diff --git a/Copter-4.5/Parameters.html b/Copter-4.5/Parameters.html index 31bcca3..d2bb2b5 100644 --- a/Copter-4.5/Parameters.html +++ b/Copter-4.5/Parameters.html @@ -1303,348 +1303,353 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Mount POI distance max (POI_DIST_MAX)

+

parameter reversion enable (PREV_ENABLE)

-

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

+

Enable parameter reversion system

-

Count of SOC estimators (BATT_SOC_COUNT)

+

param reversion RC function (PREV_RC_FUNC)

-

Number of battery SOC estimators

+

RCn_OPTION number to used to trigger parameter reversion

-

Battery estimator index (BATT_SOC1_IDX)

+

enable web server (WEB_ENABLE)

-

Battery estimator index

+

enable web server

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator cell count

+

web server TCP port

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server debugging

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

web server block size for download

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

timeout for inactive connections

-

Battery estimator index (BATT_SOC2_IDX)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

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

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator cell count

+

Enable quicktune system

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient1

+

axes to tune

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC3_IDX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Count of SOC estimators (BATT_SOC_COUNT)

-

Battery estimator coefficient1

+

Number of battery SOC estimators

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Battery estimator index (BATT_SOC1_IDX)

-

Battery estimator coefficient2

+

Battery estimator index

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Battery estimator cell count (BATT_SOC1_NCELL)

-

Battery estimator coefficient3

+

Battery estimator cell count

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC1_C1)

-

Enable parameter reversion system

+

Battery estimator coefficient1

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC1_C2)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient2

-

Force enable High Latency mode (RCK_FORCEHL)

+

Battery estimator coefficient3 (BATT_SOC1_C3)

-

Automatically enables High Latency mode if not already enabled

+

Battery estimator coefficient3

-

Update rate (RCK_PERIOD)

+

Battery estimator index (BATT_SOC2_IDX)

-

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

+

Battery estimator index

-

Display Rockblock debugging text (RCK_DEBUG)

+

Battery estimator cell count (BATT_SOC2_NCELL)

-

Sends Rockblock debug text to GCS via statustexts

+

Battery estimator cell count

-

Enable Message transmission (RCK_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

Enables the Rockblock sending and recieving

+

Battery estimator coefficient1

-

Rover Quicktune enable (RTUN_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

Enable quicktune system

+

Battery estimator coefficient2

-

Rover Quicktune axes (RTUN_AXES)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

axes to tune

+

Battery estimator coefficient3

-

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+

Battery estimator index (BATT_SOC3_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+

Battery estimator cell count (BATT_SOC3_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

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

+

Battery estimator coefficient2

-

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+

Battery estimator index (BATT_SOC4_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC4_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_SOC4_C2)

-

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

+

Battery estimator coefficient2

-

Deadreckoning Enable (DR_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

Deadreckoning Enable

+

Battery estimator coefficient3

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

-

enable web server (WEB_ENABLE)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

enable web server

+

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

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

web server block size for download

+

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

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune options (QUIK_OPTIONS)

-

timeout for inactive connections

+

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

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

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

+

ExternalNav may be used if innovations are below this threshold

-

WinchControl Rate Up (WINCH_RATE_UP)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Maximum rate when retracting line

+

ExternalNav may be used if quality is above this threshold

-

WinchControl Rate Down (WINCH_RATE_DN)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Maximum rate when releasing line

+

OpticalFlow may be used if innovations are below this threshold

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

RCn_OPTION number to use to control winch rate

+

OpticalFlow may be used if quality is above this threshold

-

Quicktune enable (QUIK_ENABLE)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Enable quicktune system

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Quicktune axes (QUIK_AXES)

+

Deadreckoning Enable (DR_ENABLE)

-

axes to tune

+

Deadreckoning Enable

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

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 oscillation rate threshold (QUIK_OSC_SMAX)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

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 Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

Maximum value for yaw P gain

+

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

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

Maximum value for yaw D gain

+

lean angle (in degrees) during deadreckoning

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

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

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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

+

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 auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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

+

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

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Precland altitude cutoff (PLND_ALT_CUTOFF)

-

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

+

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

-

Quicktune RC function (QUIK_RC_FUNC)

+

Precland distance cutoff (DIST_CUTOFF)

-

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

+

The distance from target beyond which the target is ignored

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Ship landing enable (SHIP_ENABLE)

-

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 ship landing system

-

Quicktune options (QUIK_OPTIONS)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

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.

+

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.

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

ExternalNav may be used if innovations are below this threshold

+

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

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Mount POI distance max (POI_DIST_MAX)

-

ExternalNav may be used if quality is above this threshold

+

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

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

OpticalFlow may be used if innovations are below this threshold

+

Maximum rate when retracting line

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

OpticalFlow may be used if quality is above this threshold

+

Maximum rate when releasing line

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

RCn_OPTION number to use to control winch rate

-

Ship landing enable (SHIP_ENABLE)

+

Force enable High Latency mode (RCK_FORCEHL)

-

Enable ship landing system

+

Automatically enables High Latency mode if not already enabled

-

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)

+

Enable Message transmission (RCK_ENABLE)

-

The distance from target beyond which the target is ignored

+

Enables the Rockblock sending and recieving

@@ -2278,143 +2278,22 @@

Trik Selection Scripting Function (TRIK_SEL_FN)

Trik Action Scripting Function (TRIK_ACT_FN)

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

- - - -

Trik Count (TRIK_COUNT)

- -

Number of tricks which can be selected over the range of the trik selection RC channel

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
- -

ViewPro debug

- - - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

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 DLA enable (EFI_DLA_ENABLE)

- -

Enable EFI DLA driver

- - - -

EFI DLA fuel scale (EFI_DLA_LPS)

- -

EFI DLA litres of fuel per second of injection time

- - - -

Generator SVFFI enable (EFI_SVF_ENABLE)

- -

Enable SVFFI generator support

- -

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

- - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users

Enable DJIRS2 debug

@@ -2726,29 +2567,162 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

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

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

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)

+

Enable Hobbywing ESC telemetry

-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

Hobbywing ESC motor poles (ESC_HW_POLES)

-

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

+

Number of motor poles for eRPM scaling

-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

Hobbywing ESC motor offset (ESC_HW_OFS)

