

- - - -

DJIRS2 upside down (DJIR_UPSIDEDOWN)

- -

DJIRS2 upside down

- - - -

EFI INF-Inject enable (EFI_INF_ENABLE)

- -

Enable EFI INF-Inject driver

- - - -

Enable ANX battery support (BATT_ANX_ENABLE)

- -

Enable ANX battery support

- - - -

Set ANX CAN driver (BATT_ANX_CANDRV)

- -

Set ANX CAN driver

- - - -

ANX CAN battery index (BATT_ANX_INDEX)

- -

ANX CAN battery index

- - - -

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
- -

ANX CAN battery options

- - - -

Generator SVFFI enable (EFI_SVF_ENABLE)

- -

Enable SVFFI generator support

- - - -

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

- -

Check for Generator ARM state before arming

+

Motor number offset of first ESC

@@ -1799,9 +1675,9 @@

SkyPower EFI restart time (EFI_SP_RST_TIME)

-

Hobbywing ESC Enable (ESC_HW_ENABLE)

+

EFI DLA enable (EFI_DLA_ENABLE)

-

Enable Hobbywing ESC telemetry

+

Enable EFI DLA driver

-

EFI DLA enable (EFI_DLA_ENABLE)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

Enable EFI DLA driver

+

Set ANX CAN driver

+ + + +

ANX CAN battery index (BATT_ANX_INDEX)

+ +

ANX CAN battery index

+ + + +

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+ +

ANX CAN battery options

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

-

EFI DLA fuel scale (EFI_DLA_LPS)