-

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

+

Motor number offset of first ESC

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

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

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

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

+ +

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

+ + + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

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

+ + + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

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

+ + +

ADSB_ Parameters

diff --git a/Copter-4.5/Parameters.md b/Copter-4.5/Parameters.md index 7afef73..f89279d 100644 --- a/Copter-4.5/Parameters.md +++ b/Copter-4.5/Parameters.md @@ -1251,138 +1251,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## POI_DIST_MAX: Mount POI distance max - -POI's max distance (in meters) from the vehicle - -- Range: 0 10000 - -## 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 - -- Range: 2 5 - -## BATT_SOC1_C3: Battery estimator coefficient3 - -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 - ## PREV_ENABLE: parameter reversion enable Enable parameter reversion system @@ -1396,40 +1264,57 @@ Enable parameter reversion system RCn_OPTION number to used to trigger parameter reversion -## RCK_FORCEHL: Force enable High Latency mode +## WEB_ENABLE: enable web server -Automatically enables High Latency mode if not already enabled +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_PERIOD: Update rate +## WEB_BIND_PORT: web server TCP port -When in High Latency mode, send Rockblock updates every N seconds +web server TCP port -- Range: 0 600 +- Range: 1 65535 -- Units: s +## WEB_DEBUG: web server debugging -## RCK_DEBUG: Display Rockblock debugging text +*Note: This parameter is for advanced users* -Sends Rockblock debug text to GCS via statustexts +web server debugging |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_ENABLE: Enable Message transmission +## WEB_BLOCK_SIZE: web server block size -Enables the Rockblock sending and recieving +*Note: This parameter is for advanced users* -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +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 ## RTUN_ENABLE: Rover Quicktune enable @@ -1512,158 +1397,131 @@ RCn_OPTION number to use to control tuning stop/start/save |306|Scripting7| |307|Scripting8| -## DR_ENABLE: Deadreckoning Enable - -Deadreckoning Enable - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC_COUNT: Count of SOC estimators -## DR_ENABLE_DIST: Deadreckoning Enable Distance +Number of battery SOC estimators -Distance from home (in meters) beyond which the dead reckoning will be enabled +- Range: 0 4 -- Units: m +## BATT_SOC1_IDX: Battery estimator index -## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold +Battery estimator index -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 +- Range: 0 4 -- Range: 0 10 +## BATT_SOC1_NCELL: Battery estimator cell count -## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold +Battery estimator cell count -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 +- Range: 0 48 -- Range: 0 30 +## BATT_SOC1_C1: Battery estimator coefficient1 -## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds +Battery estimator coefficient1 -GPS checks must fail for this many seconds before dead reckoning will be triggered +- Range: 100 200 -- Units: s +## BATT_SOC1_C2: Battery estimator coefficient2 -## DR_FLY_ANGLE: Deadreckoning Lean Angle +Battery estimator coefficient2 -lean angle (in degrees) during deadreckoning +- Range: 2 5 -- Units: deg +## BATT_SOC1_C3: Battery estimator coefficient3 -- Range: 0 45 +Battery estimator coefficient3 -## DR_FLY_ALT_MIN: Deadreckoning Altitude Min +- Range: 0.01 0.5 -Copter will fly at at least this altitude (in meters) above home during deadreckoning +## BATT_SOC2_IDX: Battery estimator index -- Units: m +Battery estimator index -- Range: 0 1000 +- Range: 0 4 -## DR_FLY_TIMEOUT: Deadreckoning flight timeout +## BATT_SOC2_NCELL: Battery estimator cell count -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 +Battery estimator cell count -- Units: s +- Range: 0 48 -## DR_NEXT_MODE: Deadreckoning Next Mode +## BATT_SOC2_C1: Battery estimator coefficient1 -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 +Battery estimator coefficient1 -|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| +- Range: 100 200 -## WEB_ENABLE: enable web server +## BATT_SOC2_C2: Battery estimator coefficient2 -enable web server +Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 2 5 -## WEB_BIND_PORT: web server TCP port +## BATT_SOC2_C3: Battery estimator coefficient3 -web server TCP port +Battery estimator coefficient3 -- Range: 1 65535 +- Range: 0.01 0.5 -## WEB_DEBUG: web server debugging +## BATT_SOC3_IDX: Battery estimator index -*Note: This parameter is for advanced users* +Battery estimator index -web server debugging +- Range: 0 4 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC3_NCELL: Battery estimator cell count -## WEB_BLOCK_SIZE: web server block size +Battery estimator cell count -*Note: This parameter is for advanced users* +- Range: 0 48 -web server block size for download +## BATT_SOC3_C1: Battery estimator coefficient1 -- Range: 1 65535 +Battery estimator coefficient1 -## WEB_TIMEOUT: web server timeout +- Range: 100 200 -*Note: This parameter is for advanced users* +## BATT_SOC3_C2: Battery estimator coefficient2 -timeout for inactive connections +Battery estimator coefficient2 -- Units: s +- Range: 2 5 -- Range: 0.1 60 +## BATT_SOC3_C3: Battery estimator coefficient3 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +Battery estimator coefficient3 -*Note: This parameter is for advanced users* +- Range: 0.01 0.5 -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 +## BATT_SOC4_IDX: Battery estimator index -- Range: 0 10000000 +Battery estimator index -## WINCH_RATE_UP: WinchControl Rate Up +- Range: 0 4 -Maximum rate when retracting line +## BATT_SOC4_NCELL: Battery estimator cell count -- Range: 0.1 5.0 +Battery estimator cell count -## WINCH_RATE_DN: WinchControl Rate Down +- Range: 0 48 -Maximum rate when releasing line +## BATT_SOC4_C1: Battery estimator coefficient1 -- Range: 0.1 5.0 +Battery estimator coefficient1 -## WINCH_RC_FUNC: Winch Rate Control RC function +- Range: 100 200 -RCn_OPTION number to use to control winch rate +## BATT_SOC4_C2: Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 ## QUIK_ENABLE: Quicktune enable @@ -1795,6 +1653,96 @@ OpticalFlow may be used if rangefinder distance is below this threshold - Units: m +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +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 + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +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 + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## 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 + +- Units: s + +## 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 + +|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| + +## 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 + ## SHIP_ENABLE: Ship landing enable Enable ship landing system @@ -1821,21 +1769,73 @@ Settings this parameter to one triggers an automatic follow offset calculation b |0|Disabled| |1|Trigger| -## PLND_ALT_CUTOFF: Precland altitude cutoff +## POI_DIST_MAX: Mount POI distance max -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing +POI's max distance (in meters) from the vehicle -- Range: 0 20 +- Range: 0 10000 -- Units: m +## WINCH_RATE_UP: WinchControl Rate Up -## DIST_CUTOFF: Precland distance cutoff +Maximum rate when retracting line -The distance from target beyond which the target is ignored +- Range: 0.1 5.0 -- Range: 0 100 +## WINCH_RATE_DN: WinchControl Rate Down -- Units: m +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## 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 @@ -1993,171 +1993,70 @@ This sets the rate we send data for time sync between aircraft When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used -- Units: deg - -## AEROM_OPTIONS: Aerobatic options - -Options to control aerobatic behavior - -- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised - -- Units: deg - -## TRIK_ENABLE: Tricks on Switch Enable - -Enables Tricks on Switch. TRIK params hidden until enabled - -## TRIK_SEL_FN: Trik Selection Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick selection - -- Range: 301 307 - -## TRIK_ACT_FN: Trik Action Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) - -- Range: 301 307 - -## TRIK_COUNT: Trik Count - -Number of tricks which can be selected over the range of the trik selection RC channel - -- Range: 1 11 - -## 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 +- Units: deg -ViewPro Zoom Speed. Higher numbers result in faster zooming +## AEROM_OPTIONS: Aerobatic options -- Range: 0 7 +Options to control aerobatic behavior -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised -ViewPro Zoom Times Max +- Units: deg -- Range: 0 30 +## TRIK_ENABLE: Tricks on Switch Enable -## EFI_DLA_ENABLE: EFI DLA enable +Enables Tricks on Switch. TRIK params hidden until enabled -Enable EFI DLA driver +## TRIK_SEL_FN: Trik Selection Scripting Function -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +Setting an RC channel's _OPTION to this value will use it for trick selection -## EFI_DLA_LPS: EFI DLA fuel scale +- Range: 301 307 -EFI DLA litres of fuel per second of injection time +## TRIK_ACT_FN: Trik Action Scripting Function -- Range: 0.00001 1 +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) -- Units: litres +- Range: 301 307 -## EFI_SVF_ENABLE: Generator SVFFI enable +## TRIK_COUNT: Trik Count -Enable SVFFI generator support +Number of tricks which can be selected over the range of the trik selection RC channel -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 1 11 -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## BATT_ANX_ENABLE: Enable ANX battery support -Check for Generator ARM state before arming +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## ESC_HW_ENABLE: Hobbywing ESC Enable +## BATT_ANX_CANDRV: Set ANX CAN driver -Enable Hobbywing ESC telemetry +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|1|Enabled| - -## ESC_HW_POLES: Hobbywing ESC motor poles - -Number of motor poles for eRPM scaling +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -- Range: 1 50 +## BATT_ANX_INDEX: ANX CAN battery index -## ESC_HW_OFS: Hobbywing ESC motor offset +ANX CAN battery index -Motor number offset of first ESC +- Range: 1 10 -- Range: 0 31 +## BATT_ANX_OPTIONS: ANX CAN battery options -## EFI_INF_ENABLE: EFI INF-Inject enable +*Note: This parameter is for advanced users* -Enable EFI INF-Inject driver +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Bitmask: 0:LogAllFrames ## EFI_SP_ENABLE: Enable SkyPower EFI support @@ -2303,39 +2202,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## BATT_ANX_ENABLE: Enable ANX battery support - -Enable ANX battery support - -|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 - ## DJIR_DEBUG: DJIRS2 debug *Note: This parameter is for advanced users* @@ -2404,24 +2270,139 @@ The capacity of the tank in litres - Units: litres -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## ESC_HW_ENABLE: Hobbywing ESC Enable -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) +Enable Hobbywing ESC telemetry |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|Disabled| +|1|Enabled| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## ESC_HW_POLES: Hobbywing ESC motor poles -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Number of motor poles for eRPM scaling -- Range: 1 4 +- Range: 1 50 -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## ESC_HW_OFS: Hobbywing ESC motor offset -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2483,6 +2464,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # ADSB Parameters ## ADSB_TYPE: ADSB Type diff --git a/Copter-4.5/ParametersLatex.rst b/Copter-4.5/ParametersLatex.rst index 7a40bfc..582a1c1 100644 --- a/Copter-4.5/ParametersLatex.rst +++ b/Copter-4.5/ParametersLatex.rst @@ -2756,247 +2756,412 @@ Lua Script Parameters --------------------- -.. _POI_DIST_MAX: +.. _PREV_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enable parameter reversion system -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC_COUNT: +.. _PREV_RC_FUNC: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +RCn\_OPTION number to used to trigger parameter reversion -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_ENABLE: +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +enable web server -.. _BATT_SOC1_IDX: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator index -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_BIND_PORT: +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +web server TCP port -.. _BATT_SOC1_NCELL: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -Battery estimator cell count -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ +.. _WEB_DEBUG: +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +web server debugging -.. _BATT_SOC1_C1: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator coefficient1 + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +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: +.. _RTUN_ENABLE: -BATT\_SOC2\_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_SOC2_NCELL: +.. _RTUN_AXES: -BATT\_SOC2\_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_SOC2_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC2\_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_SOC2_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC2\_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_SOC2_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC2\_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 | ++----------+ -.. _BATT_SOC3_IDX: +.. _RTUN_SPD_FFRATIO: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC3_NCELL: +.. _RTUN_SPD_P_RATIO: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _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 + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count +---------+ @@ -3008,9 +3173,9 @@ Battery estimator cell count -.. _BATT_SOC3_C1: +.. _BATT_SOC1_C1: -BATT\_SOC3\_C1: Battery estimator coefficient1 +BATT\_SOC1\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3026,9 +3191,9 @@ Battery estimator coefficient1 -.. _BATT_SOC3_C2: +.. _BATT_SOC1_C2: -BATT\_SOC3\_C2: Battery estimator coefficient2 +BATT\_SOC1\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3044,9 +3209,9 @@ Battery estimator coefficient2 -.. _BATT_SOC3_C3: +.. _BATT_SOC1_C3: -BATT\_SOC3\_C3: Battery estimator coefficient3 +BATT\_SOC1\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3062,9 +3227,9 @@ Battery estimator coefficient3 -.. _BATT_SOC4_IDX: +.. _BATT_SOC2_IDX: -BATT\_SOC4\_IDX: Battery estimator index +BATT\_SOC2\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3080,9 +3245,9 @@ Battery estimator index -.. _BATT_SOC4_NCELL: +.. _BATT_SOC2_NCELL: -BATT\_SOC4\_NCELL: Battery estimator cell count +BATT\_SOC2\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3098,9 +3263,9 @@ Battery estimator cell count -.. _BATT_SOC4_C1: +.. _BATT_SOC2_C1: -BATT\_SOC4\_C1: Battery estimator coefficient1 +BATT\_SOC2\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3116,9 +3281,9 @@ Battery estimator coefficient1 -.. _BATT_SOC4_C2: +.. _BATT_SOC2_C2: -BATT\_SOC4\_C2: Battery estimator coefficient2 +BATT\_SOC2\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3134,9 +3299,9 @@ Battery estimator coefficient2 -.. _BATT_SOC4_C3: +.. _BATT_SOC2_C3: -BATT\_SOC4\_C3: Battery estimator coefficient3 +BATT\_SOC2\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3152,117 +3317,190 @@ Battery estimator coefficient3 -.. _PREV_ENABLE: +.. _BATT_SOC3_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC3\_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_SOC3_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _RCK_FORCEHL: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +.. _BATT_SOC3_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _RCK_PERIOD: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +.. _BATT_SOC3_C2: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _RCK_DEBUG: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +.. _BATT_SOC3_C3: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient3 -.. _RCK_ENABLE: ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -RCK\_ENABLE: Enable Message transmission + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_ENABLE: +.. _BATT_SOC4_NCELL: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system @@ -3279,138 +3517,158 @@ Enable quicktune system -.. _RTUN_AXES: +.. _QUIK_AXES: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ axes to tune -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _RTUN_STR_FFRATIO: +.. _QUIK_DOUBLE_TIME: -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 to 1.0 | -+----------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _RTUN_STR_P_RATIO: +.. _QUIK_GAIN_MARGIN: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _RTUN_STR_I_RATIO: +.. _QUIK_OSC_SMAX: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _RTUN_SPD_FFRATIO: +.. _QUIK_YAW_P_MAX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Maximum value for yaw P gain +----------+ | Range | +==========+ -| 0 to 1.0 | +| 0.1 to 3 | +----------+ -.. _RTUN_SPD_P_RATIO: +.. _QUIK_YAW_D_MAX: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Maximum value for yaw D gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _RTUN_SPD_I_RATIO: +.. _QUIK_RP_PI_RATIO: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _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 | ++-----------+ + -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER @@ -3427,10 +3685,10 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _RTUN_AUTO_SAVE: +.. _QUIK_AUTO_SAVE: -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 @@ -3445,34 +3703,137 @@ Number of seconds after completion of tune to auto\-save\. This is useful when u -.. _RTUN_RC_FUNC: +.. _QUIK_RC_FUNC: -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: + +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 | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +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 | ++-----+----------------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ @@ -3663,13 +4024,49 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. -.. _WEB_ENABLE: +.. _PLND_ALT_CUTOFF: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system +-------+----------+ @@ -3683,32 +4080,31 @@ enable web server -.. _WEB_BIND_PORT: +.. _SHIP_LAND_ANGLE: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +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 | -+============+ -| 1 to 65535 | -+------------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _WEB_DEBUG: +.. _SHIP_AUTO_OFS: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +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\. +-------+----------+ @@ -3716,88 +4112,49 @@ web server debugging +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ -.. _WEB_BLOCK_SIZE: +.. _POI_DIST_MAX: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 1 to 65535 | +| 0 to 10000 | +------------+ -.. _WEB_TIMEOUT: +.. _WINCH_RATE_UP: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Maximum rate when retracting line -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum rate when retracting line - - -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ - - - - -.. _WINCH_RATE_DN: +.. _WINCH_RATE_DN: WINCH\_RATE\_DN: WinchControl Rate Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3847,181 +4204,13 @@ RCn\_OPTION number to use to control winch rate -.. _QUIK_ENABLE: - -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _QUIK_AXES: - -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ - - - - -.. _QUIK_DOUBLE_TIME: - -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Time to double a tuning parameter\. Raise this for a slower tune\. - - -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ - - - - -.. _QUIK_GAIN_MARGIN: - -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ - - - - -.. _QUIK_OSC_SMAX: - -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. - - -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ - - - - -.. _QUIK_YAW_P_MAX: - -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw P gain - - -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ - - - - -.. _QUIK_YAW_D_MAX: - -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw D gain - - -+------------+ -| Range | -+============+ -| 0.001 to 1 | -+------------+ - - - - -.. _QUIK_RP_PI_RATIO: - -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain - - -+------------+ -| Range | -+============+ -| 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 | -+-----------+ - - - - -.. _QUIK_AUTO_FILTER: +.. _RCK_FORCEHL: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -4035,249 +4224,60 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _QUIK_OPTIONS: - -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 | -+-----+----------------------+ - - - - -.. _ESRC_EXTN_THRESH: - -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_EXTN_QUAL: - -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if quality is above this threshold - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _ESRC_FLOW_THRESH: - -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: - -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if rangefinder distance is below this threshold - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ - - - - -.. _SHIP_ENABLE: - -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable ship landing system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _SHIP_LAND_ANGLE: - -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. - - -+-------------+---------+ -| Range | 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\. - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ - - - - -.. _PLND_ALT_CUTOFF: +.. _RCK_DEBUG: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _RCK_ENABLE: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +Enables the Rockblock sending and recieving -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -4754,327 +4754,94 @@ Options to control aerobatic behavior | Bit | Meaning | +=====+==========================+ | 0 | UseRTLOnAbort | -+-----+--------------------------+ -| 1 | AddAtToMessages | -+-----+--------------------------+ -| 2 | DualAircraftSynchronised | -+-----+--------------------------+ - - - - -+---------+ -| Units | -+=========+ -| degrees | -+---------+ - - - - -.. _TRIK_ENABLE: - -TRIK\_ENABLE: Tricks on Switch Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables Tricks on Switch\. TRIK params hidden until enabled - - -.. _TRIK_SEL_FN: - -TRIK\_SEL\_FN: Trik Selection Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick selection - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_ACT_FN: - -TRIK\_ACT\_FN: Trik Action Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - - - - -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ -ViewPro Zoom Times Max +---------+ -| Range | +| Units | +=========+ -| 0 to 30 | +| degrees | +---------+ -.. _EFI_DLA_ENABLE: - -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI DLA driver - +.. _TRIK_ENABLE: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enables Tricks on Switch\. TRIK params hidden until enabled -.. _EFI_DLA_LPS: +.. _TRIK_SEL_FN: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Setting an RC channel\'s \_OPTION to this value will use it for trick selection -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ENABLE: +.. _TRIK_ACT_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ARMCHECK: +.. _TRIK_COUNT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +Number of tricks which can be selected over the range of the trik selection RC channel -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _ESC_HW_ENABLE: +.. _BATT_ANX_ENABLE: -ESC\_HW\_ENABLE: Hobbywing ESC Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Hobbywing ESC telemetry +Enable ANX battery support +-------+----------+ @@ -5088,58 +4855,61 @@ Enable Hobbywing ESC telemetry -.. _ESC_HW_POLES: +.. _BATT_ANX_CANDRV: -ESC\_HW\_POLES: Hobbywing ESC motor poles -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of motor poles for eRPM scaling +Set ANX CAN driver -+---------+ -| Range | -+=========+ -| 1 to 50 | -+---------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _ESC_HW_OFS: +.. _BATT_ANX_INDEX: -ESC\_HW\_OFS: Hobbywing ESC motor offset -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Motor number offset of first ESC +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 31 | +| 1 to 10 | +---------+ -.. _EFI_INF_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable EFI INF\-Inject driver +ANX CAN battery options -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -5333,51 +5103,172 @@ SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered -.. _EFI_SP_TLM_RT: +.. _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\_SP\_TLM\_RT: SkyPower EFI telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +Enable DJIRS2 debug -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 10 | hertz | -+---------+-------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _EFI_SP_LOG_RT: +.. _DJIR_UPSIDEDOWN: -EFI\_SP\_LOG\_RT: SkyPower EFI log rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +DJIRS2 upside down -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 50 | hertz | -+---------+-------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _EFI_SP_ST_DISARM: +.. _EFI_H6K_ENABLE: -EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed +Enable Halo6000 EFI driver +-------+----------+ @@ -5391,33 +5282,35 @@ SkyPower EFI allow start disarmed\. This controls if starting the engine while d -.. _EFI_SP_MODEL: +.. _EFI_H6K_CANDRV: -EFI\_SP\_MODEL: SkyPower EFI ECU model -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI ECU model +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+---------+ -| Value | Meaning | -+=======+=========+ -| 0 | Default | -+-------+---------+ -| 1 | SP_275 | -+-------+---------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SP_GEN_CTRL: +.. _EFI_H6K_START_FN: -EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI enable generator control +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -5425,37 +5318,69 @@ SkyPower EFI enable generator control +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SP_RST_TIME: +.. _EFI_H6K_TELEM_RT: -EFI\_SP\_RST\_TIME: SkyPower EFI restart time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +The rate that additional generator telemetry is sent -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 10 | seconds | -+---------+---------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ -.. _BATT_ANX_ENABLE: +.. _EFI_H6K_FUELTOT: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ANX battery support +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry +-------+----------+ @@ -5469,265 +5394,293 @@ Enable ANX battery support -.. _BATT_ANX_CANDRV: +.. _ESC_HW_POLES: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Set ANX CAN driver +Number of motor poles for eRPM scaling -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ -.. _BATT_ANX_INDEX: +.. _ESC_HW_OFS: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Motor number offset of first ESC +---------+ | Range | +=========+ -| 1 to 10 | +| 0 to 31 | +---------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_INF_ENABLE: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Enable EFI INF\-Inject driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DJIR_DEBUG: +.. _VIEP_DEBUG: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* -Enable DJIRS2 debug +ViewPro debug -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -.. _DJIR_UPSIDEDOWN: +.. _VIEP_CAM_SWLOW: -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +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 | ++-------+-------------------------------+ -DJIRS2 upside down -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _EFI_H6K_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable Halo6000 EFI driver -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _EFI_H6K_CANDRV: -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | -+-------+----------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _EFI_H6K_TELEM_RT: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -The rate that additional generator telemetry is sent -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _EFI_SVF_ENABLE: +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable SVFFI generator support -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _EFI_SVF_ARMCHECK: +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Check for Generator ARM state before arming -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -5896,6 +5849,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_ADSB_: diff --git a/Copter-4.5/apm.pdef.xml b/Copter-4.5/apm.pdef.xml index bdbfa0b..3d6ea14 100644 --- a/Copter-4.5/apm.pdef.xml +++ b/Copter-4.5/apm.pdef.xml @@ -830,72 +830,6 @@ - - 0 10000 - - - 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 @@ -904,28 +838,31 @@ - + Disabled Enabled - - 0 600 - s - seconds + + 1 65535 - + Disabled Enabled - - - Disabled - Enabled - + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 @@ -976,99 +913,68 @@ Scripting8 - - - Disabled - Enabled - + + 0 4 - - m - meters + + 0 4 - - 0 10 + + 0 48 - - 0 30 + + 100 200 - - s - seconds + + 2 5 - - deg - degrees - 0 45 + + 0.01 0.5 - - m - meters - 0 1000 + + 0 4 - - s - seconds + + 0 48 - - - AltHold - Auto - Guided - Loiter - RTL - Circle - Land - PosHold - Brake - Guided_NoGPS - Smart_RTL - Auto RTL - + + 100 200 - - - Disabled - Enabled - + + 2 5 - - 1 65535 + + 0.01 0.5 - - - Disabled - Enabled - + + 0 4 - - 1 65535 + + 0 48 - - s - seconds - 0.1 60 + + 100 200 - - 0 10000000 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - 0.1 5.0 + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 @@ -1140,37 +1046,131 @@ % percent - - 0 50 - m - meters + + 0 50 + m + meters + + + + Disabled + Enabled + + + + m + meters + + + 0 10 + + + 0 30 + + + s + seconds + + + deg + degrees + 0 45 + + + m + meters + 0 1000 + + + s + seconds + + + + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + PosHold + Brake + Guided_NoGPS + Smart_RTL + Auto RTL + + + + 0 20 + m + meters + + + 0 100 + m + meters + + + + Disabled + Enabled + + + + -180 180 + deg + degrees + + + + Disabled + Trigger + + + + 0 10000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + - + Disabled Enabled - - -180 180 - deg - degrees + + 0 600 + s + seconds - + Disabled - Trigger + Enabled - - 0 20 - m - meters - - - 0 100 - m - meters + + + Disabled + Enabled + deg/s/s @@ -1289,95 +1289,24 @@ 1 11 - - - 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 - - - - 0.00001 1 - litres - litres - - - - Disabled - Enabled - - - + Disabled Enabled - + - Disabled - Enabled + None + 1stCANDriver + 2ndCanDriver - - 1 50 - - - 0 31 + + 1 10 - - - Disabled - Enabled - + + 0:LogAllFrames @@ -1471,25 +1400,6 @@ s seconds - - - Disabled - Enabled - - - - - None - 1stCANDriver - 2ndCanDriver - - - - 1 10 - - - 0:LogAllFrames - Disabled @@ -1537,17 +1447,96 @@ litres litres - + - Set as Rangefinder - Set as Proximity sensor + Disabled + Enabled - - 1 4 + + 1 50 + + + 0 31 + + + + Disabled + Enabled + + + + + 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 + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1581,6 +1570,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + diff --git a/Plane-4.5/Parameters.html b/Plane-4.5/Parameters.html index 2f2c024..f6e812a 100644 --- a/Plane-4.5/Parameters.html +++ b/Plane-4.5/Parameters.html @@ -1319,348 +1319,353 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Mount POI distance max (POI_DIST_MAX)

+

parameter reversion enable (PREV_ENABLE)

-

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

+

Enable parameter reversion system

-

Count of SOC estimators (BATT_SOC_COUNT)

+

param reversion RC function (PREV_RC_FUNC)

-

Number of battery SOC estimators

+

RCn_OPTION number to used to trigger parameter reversion

-

Battery estimator index (BATT_SOC1_IDX)

+

enable web server (WEB_ENABLE)

-

Battery estimator index

+

enable web server

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator cell count

+

web server TCP port

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server debugging

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

web server block size for download

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

timeout for inactive connections

-

Battery estimator index (BATT_SOC2_IDX)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

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

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator cell count

+

Enable quicktune system

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient1

+

axes to tune

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC3_IDX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Count of SOC estimators (BATT_SOC_COUNT)

-

Battery estimator coefficient1

+

Number of battery SOC estimators

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Battery estimator index (BATT_SOC1_IDX)

-

Battery estimator coefficient2

+

Battery estimator index

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Battery estimator cell count (BATT_SOC1_NCELL)

-

Battery estimator coefficient3

+

Battery estimator cell count

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC1_C1)

-

Enable parameter reversion system

+

Battery estimator coefficient1

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC1_C2)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient2

-

Force enable High Latency mode (RCK_FORCEHL)

+

Battery estimator coefficient3 (BATT_SOC1_C3)

-

Automatically enables High Latency mode if not already enabled

+

Battery estimator coefficient3

-

Update rate (RCK_PERIOD)

+

Battery estimator index (BATT_SOC2_IDX)

-

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

+

Battery estimator index

-

Display Rockblock debugging text (RCK_DEBUG)

+

Battery estimator cell count (BATT_SOC2_NCELL)

-

Sends Rockblock debug text to GCS via statustexts

+

Battery estimator cell count

-

Enable Message transmission (RCK_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

Enables the Rockblock sending and recieving

+

Battery estimator coefficient1

-

Rover Quicktune enable (RTUN_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

Enable quicktune system

+

Battery estimator coefficient2

-

Rover Quicktune axes (RTUN_AXES)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

axes to tune

+

Battery estimator coefficient3

-

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+

Battery estimator index (BATT_SOC3_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+

Battery estimator cell count (BATT_SOC3_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

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

+

Battery estimator coefficient2

-

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+

Battery estimator index (BATT_SOC4_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC4_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_SOC4_C2)

-

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

+

Battery estimator coefficient2

-

Deadreckoning Enable (DR_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

Deadreckoning Enable

+

Battery estimator coefficient3

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

-

enable web server (WEB_ENABLE)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

enable web server

+

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

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

web server block size for download

+

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

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune options (QUIK_OPTIONS)

-

timeout for inactive connections

+

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

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

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

+

ExternalNav may be used if innovations are below this threshold

-

WinchControl Rate Up (WINCH_RATE_UP)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Maximum rate when retracting line

+

ExternalNav may be used if quality is above this threshold

-

WinchControl Rate Down (WINCH_RATE_DN)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Maximum rate when releasing line

+

OpticalFlow may be used if innovations are below this threshold

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

RCn_OPTION number to use to control winch rate

+

OpticalFlow may be used if quality is above this threshold

-

Quicktune enable (QUIK_ENABLE)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Enable quicktune system

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Quicktune axes (QUIK_AXES)

+

Deadreckoning Enable (DR_ENABLE)

-

axes to tune

+

Deadreckoning Enable

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

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 oscillation rate threshold (QUIK_OSC_SMAX)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

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 Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

Maximum value for yaw P gain

+

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

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

Maximum value for yaw D gain

+

lean angle (in degrees) during deadreckoning

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

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

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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

+

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 auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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

+

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

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Precland altitude cutoff (PLND_ALT_CUTOFF)

-

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

+

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

-

Quicktune RC function (QUIK_RC_FUNC)

+

Precland distance cutoff (DIST_CUTOFF)

-

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

+

The distance from target beyond which the target is ignored

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Ship landing enable (SHIP_ENABLE)

-

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 ship landing system

-

Quicktune options (QUIK_OPTIONS)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

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.

+

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.

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

ExternalNav may be used if innovations are below this threshold

+

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

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Mount POI distance max (POI_DIST_MAX)

-

ExternalNav may be used if quality is above this threshold

+

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

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

OpticalFlow may be used if innovations are below this threshold

+

Maximum rate when retracting line

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

OpticalFlow may be used if quality is above this threshold

+

Maximum rate when releasing line

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

RCn_OPTION number to use to control winch rate

-

Ship landing enable (SHIP_ENABLE)

+

Force enable High Latency mode (RCK_FORCEHL)

-

Enable ship landing system

+

Automatically enables High Latency mode if not already enabled

-

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)

+

Enable Message transmission (RCK_ENABLE)

-

The distance from target beyond which the target is ignored

+

Enables the Rockblock sending and recieving

@@ -2294,143 +2294,22 @@

Trik Selection Scripting Function (TRIK_SEL_FN)

Trik Action Scripting Function (TRIK_ACT_FN)

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

- - - -

Trik Count (TRIK_COUNT)

- -

Number of tricks which can be selected over the range of the trik selection RC channel

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
- -

ViewPro debug

- - - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

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 DLA enable (EFI_DLA_ENABLE)

- -

Enable EFI DLA driver

- - - -

EFI DLA fuel scale (EFI_DLA_LPS)

- -

EFI DLA litres of fuel per second of injection time

- - - -

Generator SVFFI enable (EFI_SVF_ENABLE)

- -

Enable SVFFI generator support

- -

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

- - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users

Enable DJIRS2 debug

@@ -2742,29 +2583,162 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

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

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

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)

+

Enable Hobbywing ESC telemetry

-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

Hobbywing ESC motor poles (ESC_HW_POLES)

-

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

+

Number of motor poles for eRPM scaling

-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

Hobbywing ESC motor offset (ESC_HW_OFS)