+

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

-

EFI DLA litres of fuel per second of injection time

+

Camera selection when switch is in low position

+ + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+ +

Camera selection when switch is in high position

+ + + +

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 INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ diff --git a/Sub-4.5/Parameters.md b/Sub-4.5/Parameters.md index f29e725..995cb23 100644 --- a/Sub-4.5/Parameters.md +++ b/Sub-4.5/Parameters.md @@ -431,6 +431,58 @@ Minimum depth to engage SURFTRAK mode # Lua Script Parameters +## WEB_ENABLE: enable web server + +enable web server + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BIND_PORT: web server TCP port + +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 + +- Range: 0.1 60 + +## WEB_SENDFILE_MIN: web server minimum file size for sendfile + +*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 10000000 + ## WINCH_RATE_UP: WinchControl Rate Up Maximum rate when retracting line @@ -539,6 +591,12 @@ RCn_OPTION number to use to control tuning stop/start/save |306|Scripting7| |307|Scripting8| +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 + ## DR_ENABLE: Deadreckoning Enable Deadreckoning Enable @@ -613,12 +671,6 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De |21|Smart_RTL| |27|Auto RTL| -## POI_DIST_MAX: Mount POI distance max - -POI's max distance (in meters) from the vehicle - -- Range: 0 10000 - ## PREV_ENABLE: parameter reversion enable Enable parameter reversion system @@ -632,41 +684,6 @@ Enable parameter reversion system RCn_OPTION number to used to trigger parameter reversion -## 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| - ## QUIK_ENABLE: Quicktune enable Enable quicktune system @@ -761,6 +778,41 @@ Additional options. When the Two Position Switch option is enabled then a high s - Bitmask: 0:UseTwoPositionSwitch +## 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 @@ -913,58 +965,6 @@ Settings this parameter to one triggers an automatic follow offset calculation b |0|Disabled| |1|Trigger| -## WEB_ENABLE: enable web server - -enable web server - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## WEB_BIND_PORT: web server TCP port - -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 - -- Range: 0.1 60 - -## WEB_SENDFILE_MIN: web server minimum file size for sendfile - -*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 10000000 - ## AEROM_ANG_ACCEL: Angular acceleration limit Maximum angular acceleration in maneuvers @@ -1153,6 +1153,27 @@ 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* + +Enable DJIRS2 debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled with attitude reporting| + +## DJIR_UPSIDEDOWN: DJIRS2 upside down + +DJIRS2 upside down + +|Value|Meaning| +|:---:|:---:| +|0|Right side up| +|1|Upside down| + ## EFI_H6K_ENABLE: Enable Halo6000 EFI driver Enable Halo6000 EFI driver @@ -1200,155 +1221,26 @@ The capacity of the tank in litres - Units: litres -## 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: 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| - -## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid - -Camera selection when switch is in middle 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| - -## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High - -Camera selection when switch is in high 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| - -## 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 - -## 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: DJIRS2 upside down - -DJIRS2 upside down - -|Value|Meaning| -|:---:|:---:| -|0|Right side up| -|1|Upside down| - -## EFI_INF_ENABLE: EFI INF-Inject enable - -Enable EFI INF-Inject driver - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| - -## BATT_ANX_ENABLE: Enable ANX battery support +## ESC_HW_ENABLE: Hobbywing ESC Enable -Enable ANX battery support +Enable Hobbywing ESC telemetry |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## BATT_ANX_CANDRV: Set ANX CAN driver - -Set ANX CAN driver - -|Value|Meaning| -|:---:|:---:| -|0|None| -|1|1stCANDriver| -|2|2ndCanDriver| - -## BATT_ANX_INDEX: ANX CAN battery index - -ANX CAN battery index - -- Range: 1 10 - -## BATT_ANX_OPTIONS: ANX CAN battery options - -*Note: This parameter is for advanced users* - -ANX CAN battery options - -- Bitmask: 0:LogAllFrames - -## EFI_SVF_ENABLE: Generator SVFFI enable +## ESC_HW_POLES: Hobbywing ESC motor poles -Enable SVFFI generator support +Number of motor poles for eRPM scaling -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 1 50 -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## ESC_HW_OFS: Hobbywing ESC motor offset -Check for Generator ARM state before arming +Motor number offset of first ESC -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 0 31 ## EFI_SP_ENABLE: Enable SkyPower EFI support @@ -1494,43 +1386,151 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## ESC_HW_ENABLE: Hobbywing ESC Enable +## EFI_DLA_ENABLE: EFI DLA enable -Enable Hobbywing ESC telemetry +Enable EFI DLA driver |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## ESC_HW_POLES: Hobbywing ESC motor poles +## EFI_DLA_LPS: EFI DLA fuel scale -Number of motor poles for eRPM scaling +EFI DLA litres of fuel per second of injection time -- Range: 1 50 +- Range: 0.00001 1 -## ESC_HW_OFS: Hobbywing ESC motor offset +- Units: litres -Motor number offset of first ESC +## BATT_ANX_ENABLE: Enable ANX battery support -- Range: 0 31 +Enable ANX battery support -## EFI_DLA_ENABLE: EFI DLA enable +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| -Enable EFI DLA driver +## BATT_ANX_CANDRV: Set ANX CAN driver + +Set ANX CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## BATT_ANX_INDEX: ANX CAN battery index + +ANX CAN battery index + +- Range: 1 10 + +## BATT_ANX_OPTIONS: ANX CAN battery options + +*Note: This parameter is for advanced users* + +ANX CAN battery options + +- Bitmask: 0:LogAllFrames + +## VIEP_DEBUG: ViewPro debug + +*Note: This parameter is for advanced users* + +ViewPro debug |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| +|2|Enabled including attitude reporting| -## EFI_DLA_LPS: EFI DLA fuel scale +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low -EFI DLA litres of fuel per second of injection time +Camera selection when switch is in low position -- Range: 0.00001 1 +|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| -- Units: litres +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid + +Camera selection when switch is in middle 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| + +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High + +Camera selection when switch is in high 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| + +## 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 