-

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

+

Motor number offset of first ESC

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

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

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

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

+ +

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

+ + + +

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 b70f0e2..17fe8c0 100644 --- a/Plane-4.5/Parameters.md +++ b/Plane-4.5/Parameters.md @@ -1290,138 +1290,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## POI_DIST_MAX: Mount POI distance max - -POI's max distance (in meters) from the vehicle - -- Range: 0 10000 - -## 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 - -- Range: 2 5 - -## BATT_SOC1_C3: Battery estimator coefficient3 - -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 - ## PREV_ENABLE: parameter reversion enable Enable parameter reversion system @@ -1435,40 +1303,57 @@ Enable parameter reversion system RCn_OPTION number to used to trigger parameter reversion -## RCK_FORCEHL: Force enable High Latency mode +## WEB_ENABLE: enable web server -Automatically enables High Latency mode if not already enabled +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_PERIOD: Update rate +## WEB_BIND_PORT: web server TCP port -When in High Latency mode, send Rockblock updates every N seconds +web server TCP port -- Range: 0 600 +- Range: 1 65535 -- Units: s +## WEB_DEBUG: web server debugging -## RCK_DEBUG: Display Rockblock debugging text +*Note: This parameter is for advanced users* -Sends Rockblock debug text to GCS via statustexts +web server debugging |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_ENABLE: Enable Message transmission +## WEB_BLOCK_SIZE: web server block size -Enables the Rockblock sending and recieving +*Note: This parameter is for advanced users* -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +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 ## RTUN_ENABLE: Rover Quicktune enable @@ -1551,158 +1436,131 @@ RCn_OPTION number to use to control tuning stop/start/save |306|Scripting7| |307|Scripting8| -## DR_ENABLE: Deadreckoning Enable - -Deadreckoning Enable - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC_COUNT: Count of SOC estimators -## DR_ENABLE_DIST: Deadreckoning Enable Distance +Number of battery SOC estimators -Distance from home (in meters) beyond which the dead reckoning will be enabled +- Range: 0 4 -- Units: m +## BATT_SOC1_IDX: Battery estimator index -## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold +Battery estimator index -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 +- Range: 0 4 -- Range: 0 10 +## BATT_SOC1_NCELL: Battery estimator cell count -## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold +Battery estimator cell count -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 +- Range: 0 48 -- Range: 0 30 +## BATT_SOC1_C1: Battery estimator coefficient1 -## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds +Battery estimator coefficient1 -GPS checks must fail for this many seconds before dead reckoning will be triggered +- Range: 100 200 -- Units: s +## BATT_SOC1_C2: Battery estimator coefficient2 -## DR_FLY_ANGLE: Deadreckoning Lean Angle +Battery estimator coefficient2 -lean angle (in degrees) during deadreckoning +- Range: 2 5 -- Units: deg +## BATT_SOC1_C3: Battery estimator coefficient3 -- Range: 0 45 +Battery estimator coefficient3 -## DR_FLY_ALT_MIN: Deadreckoning Altitude Min +- Range: 0.01 0.5 -Copter will fly at at least this altitude (in meters) above home during deadreckoning +## BATT_SOC2_IDX: Battery estimator index -- Units: m +Battery estimator index -- Range: 0 1000 +- Range: 0 4 -## DR_FLY_TIMEOUT: Deadreckoning flight timeout +## BATT_SOC2_NCELL: Battery estimator cell count -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 +Battery estimator cell count -- Units: s +- Range: 0 48 -## DR_NEXT_MODE: Deadreckoning Next Mode +## BATT_SOC2_C1: Battery estimator coefficient1 -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 +Battery estimator coefficient1 -|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| +- Range: 100 200 -## WEB_ENABLE: enable web server +## BATT_SOC2_C2: Battery estimator coefficient2 -enable web server +Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 2 5 -## WEB_BIND_PORT: web server TCP port +## BATT_SOC2_C3: Battery estimator coefficient3 -web server TCP port +Battery estimator coefficient3 -- Range: 1 65535 +- Range: 0.01 0.5 -## WEB_DEBUG: web server debugging +## BATT_SOC3_IDX: Battery estimator index -*Note: This parameter is for advanced users* +Battery estimator index -web server debugging +- Range: 0 4 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC3_NCELL: Battery estimator cell count -## WEB_BLOCK_SIZE: web server block size +Battery estimator cell count -*Note: This parameter is for advanced users* +- Range: 0 48 -web server block size for download +## BATT_SOC3_C1: Battery estimator coefficient1 -- Range: 1 65535 +Battery estimator coefficient1 -## WEB_TIMEOUT: web server timeout +- Range: 100 200 -*Note: This parameter is for advanced users* +## BATT_SOC3_C2: Battery estimator coefficient2 -timeout for inactive connections +Battery estimator coefficient2 -- Units: s +- Range: 2 5 -- Range: 0.1 60 +## BATT_SOC3_C3: Battery estimator coefficient3 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +Battery estimator coefficient3 -*Note: This parameter is for advanced users* +- Range: 0.01 0.5 -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 +## BATT_SOC4_IDX: Battery estimator index -- Range: 0 10000000 +Battery estimator index -## WINCH_RATE_UP: WinchControl Rate Up +- Range: 0 4 -Maximum rate when retracting line +## BATT_SOC4_NCELL: Battery estimator cell count -- Range: 0.1 5.0 +Battery estimator cell count -## WINCH_RATE_DN: WinchControl Rate Down +- Range: 0 48 -Maximum rate when releasing line +## BATT_SOC4_C1: Battery estimator coefficient1 -- Range: 0.1 5.0 +Battery estimator coefficient1 -## WINCH_RC_FUNC: Winch Rate Control RC function +- Range: 100 200 -RCn_OPTION number to use to control winch rate +## BATT_SOC4_C2: Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 ## QUIK_ENABLE: Quicktune enable @@ -1834,6 +1692,96 @@ OpticalFlow may be used if rangefinder distance is below this threshold - Units: m +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +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 + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +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 + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## 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 + +- Units: s + +## 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 + +|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| + +## 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 + ## SHIP_ENABLE: Ship landing enable Enable ship landing system @@ -1860,21 +1808,73 @@ Settings this parameter to one triggers an automatic follow offset calculation b |0|Disabled| |1|Trigger| -## PLND_ALT_CUTOFF: Precland altitude cutoff +## POI_DIST_MAX: Mount POI distance max -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing +POI's max distance (in meters) from the vehicle -- Range: 0 20 +- Range: 0 10000 -- Units: m +## WINCH_RATE_UP: WinchControl Rate Up -## DIST_CUTOFF: Precland distance cutoff +Maximum rate when retracting line -The distance from target beyond which the target is ignored +- Range: 0.1 5.0 -- Range: 0 100 +## WINCH_RATE_DN: WinchControl Rate Down -- Units: m +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## 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 @@ -2032,171 +2032,70 @@ This sets the rate we send data for time sync between aircraft When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used -- Units: deg - -## AEROM_OPTIONS: Aerobatic options - -Options to control aerobatic behavior - -- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised - -- Units: deg - -## TRIK_ENABLE: Tricks on Switch Enable - -Enables Tricks on Switch. TRIK params hidden until enabled - -## TRIK_SEL_FN: Trik Selection Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick selection - -- Range: 301 307 - -## TRIK_ACT_FN: Trik Action Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) - -- Range: 301 307 - -## TRIK_COUNT: Trik Count - -Number of tricks which can be selected over the range of the trik selection RC channel - -- Range: 1 11 - -## 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 +- Units: deg -ViewPro Zoom Speed. Higher numbers result in faster zooming +## AEROM_OPTIONS: Aerobatic options -- Range: 0 7 +Options to control aerobatic behavior -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised -ViewPro Zoom Times Max +- Units: deg -- Range: 0 30 +## TRIK_ENABLE: Tricks on Switch Enable -## EFI_DLA_ENABLE: EFI DLA enable +Enables Tricks on Switch. TRIK params hidden until enabled -Enable EFI DLA driver +## TRIK_SEL_FN: Trik Selection Scripting Function -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +Setting an RC channel's _OPTION to this value will use it for trick selection -## EFI_DLA_LPS: EFI DLA fuel scale +- Range: 301 307 -EFI DLA litres of fuel per second of injection time +## TRIK_ACT_FN: Trik Action Scripting Function -- Range: 0.00001 1 +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) -- Units: litres +- Range: 301 307 -## EFI_SVF_ENABLE: Generator SVFFI enable +## TRIK_COUNT: Trik Count -Enable SVFFI generator support +Number of tricks which can be selected over the range of the trik selection RC channel -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 1 11 -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## BATT_ANX_ENABLE: Enable ANX battery support -Check for Generator ARM state before arming +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## ESC_HW_ENABLE: Hobbywing ESC Enable +## BATT_ANX_CANDRV: Set ANX CAN driver -Enable Hobbywing ESC telemetry +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|1|Enabled| - -## ESC_HW_POLES: Hobbywing ESC motor poles - -Number of motor poles for eRPM scaling +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -- Range: 1 50 +## BATT_ANX_INDEX: ANX CAN battery index -## ESC_HW_OFS: Hobbywing ESC motor offset +ANX CAN battery index -Motor number offset of first ESC +- Range: 1 10 -- Range: 0 31 +## BATT_ANX_OPTIONS: ANX CAN battery options -## EFI_INF_ENABLE: EFI INF-Inject enable +*Note: This parameter is for advanced users* -Enable EFI INF-Inject driver +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Bitmask: 0:LogAllFrames ## EFI_SP_ENABLE: Enable SkyPower EFI support @@ -2342,39 +2241,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## BATT_ANX_ENABLE: Enable ANX battery support - -Enable ANX battery support - -|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 - ## DJIR_DEBUG: DJIRS2 debug *Note: This parameter is for advanced users* @@ -2443,24 +2309,139 @@ The capacity of the tank in litres - Units: litres -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## ESC_HW_ENABLE: Hobbywing ESC Enable -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) +Enable Hobbywing ESC telemetry |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|Disabled| +|1|Enabled| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## ESC_HW_POLES: Hobbywing ESC motor poles -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Number of motor poles for eRPM scaling -- Range: 1 4 +- Range: 1 50 -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## ESC_HW_OFS: Hobbywing ESC motor offset -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -2522,6 +2503,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # ADSB Parameters ## ADSB_TYPE: ADSB Type diff --git a/Plane-4.5/ParametersLatex.rst b/Plane-4.5/ParametersLatex.rst index cc83547..23a376f 100644 --- a/Plane-4.5/ParametersLatex.rst +++ b/Plane-4.5/ParametersLatex.rst @@ -2788,247 +2788,412 @@ Lua Script Parameters --------------------- -.. _POI_DIST_MAX: +.. _PREV_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enable parameter reversion system -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC_COUNT: +.. _PREV_RC_FUNC: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +RCn\_OPTION number to used to trigger parameter reversion -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_ENABLE: +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +enable web server -.. _BATT_SOC1_IDX: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator index -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_BIND_PORT: +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +web server TCP port -.. _BATT_SOC1_NCELL: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -Battery estimator cell count -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ +.. _WEB_DEBUG: +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +web server debugging -.. _BATT_SOC1_C1: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator coefficient1 + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +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: +.. _RTUN_ENABLE: -BATT\_SOC2\_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_SOC2_NCELL: +.. _RTUN_AXES: -BATT\_SOC2\_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_SOC2_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC2\_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_SOC2_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC2\_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_SOC2_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC2\_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 | ++----------+ -.. _BATT_SOC3_IDX: +.. _RTUN_SPD_FFRATIO: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC3_NCELL: +.. _RTUN_SPD_P_RATIO: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _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 + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count +---------+ @@ -3040,9 +3205,9 @@ Battery estimator cell count -.. _BATT_SOC3_C1: +.. _BATT_SOC1_C1: -BATT\_SOC3\_C1: Battery estimator coefficient1 +BATT\_SOC1\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3058,9 +3223,9 @@ Battery estimator coefficient1 -.. _BATT_SOC3_C2: +.. _BATT_SOC1_C2: -BATT\_SOC3\_C2: Battery estimator coefficient2 +BATT\_SOC1\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3076,9 +3241,9 @@ Battery estimator coefficient2 -.. _BATT_SOC3_C3: +.. _BATT_SOC1_C3: -BATT\_SOC3\_C3: Battery estimator coefficient3 +BATT\_SOC1\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3094,9 +3259,9 @@ Battery estimator coefficient3 -.. _BATT_SOC4_IDX: +.. _BATT_SOC2_IDX: -BATT\_SOC4\_IDX: Battery estimator index +BATT\_SOC2\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3112,9 +3277,9 @@ Battery estimator index -.. _BATT_SOC4_NCELL: +.. _BATT_SOC2_NCELL: -BATT\_SOC4\_NCELL: Battery estimator cell count +BATT\_SOC2\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3130,9 +3295,9 @@ Battery estimator cell count -.. _BATT_SOC4_C1: +.. _BATT_SOC2_C1: -BATT\_SOC4\_C1: Battery estimator coefficient1 +BATT\_SOC2\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3148,9 +3313,9 @@ Battery estimator coefficient1 -.. _BATT_SOC4_C2: +.. _BATT_SOC2_C2: -BATT\_SOC4\_C2: Battery estimator coefficient2 +BATT\_SOC2\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3166,9 +3331,9 @@ Battery estimator coefficient2 -.. _BATT_SOC4_C3: +.. _BATT_SOC2_C3: -BATT\_SOC4\_C3: Battery estimator coefficient3 +BATT\_SOC2\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3184,117 +3349,190 @@ Battery estimator coefficient3 -.. _PREV_ENABLE: +.. _BATT_SOC3_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC3\_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_SOC3_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _RCK_FORCEHL: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +.. _BATT_SOC3_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _RCK_PERIOD: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +.. _BATT_SOC3_C2: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _RCK_DEBUG: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +.. _BATT_SOC3_C3: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient3 -.. _RCK_ENABLE: ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -RCK\_ENABLE: Enable Message transmission + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_ENABLE: +.. _BATT_SOC4_NCELL: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system @@ -3311,138 +3549,158 @@ Enable quicktune system -.. _RTUN_AXES: +.. _QUIK_AXES: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ axes to tune -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _RTUN_STR_FFRATIO: +.. _QUIK_DOUBLE_TIME: -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 to 1.0 | -+----------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _RTUN_STR_P_RATIO: +.. _QUIK_GAIN_MARGIN: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _RTUN_STR_I_RATIO: +.. _QUIK_OSC_SMAX: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _RTUN_SPD_FFRATIO: +.. _QUIK_YAW_P_MAX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Maximum value for yaw P gain +----------+ | Range | +==========+ -| 0 to 1.0 | +| 0.1 to 3 | +----------+ -.. _RTUN_SPD_P_RATIO: +.. _QUIK_YAW_D_MAX: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Maximum value for yaw D gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _RTUN_SPD_I_RATIO: +.. _QUIK_RP_PI_RATIO: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _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 | ++-----------+ + -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER @@ -3459,10 +3717,10 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _RTUN_AUTO_SAVE: +.. _QUIK_AUTO_SAVE: -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 @@ -3477,34 +3735,137 @@ Number of seconds after completion of tune to auto\-save\. This is useful when u -.. _RTUN_RC_FUNC: +.. _QUIK_RC_FUNC: -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: + +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 | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +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 | ++-----+----------------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ @@ -3695,13 +4056,49 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. -.. _WEB_ENABLE: +.. _PLND_ALT_CUTOFF: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system +-------+----------+ @@ -3715,32 +4112,31 @@ enable web server -.. _WEB_BIND_PORT: +.. _SHIP_LAND_ANGLE: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +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 | -+============+ -| 1 to 65535 | -+------------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _WEB_DEBUG: +.. _SHIP_AUTO_OFS: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +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\. +-------+----------+ @@ -3748,88 +4144,49 @@ web server debugging +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ -.. _WEB_BLOCK_SIZE: +.. _POI_DIST_MAX: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 1 to 65535 | +| 0 to 10000 | +------------+ -.. _WEB_TIMEOUT: +.. _WINCH_RATE_UP: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Maximum rate when retracting line -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum rate when retracting line - - -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ - - - - -.. _WINCH_RATE_DN: +.. _WINCH_RATE_DN: WINCH\_RATE\_DN: WinchControl Rate Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -3879,181 +4236,13 @@ RCn\_OPTION number to use to control winch rate -.. _QUIK_ENABLE: - -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _QUIK_AXES: - -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ - - - - -.. _QUIK_DOUBLE_TIME: - -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Time to double a tuning parameter\. Raise this for a slower tune\. - - -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ - - - - -.. _QUIK_GAIN_MARGIN: - -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ - - - - -.. _QUIK_OSC_SMAX: - -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. - - -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ - - - - -.. _QUIK_YAW_P_MAX: - -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw P gain - - -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ - - - - -.. _QUIK_YAW_D_MAX: - -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw D gain - - -+------------+ -| Range | -+============+ -| 0.001 to 1 | -+------------+ - - - - -.. _QUIK_RP_PI_RATIO: - -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain - - -+------------+ -| Range | -+============+ -| 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 | -+-----------+ - - - - -.. _QUIK_AUTO_FILTER: +.. _RCK_FORCEHL: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -4067,249 +4256,60 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _QUIK_OPTIONS: - -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 | -+-----+----------------------+ - - - - -.. _ESRC_EXTN_THRESH: - -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_EXTN_QUAL: - -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if quality is above this threshold - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _ESRC_FLOW_THRESH: - -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: - -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if rangefinder distance is below this threshold - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ - - - - -.. _SHIP_ENABLE: - -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable ship landing system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _SHIP_LAND_ANGLE: - -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. - - -+-------------+---------+ -| Range | 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\. - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ - - - - -.. _PLND_ALT_CUTOFF: +.. _RCK_DEBUG: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _RCK_ENABLE: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +Enables the Rockblock sending and recieving -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -4786,327 +4786,94 @@ Options to control aerobatic behavior | Bit | Meaning | +=====+==========================+ | 0 | UseRTLOnAbort | -+-----+--------------------------+ -| 1 | AddAtToMessages | -+-----+--------------------------+ -| 2 | DualAircraftSynchronised | -+-----+--------------------------+ - - - - -+---------+ -| Units | -+=========+ -| degrees | -+---------+ - - - - -.. _TRIK_ENABLE: - -TRIK\_ENABLE: Tricks on Switch Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables Tricks on Switch\. TRIK params hidden until enabled - - -.. _TRIK_SEL_FN: - -TRIK\_SEL\_FN: Trik Selection Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick selection - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_ACT_FN: - -TRIK\_ACT\_FN: Trik Action Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - - - - -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ -ViewPro Zoom Times Max +---------+ -| Range | +| Units | +=========+ -| 0 to 30 | +| degrees | +---------+ -.. _EFI_DLA_ENABLE: - -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI DLA driver - +.. _TRIK_ENABLE: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enables Tricks on Switch\. TRIK params hidden until enabled -.. _EFI_DLA_LPS: +.. _TRIK_SEL_FN: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Setting an RC channel\'s \_OPTION to this value will use it for trick selection -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ENABLE: +.. _TRIK_ACT_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ARMCHECK: +.. _TRIK_COUNT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +Number of tricks which can be selected over the range of the trik selection RC channel -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _ESC_HW_ENABLE: +.. _BATT_ANX_ENABLE: -ESC\_HW\_ENABLE: Hobbywing ESC Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Hobbywing ESC telemetry +Enable ANX battery support +-------+----------+ @@ -5120,58 +4887,61 @@ Enable Hobbywing ESC telemetry -.. _ESC_HW_POLES: +.. _BATT_ANX_CANDRV: -ESC\_HW\_POLES: Hobbywing ESC motor poles -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of motor poles for eRPM scaling +Set ANX CAN driver -+---------+ -| Range | -+=========+ -| 1 to 50 | -+---------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _ESC_HW_OFS: +.. _BATT_ANX_INDEX: -ESC\_HW\_OFS: Hobbywing ESC motor offset -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Motor number offset of first ESC +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 31 | +| 1 to 10 | +---------+ -.. _EFI_INF_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable EFI INF\-Inject driver +ANX CAN battery options -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -5365,51 +5135,172 @@ SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered -.. _EFI_SP_TLM_RT: +.. _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\_SP\_TLM\_RT: SkyPower EFI telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +Enable DJIRS2 debug -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 10 | hertz | -+---------+-------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _EFI_SP_LOG_RT: +.. _DJIR_UPSIDEDOWN: -EFI\_SP\_LOG\_RT: SkyPower EFI log rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +DJIRS2 upside down -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 50 | hertz | -+---------+-------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _EFI_SP_ST_DISARM: +.. _EFI_H6K_ENABLE: -EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed +Enable Halo6000 EFI driver +-------+----------+ @@ -5423,33 +5314,35 @@ SkyPower EFI allow start disarmed\. This controls if starting the engine while d -.. _EFI_SP_MODEL: +.. _EFI_H6K_CANDRV: -EFI\_SP\_MODEL: SkyPower EFI ECU model -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI ECU model +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+---------+ -| Value | Meaning | -+=======+=========+ -| 0 | Default | -+-------+---------+ -| 1 | SP_275 | -+-------+---------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SP_GEN_CTRL: +.. _EFI_H6K_START_FN: -EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI enable generator control +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -5457,37 +5350,69 @@ SkyPower EFI enable generator control +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SP_RST_TIME: +.. _EFI_H6K_TELEM_RT: -EFI\_SP\_RST\_TIME: SkyPower EFI restart time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +The rate that additional generator telemetry is sent -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 10 | seconds | -+---------+---------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ -.. _BATT_ANX_ENABLE: +.. _EFI_H6K_FUELTOT: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ANX battery support +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry +-------+----------+ @@ -5501,265 +5426,293 @@ Enable ANX battery support -.. _BATT_ANX_CANDRV: +.. _ESC_HW_POLES: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Set ANX CAN driver +Number of motor poles for eRPM scaling -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ -.. _BATT_ANX_INDEX: +.. _ESC_HW_OFS: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Motor number offset of first ESC +---------+ | Range | +=========+ -| 1 to 10 | +| 0 to 31 | +---------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_INF_ENABLE: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Enable EFI INF\-Inject driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DJIR_DEBUG: +.. _VIEP_DEBUG: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* -Enable DJIRS2 debug +ViewPro debug -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -.. _DJIR_UPSIDEDOWN: +.. _VIEP_CAM_SWLOW: -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +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 | ++-------+-------------------------------+ -DJIRS2 upside down -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _EFI_H6K_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable Halo6000 EFI driver -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _EFI_H6K_CANDRV: -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | -+-------+----------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _EFI_H6K_TELEM_RT: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -The rate that additional generator telemetry is sent -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _EFI_SVF_ENABLE: +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable SVFFI generator support -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _EFI_SVF_ARMCHECK: +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Check for Generator ARM state before arming -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -5928,6 +5881,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_ADSB_: diff --git a/Plane-4.5/apm.pdef.xml b/Plane-4.5/apm.pdef.xml index 0d6123c..b70ef79 100644 --- a/Plane-4.5/apm.pdef.xml +++ b/Plane-4.5/apm.pdef.xml @@ -806,72 +806,6 @@ - - 0 10000 - - - 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 @@ -880,28 +814,31 @@ - + Disabled Enabled - - 0 600 - s - seconds + + 1 65535 - + Disabled Enabled - - - Disabled - Enabled - + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 @@ -952,99 +889,68 @@ Scripting8 - - - Disabled - Enabled - + + 0 4 - - m - meters + + 0 4 - - 0 10 + + 0 48 - - 0 30 + + 100 200 - - s - seconds + + 2 5 - - deg - degrees - 0 45 + + 0.01 0.5 - - m - meters - 0 1000 + + 0 4 - - s - seconds + + 0 48 - - - AltHold - Auto - Guided - Loiter - RTL - Circle - Land - PosHold - Brake - Guided_NoGPS - Smart_RTL - Auto RTL - + + 100 200 - - - Disabled - Enabled - + + 2 5 - - 1 65535 + + 0.01 0.5 - - - Disabled - Enabled - + + 0 4 - - 1 65535 + + 0 48 - - s - seconds - 0.1 60 + + 100 200 - - 0 10000000 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - 0.1 5.0 + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 @@ -1116,37 +1022,131 @@ % percent - - 0 50 - m - meters + + 0 50 + m + meters + + + + Disabled + Enabled + + + + m + meters + + + 0 10 + + + 0 30 + + + s + seconds + + + deg + degrees + 0 45 + + + m + meters + 0 1000 + + + s + seconds + + + + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + PosHold + Brake + Guided_NoGPS + Smart_RTL + Auto RTL + + + + 0 20 + m + meters + + + 0 100 + m + meters + + + + Disabled + Enabled + + + + -180 180 + deg + degrees + + + + Disabled + Trigger + + + + 0 10000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + - + Disabled Enabled - - -180 180 - deg - degrees + + 0 600 + s + seconds - + Disabled - Trigger + Enabled - - 0 20 - m - meters - - - 0 100 - m - meters + + + Disabled + Enabled + deg/s/s @@ -1265,95 +1265,24 @@ 1 11 - - - 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 - - - - 0.00001 1 - litres - litres - - - - Disabled - Enabled - - - + Disabled Enabled - + - Disabled - Enabled + None + 1stCANDriver + 2ndCanDriver - - 1 50 - - - 0 31 + + 1 10 - - - Disabled - Enabled - + + 0:LogAllFrames @@ -1447,25 +1376,6 @@ s seconds - - - Disabled - Enabled - - - - - None - 1stCANDriver - 2ndCanDriver - - - - 1 10 - - - 0:LogAllFrames - Disabled @@ -1513,17 +1423,96 @@ litres litres - + - Set as Rangefinder - Set as Proximity sensor + Disabled + Enabled - - 1 4 + + 1 50 + + + 0 31 + + + + Disabled + Enabled + + + + + 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 + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1557,6 +1546,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + diff --git a/Rover-4.5/Parameters.html b/Rover-4.5/Parameters.html index 1b89bc1..35f236a 100644 --- a/Rover-4.5/Parameters.html +++ b/Rover-4.5/Parameters.html @@ -700,348 +700,353 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

Mount POI distance max (POI_DIST_MAX)

+

parameter reversion enable (PREV_ENABLE)

-

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

+

Enable parameter reversion system

-

Count of SOC estimators (BATT_SOC_COUNT)

+

param reversion RC function (PREV_RC_FUNC)

-

Number of battery SOC estimators

+

RCn_OPTION number to used to trigger parameter reversion

-

Battery estimator index (BATT_SOC1_IDX)

+

enable web server (WEB_ENABLE)

-

Battery estimator index

+

enable web server

-

Battery estimator cell count (BATT_SOC1_NCELL)

+

web server TCP port (WEB_BIND_PORT)

-

Battery estimator cell count

+

web server TCP port

-

Battery estimator coefficient1 (BATT_SOC1_C1)

+

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
-

Battery estimator coefficient1

+

web server debugging

-

Battery estimator coefficient2 (BATT_SOC1_C2)

+

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
-

Battery estimator coefficient2

+

web server block size for download

-

Battery estimator coefficient3 (BATT_SOC1_C3)

+

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
-

Battery estimator coefficient3

+

timeout for inactive connections

-

Battery estimator index (BATT_SOC2_IDX)

+

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

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

-

Battery estimator cell count (BATT_SOC2_NCELL)

+

Rover Quicktune enable (RTUN_ENABLE)

-

Battery estimator cell count

+

Enable quicktune system

-

Battery estimator coefficient1 (BATT_SOC2_C1)

+

Rover Quicktune axes (RTUN_AXES)

-

Battery estimator coefficient1

+

axes to tune

-

Battery estimator coefficient2 (BATT_SOC2_C2)

+

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC2_C3)

+

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC3_IDX)

+

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC3_NCELL)

+

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC3_C1)

+

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

-

Battery estimator coefficient1

+

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

-

Battery estimator coefficient2 (BATT_SOC3_C2)

+

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

-

Battery estimator coefficient2

+

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

-

Battery estimator coefficient3 (BATT_SOC3_C3)

+

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

-

Battery estimator coefficient3

+

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

-

Battery estimator index (BATT_SOC4_IDX)

+

Rover Quicktune auto save (RTUN_AUTO_SAVE)

-

Battery estimator index

+

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

-

Battery estimator cell count (BATT_SOC4_NCELL)

+

Rover Quicktune RC function (RTUN_RC_FUNC)

-

Battery estimator cell count

+

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

-

Battery estimator coefficient1 (BATT_SOC4_C1)

+

Count of SOC estimators (BATT_SOC_COUNT)

-

Battery estimator coefficient1

+

Number of battery SOC estimators

-

Battery estimator coefficient2 (BATT_SOC4_C2)

+

Battery estimator index (BATT_SOC1_IDX)

-

Battery estimator coefficient2

+

Battery estimator index

-

Battery estimator coefficient3 (BATT_SOC4_C3)

+

Battery estimator cell count (BATT_SOC1_NCELL)

-

Battery estimator coefficient3

+

Battery estimator cell count

-

parameter reversion enable (PREV_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC1_C1)

-

Enable parameter reversion system

+

Battery estimator coefficient1

-

param reversion RC function (PREV_RC_FUNC)

+

Battery estimator coefficient2 (BATT_SOC1_C2)

-

RCn_OPTION number to used to trigger parameter reversion

+

Battery estimator coefficient2

-

Force enable High Latency mode (RCK_FORCEHL)

+

Battery estimator coefficient3 (BATT_SOC1_C3)

-

Automatically enables High Latency mode if not already enabled

+

Battery estimator coefficient3

-

Update rate (RCK_PERIOD)

+

Battery estimator index (BATT_SOC2_IDX)

-

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

+

Battery estimator index

-

Display Rockblock debugging text (RCK_DEBUG)

+

Battery estimator cell count (BATT_SOC2_NCELL)

-

Sends Rockblock debug text to GCS via statustexts

+

Battery estimator cell count

-

Enable Message transmission (RCK_ENABLE)

+

Battery estimator coefficient1 (BATT_SOC2_C1)

-

Enables the Rockblock sending and recieving

+

Battery estimator coefficient1

-

Rover Quicktune enable (RTUN_ENABLE)

+

Battery estimator coefficient2 (BATT_SOC2_C2)

-

Enable quicktune system

+

Battery estimator coefficient2

-

Rover Quicktune axes (RTUN_AXES)

+

Battery estimator coefficient3 (BATT_SOC2_C3)

-

axes to tune

+

Battery estimator coefficient3

-

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+

Battery estimator index (BATT_SOC3_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+

Battery estimator cell count (BATT_SOC3_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+

Battery estimator coefficient1 (BATT_SOC3_C1)

-

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

+

Battery estimator coefficient1

-

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+

Battery estimator coefficient2 (BATT_SOC3_C2)

-

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

+

Battery estimator coefficient2

-

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+

Battery estimator coefficient3 (BATT_SOC3_C3)

-

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

+

Battery estimator coefficient3

-

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+

Battery estimator index (BATT_SOC4_IDX)

-

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

+

Battery estimator index

-

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+

Battery estimator cell count (BATT_SOC4_NCELL)

-

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

+

Battery estimator cell count

-

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+

Battery estimator coefficient1 (BATT_SOC4_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_SOC4_C2)

-

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

+

Battery estimator coefficient2

-

Deadreckoning Enable (DR_ENABLE)

+

Battery estimator coefficient3 (BATT_SOC4_C3)

-

Deadreckoning Enable

+

Battery estimator coefficient3

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

-

enable web server (WEB_ENABLE)

+

Quicktune auto filter enable (QUIK_AUTO_FILTER)

-

enable web server

+

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

-

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

-

web server block size for download

+

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

-

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+

Quicktune options (QUIK_OPTIONS)

-

timeout for inactive connections

+

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

-

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

-

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

+

ExternalNav may be used if innovations are below this threshold

-

WinchControl Rate Up (WINCH_RATE_UP)

+

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

-

Maximum rate when retracting line

+

ExternalNav may be used if quality is above this threshold

-

WinchControl Rate Down (WINCH_RATE_DN)

+

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

-

Maximum rate when releasing line

+

OpticalFlow may be used if innovations are below this threshold

-

Winch Rate Control RC function (WINCH_RC_FUNC)

+

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

-

RCn_OPTION number to use to control winch rate

+

OpticalFlow may be used if quality is above this threshold

-

Quicktune enable (QUIK_ENABLE)

+

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

-

Enable quicktune system

+

OpticalFlow may be used if rangefinder distance is below this threshold

-

Quicktune axes (QUIK_AXES)

+

Deadreckoning Enable (DR_ENABLE)

-

axes to tune

+

Deadreckoning Enable

-

Quicktune doubling time (QUIK_DOUBLE_TIME)

+

Deadreckoning Enable Distance (DR_ENABLE_DIST)

-

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

+

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

-

Quicktune gain margin (QUIK_GAIN_MARGIN)

+

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

-

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

+

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 oscillation rate threshold (QUIK_OSC_SMAX)

+

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

-

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

+

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 Yaw P max (QUIK_YAW_P_MAX)

+

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

-

Maximum value for yaw P gain

+

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

-

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+

Deadreckoning Lean Angle (DR_FLY_ANGLE)

-

Maximum value for yaw D gain

+

lean angle (in degrees) during deadreckoning

-

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

-

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

+

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

-

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

-

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

+

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 auto filter enable (QUIK_AUTO_FILTER)

+

Deadreckoning Next Mode (DR_NEXT_MODE)

-

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

+

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

-

Quicktune auto save (QUIK_AUTO_SAVE)

+

Precland altitude cutoff (PLND_ALT_CUTOFF)

-

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

+

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

-

Quicktune RC function (QUIK_RC_FUNC)

+

Precland distance cutoff (DIST_CUTOFF)

-

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

+

The distance from target beyond which the target is ignored

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

Ship landing enable (SHIP_ENABLE)

-

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 ship landing system

-

Quicktune options (QUIK_OPTIONS)

+

Ship landing angle (SHIP_LAND_ANGLE)

-

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.

+

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.