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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| ## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor diff --git a/Sub-4.5/ParametersLatex.rst b/Sub-4.5/ParametersLatex.rst index e5eb289..d371023 100644 --- a/Sub-4.5/ParametersLatex.rst +++ b/Sub-4.5/ParametersLatex.rst @@ -1013,6 +1013,122 @@ Lua Script Parameters --------------------- +.. _WEB_ENABLE: + +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +enable web server + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BIND_PORT: + +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +web server TCP port + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_DEBUG: + +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\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server block size for download + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_TIMEOUT: + +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +timeout for inactive connections + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ + + + + +.. _WEB_SENDFILE_MIN: + +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *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 | ++---------------+ + + + + .. _WINCH_RATE_UP: WINCH\_RATE\_UP: WinchControl Rate Up @@ -1299,6 +1415,24 @@ RCn\_OPTION number to use to control tuning stop\/start\/save +.. _POI_DIST_MAX: + +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +POI\'s max distance \(in meters\) from the vehicle + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + .. _DR_ENABLE: DR\_ENABLE: Deadreckoning Enable @@ -1485,24 +1619,6 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. -.. _POI_DIST_MAX: - -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -POI\'s max distance \(in meters\) from the vehicle - - -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ - - - - .. _PREV_ENABLE: PREV\_ENABLE: parameter reversion enable @@ -1532,84 +1648,6 @@ PREV\_RC\_FUNC: param reversion RC function RCn\_OPTION number to used to trigger parameter reversion -.. _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 | -+-------+----------+ - - - - .. _QUIK_ENABLE: QUIK\_ENABLE: Quicktune enable @@ -1861,28 +1899,106 @@ Additional options\. When the Two Position Switch option is enabled then a high -.. _BATT_SOC_COUNT: +.. _RCK_FORCEHL: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +Automatically enables High Latency mode if not already enabled -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC1_IDX: +.. _RCK_PERIOD: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +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 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of battery SOC estimators + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_IDX: + +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Battery estimator index @@ -2297,122 +2413,6 @@ Settings this parameter to one triggers an automatic follow offset calculation b -.. _WEB_ENABLE: - -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -enable web server - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _WEB_BIND_PORT: - -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -web server TCP port - - -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ - - - - -.. _WEB_DEBUG: - -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\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -web server block size for download - - -+------------+ -| Range | -+============+ -| 1 to 65535 | -+------------+ - - - - -.. _WEB_TIMEOUT: - -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -timeout for inactive connections - - -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ - - - - -.. _WEB_SENDFILE_MIN: - -WEB\_SENDFILE\_MIN: web server minimum file size for sendfile -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *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 | -+---------------+ - - - - .. _AEROM_ANG_ACCEL: AEROM\_ANG\_ACCEL: Angular acceleration limit @@ -2966,6 +2966,49 @@ Number of tricks which can be selected over the range of the trik selection RC c +.. _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 | ++-------+---------------+ + + + + .. _EFI_H6K_ENABLE: EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver @@ -3078,231 +3121,13 @@ The capacity of the tank in litres -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug +.. _ESC_HW_ENABLE: +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -+-------+--------------------------------------+ -| 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 | -+-------+-------------------------------+ - - - - -.. _VIEP_CAM_SWMID: - -VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in middle 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 | -+-------+-------------------------------+ - - - - -.. _VIEP_CAM_SWHIGH: - -VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in high 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 | -+-------+-------------------------------+ - - - - -.. _VIEP_ZOOM_SPEED: - -VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ViewPro Zoom Speed\. Higher numbers result in faster zooming - - -+--------+ -| Range | -+========+ -| 0 to 7 | -+--------+ - - - - -.. _VIEP_ZOOM_MAX: - -VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ViewPro Zoom Times Max - - -+---------+ -| Range | -+=========+ -| 0 to 30 | -+---------+ - - - - -.. _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 | -+-------+---------------+ - - - - -.. _EFI_INF_ENABLE: - -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI INF\-Inject driver - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _BATT_ANX_ENABLE: - -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable ANX battery support +Enable Hobbywing ESC telemetry +-------+----------+ @@ -3316,101 +3141,38 @@ Enable ANX battery support -.. _BATT_ANX_CANDRV: - -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Set ANX CAN driver - - -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ - - - - -.. _BATT_ANX_INDEX: +.. _ESC_HW_POLES: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Number of motor poles for eRPM scaling +---------+ | Range | +=========+ -| 1 to 10 | +| 1 to 50 | +---------+ -.. _BATT_ANX_OPTIONS: - -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: +.. _ESC_HW_OFS: -EFI\_SVF\_ENABLE: Generator SVFFI enable +ESC\_HW\_OFS: Hobbywing ESC motor offset ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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 +Motor number offset of first ESC -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ @@ -3590,199 +3352,435 @@ SkyPower EFI generator control function\. This is the RCn\_OPTION value to use t EFI\_SP\_MIN\_RPM: SkyPower EFI minimum RPM ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* +| *Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _EFI_SP_TLM_RT: + +EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 10 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_LOG_RT: + +EFI\_SP\_LOG\_RT: SkyPower EFI log rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_ST_DISARM: + +EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_MODEL: + +EFI\_SP\_MODEL: SkyPower EFI ECU model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI ECU model + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Default | ++-------+---------+ +| 1 | SP_275 | ++-------+---------+ + + + + +.. _EFI_SP_GEN_CTRL: + +EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI enable generator control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_RST_TIME: + +EFI\_SP\_RST\_TIME: SkyPower EFI restart time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _EFI_DLA_ENABLE: + +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI DLA driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_DLA_LPS: + +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI DLA litres of fuel per second of injection time + + ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ + + + + +.. _BATT_ANX_ENABLE: + +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped +Set ANX CAN driver -+-----------+ -| Range | -+===========+ -| 1 to 1000 | -+-----------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _EFI_SP_TLM_RT: -EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _BATT_ANX_INDEX: -| *Note: This parameter is for advanced users* +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS +ANX CAN battery index -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 10 | hertz | -+---------+-------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _EFI_SP_LOG_RT: -EFI\_SP\_LOG\_RT: SkyPower EFI log rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +.. _BATT_ANX_OPTIONS: + +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* -SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed +ANX CAN battery options -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 50 | hertz | -+---------+-------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ -.. _EFI_SP_ST_DISARM: +.. _VIEP_DEBUG: -EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed +ViewPro debug -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -.. _EFI_SP_MODEL: +.. _VIEP_CAM_SWLOW: -EFI\_SP\_MODEL: SkyPower EFI ECU model -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI ECU model +Camera selection when switch is in low position -+-------+---------+ -| Value | Meaning | -+=======+=========+ -| 0 | Default | -+-------+---------+ -| 1 | SP_275 | -+-------+---------+ ++-------+-------------------------------+ +| 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 | ++-------+-------------------------------+ -.. _EFI_SP_GEN_CTRL: +.. _VIEP_CAM_SWMID: -EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI enable generator control +Camera selection when switch is in middle position -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-------+-------------------------------+ +| 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 | ++-------+-------------------------------+ -.. _EFI_SP_RST_TIME: +.. _VIEP_CAM_SWHIGH: -EFI\_SP\_RST\_TIME: SkyPower EFI restart time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. +Camera selection when switch is in high position -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 10 | seconds | -+---------+---------+ ++-------+-------------------------------+ +| 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 | ++-------+-------------------------------+ -.. _ESC_HW_ENABLE: +.. _VIEP_ZOOM_SPEED: -ESC\_HW\_ENABLE: Hobbywing ESC Enable +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Hobbywing ESC telemetry +ViewPro Zoom Speed\. Higher numbers result in faster zooming -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -.. _ESC_HW_POLES: +.. _VIEP_ZOOM_MAX: -ESC\_HW\_POLES: Hobbywing ESC motor poles -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of motor poles for eRPM scaling +ViewPro Zoom Times Max +---------+ | Range | +=========+ -| 1 to 50 | +| 0 to 30 | +---------+ -.. _ESC_HW_OFS: +.. _EFI_INF_ENABLE: -ESC\_HW\_OFS: Hobbywing ESC motor offset +EFI\_INF\_ENABLE: EFI INF\-Inject enable ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Motor number offset of first ESC +Enable EFI INF\-Inject driver -+---------+ -| Range | -+=========+ -| 0 to 31 | -+---------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _EFI_DLA_ENABLE: +.. _EFI_SVF_ENABLE: -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable EFI DLA driver +Enable SVFFI generator support +-------+----------+ @@ -3796,20 +3794,22 @@ 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 | ++-------+----------+ diff --git a/Sub-4.5/apm.pdef.xml b/Sub-4.5/apm.pdef.xml index 3080a9d..1fc3f0c 100644 --- a/Sub-4.5/apm.pdef.xml +++ b/Sub-4.5/apm.pdef.xml @@ -261,6 +261,32 @@ + + + Disabled + Enabled + + + + 1 65535 + + + + Disabled + Enabled + + + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 + 0.1 5.0 @@ -328,6 +354,9 @@ Scripting8 + + 0 10000 + Disabled @@ -378,9 +407,6 @@ Auto RTL - - 0 10000 - Disabled @@ -389,29 +415,6 @@ - - - Disabled - Enabled - - - - 0 600 - s - seconds - - - - Disabled - Enabled - - - - - Disabled - Enabled - - Disabled @@ -466,6 +469,29 @@ 0:UseTwoPositionSwitch + + + Disabled + Enabled + + + + 0 600 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + Enabled + + 0 4 @@ -546,32 +572,6 @@ Trigger - - - Disabled - Enabled - - - - 1 65535 - - - - Disabled - Enabled - - - - 1 65535 - - - s - seconds - 0.1 60 - - - 0 10000000 - deg/s/s degrees per square second @@ -689,6 +689,19 @@ 1 11 + + + Disabled + Enabled + Enabled with attitude reporting + + + + + Right side up + Upside down + + Disabled @@ -723,104 +736,17 @@ litres litres - - - Disabled - Enabled - Enabled including attitude reporting - - - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - - - - - No change in camera selection - EO1 - IR thermal - EO1 + IR Picture-in-picture - IR + EO1 Picture-in-picture - Fusion - IR1 13mm - IR2 52mm - - - - - 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 - Enabled with attitude reporting - - - - - Right side up - Upside down - - - - - Disabled - Enabled - - - + Disabled Enabled - - - None - 1stCANDriver - 2ndCanDriver - - - - 1 10 - - - 0:LogAllFrames - - - - Disabled - Enabled - + + 1 50 - - - Disabled - Enabled - + + 0 31 @@ -914,28 +840,102 @@ s seconds - + Disabled Enabled - - 1 50 + + 0.00001 1 + litres + litres - - 0 31 + + + Disabled + Enabled + - + + + None + 1stCANDriver + 2ndCanDriver + + + + 1 10 + + + 0:LogAllFrames + + Disabled Enabled + Enabled including attitude reporting - - 0.00001 1 - litres - litres + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + 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 + + + + + Disabled + Enabled + + + + + Disabled + Enabled +