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Ship automatic offset trigger (SHIP_AUTO_OFS)

-

ExternalNav may be used if innovations are below this threshold

+

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

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Mount POI distance max (POI_DIST_MAX)

-

ExternalNav may be used if quality is above this threshold

+

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

-

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

OpticalFlow may be used if innovations are below this threshold

+

Maximum rate when retracting line

-

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

OpticalFlow may be used if quality is above this threshold

+

Maximum rate when releasing line

-

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

OpticalFlow may be used if rangefinder distance is below this threshold

+

RCn_OPTION number to use to control winch rate

-

Ship landing enable (SHIP_ENABLE)

+

Force enable High Latency mode (RCK_FORCEHL)

-

Enable ship landing system

+

Automatically enables High Latency mode if not already enabled

-

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)

+

Enable Message transmission (RCK_ENABLE)

-

The distance from target beyond which the target is ignored

+

Enables the Rockblock sending and recieving

@@ -1675,143 +1675,22 @@

Trik Selection Scripting Function (TRIK_SEL_FN)

Trik Action Scripting Function (TRIK_ACT_FN)

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

- - - -

Trik Count (TRIK_COUNT)

- -

Number of tricks which can be selected over the range of the trik selection RC channel

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
- -

ViewPro debug

- - - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

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 DLA enable (EFI_DLA_ENABLE)

- -

Enable EFI DLA driver

- - - -

EFI DLA fuel scale (EFI_DLA_LPS)

- -

EFI DLA litres of fuel per second of injection time

- - - -

Generator SVFFI enable (EFI_SVF_ENABLE)

- -

Enable SVFFI generator support

- -

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

- - -

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users

Enable DJIRS2 debug

@@ -2123,29 +1964,162 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

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

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

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)

+

Enable Hobbywing ESC telemetry

-

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+

Hobbywing ESC motor poles (ESC_HW_POLES)

-

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

+

Number of motor poles for eRPM scaling

-

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+

Hobbywing ESC motor offset (ESC_HW_OFS)

-

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

+

Motor number offset of first ESC

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

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

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+

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

+ +

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

+ + + +

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 c0d672b..6c79170 100644 --- a/Rover-4.5/Parameters.md +++ b/Rover-4.5/Parameters.md @@ -649,138 +649,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed # Lua Script Parameters -## POI_DIST_MAX: Mount POI distance max - -POI's max distance (in meters) from the vehicle - -- Range: 0 10000 - -## 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 - -- Range: 2 5 - -## BATT_SOC1_C3: Battery estimator coefficient3 - -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 - ## PREV_ENABLE: parameter reversion enable Enable parameter reversion system @@ -794,40 +662,57 @@ Enable parameter reversion system RCn_OPTION number to used to trigger parameter reversion -## RCK_FORCEHL: Force enable High Latency mode +## WEB_ENABLE: enable web server -Automatically enables High Latency mode if not already enabled +enable web server |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_PERIOD: Update rate +## WEB_BIND_PORT: web server TCP port -When in High Latency mode, send Rockblock updates every N seconds +web server TCP port -- Range: 0 600 +- Range: 1 65535 -- Units: s +## WEB_DEBUG: web server debugging -## RCK_DEBUG: Display Rockblock debugging text +*Note: This parameter is for advanced users* -Sends Rockblock debug text to GCS via statustexts +web server debugging |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## RCK_ENABLE: Enable Message transmission +## WEB_BLOCK_SIZE: web server block size -Enables the Rockblock sending and recieving +*Note: This parameter is for advanced users* -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +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 ## RTUN_ENABLE: Rover Quicktune enable @@ -910,158 +795,131 @@ RCn_OPTION number to use to control tuning stop/start/save |306|Scripting7| |307|Scripting8| -## DR_ENABLE: Deadreckoning Enable - -Deadreckoning Enable - -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC_COUNT: Count of SOC estimators -## DR_ENABLE_DIST: Deadreckoning Enable Distance +Number of battery SOC estimators -Distance from home (in meters) beyond which the dead reckoning will be enabled +- Range: 0 4 -- Units: m +## BATT_SOC1_IDX: Battery estimator index -## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold +Battery estimator index -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 +- Range: 0 4 -- Range: 0 10 +## BATT_SOC1_NCELL: Battery estimator cell count -## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold +Battery estimator cell count -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 +- Range: 0 48 -- Range: 0 30 +## BATT_SOC1_C1: Battery estimator coefficient1 -## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds +Battery estimator coefficient1 -GPS checks must fail for this many seconds before dead reckoning will be triggered +- Range: 100 200 -- Units: s +## BATT_SOC1_C2: Battery estimator coefficient2 -## DR_FLY_ANGLE: Deadreckoning Lean Angle +Battery estimator coefficient2 -lean angle (in degrees) during deadreckoning +- Range: 2 5 -- Units: deg +## BATT_SOC1_C3: Battery estimator coefficient3 -- Range: 0 45 +Battery estimator coefficient3 -## DR_FLY_ALT_MIN: Deadreckoning Altitude Min +- Range: 0.01 0.5 -Copter will fly at at least this altitude (in meters) above home during deadreckoning +## BATT_SOC2_IDX: Battery estimator index -- Units: m +Battery estimator index -- Range: 0 1000 +- Range: 0 4 -## DR_FLY_TIMEOUT: Deadreckoning flight timeout +## BATT_SOC2_NCELL: Battery estimator cell count -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 +Battery estimator cell count -- Units: s +- Range: 0 48 -## DR_NEXT_MODE: Deadreckoning Next Mode +## BATT_SOC2_C1: Battery estimator coefficient1 -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 +Battery estimator coefficient1 -|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| +- Range: 100 200 -## WEB_ENABLE: enable web server +## BATT_SOC2_C2: Battery estimator coefficient2 -enable web server +Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 2 5 -## WEB_BIND_PORT: web server TCP port +## BATT_SOC2_C3: Battery estimator coefficient3 -web server TCP port +Battery estimator coefficient3 -- Range: 1 65535 +- Range: 0.01 0.5 -## WEB_DEBUG: web server debugging +## BATT_SOC3_IDX: Battery estimator index -*Note: This parameter is for advanced users* +Battery estimator index -web server debugging +- Range: 0 4 -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +## BATT_SOC3_NCELL: Battery estimator cell count -## WEB_BLOCK_SIZE: web server block size +Battery estimator cell count -*Note: This parameter is for advanced users* +- Range: 0 48 -web server block size for download +## BATT_SOC3_C1: Battery estimator coefficient1 -- Range: 1 65535 +Battery estimator coefficient1 -## WEB_TIMEOUT: web server timeout +- Range: 100 200 -*Note: This parameter is for advanced users* +## BATT_SOC3_C2: Battery estimator coefficient2 -timeout for inactive connections +Battery estimator coefficient2 -- Units: s +- Range: 2 5 -- Range: 0.1 60 +## BATT_SOC3_C3: Battery estimator coefficient3 -## WEB_SENDFILE_MIN: web server minimum file size for sendfile +Battery estimator coefficient3 -*Note: This parameter is for advanced users* +- Range: 0.01 0.5 -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 +## BATT_SOC4_IDX: Battery estimator index -- Range: 0 10000000 +Battery estimator index -## WINCH_RATE_UP: WinchControl Rate Up +- Range: 0 4 -Maximum rate when retracting line +## BATT_SOC4_NCELL: Battery estimator cell count -- Range: 0.1 5.0 +Battery estimator cell count -## WINCH_RATE_DN: WinchControl Rate Down +- Range: 0 48 -Maximum rate when releasing line +## BATT_SOC4_C1: Battery estimator coefficient1 -- Range: 0.1 5.0 +Battery estimator coefficient1 -## WINCH_RC_FUNC: Winch Rate Control RC function +- Range: 100 200 -RCn_OPTION number to use to control winch rate +## BATT_SOC4_C2: Battery estimator coefficient2 -|Value|Meaning| -|:---:|:---:| -|300|Scripting1| -|301|Scripting2| -|302|Scripting3| -|303|Scripting4| -|304|Scripting5| -|305|Scripting6| -|306|Scripting7| -|307|Scripting8| +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 ## QUIK_ENABLE: Quicktune enable @@ -1193,6 +1051,96 @@ OpticalFlow may be used if rangefinder distance is below this threshold - Units: m +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +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 + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +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 + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## 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 + +- Units: s + +## 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 + +|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| + +## 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 + ## SHIP_ENABLE: Ship landing enable Enable ship landing system @@ -1219,21 +1167,73 @@ Settings this parameter to one triggers an automatic follow offset calculation b |0|Disabled| |1|Trigger| -## PLND_ALT_CUTOFF: Precland altitude cutoff +## POI_DIST_MAX: Mount POI distance max -The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing +POI's max distance (in meters) from the vehicle -- Range: 0 20 +- Range: 0 10000 -- Units: m +## WINCH_RATE_UP: WinchControl Rate Up -## DIST_CUTOFF: Precland distance cutoff +Maximum rate when retracting line -The distance from target beyond which the target is ignored +- Range: 0.1 5.0 -- Range: 0 100 +## WINCH_RATE_DN: WinchControl Rate Down -- Units: m +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## 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 @@ -1391,171 +1391,70 @@ This sets the rate we send data for time sync between aircraft When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used -- Units: deg - -## AEROM_OPTIONS: Aerobatic options - -Options to control aerobatic behavior - -- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised - -- Units: deg - -## TRIK_ENABLE: Tricks on Switch Enable - -Enables Tricks on Switch. TRIK params hidden until enabled - -## TRIK_SEL_FN: Trik Selection Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick selection - -- Range: 301 307 - -## TRIK_ACT_FN: Trik Action Scripting Function - -Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) - -- Range: 301 307 - -## TRIK_COUNT: Trik Count - -Number of tricks which can be selected over the range of the trik selection RC channel - -- Range: 1 11 - -## 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 +- Units: deg -ViewPro Zoom Speed. Higher numbers result in faster zooming +## AEROM_OPTIONS: Aerobatic options -- Range: 0 7 +Options to control aerobatic behavior -## VIEP_ZOOM_MAX: ViewPro Zoom Times Max +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised -ViewPro Zoom Times Max +- Units: deg -- Range: 0 30 +## TRIK_ENABLE: Tricks on Switch Enable -## EFI_DLA_ENABLE: EFI DLA enable +Enables Tricks on Switch. TRIK params hidden until enabled -Enable EFI DLA driver +## TRIK_SEL_FN: Trik Selection Scripting Function -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +Setting an RC channel's _OPTION to this value will use it for trick selection -## EFI_DLA_LPS: EFI DLA fuel scale +- Range: 301 307 -EFI DLA litres of fuel per second of injection time +## TRIK_ACT_FN: Trik Action Scripting Function -- Range: 0.00001 1 +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) -- Units: litres +- Range: 301 307 -## EFI_SVF_ENABLE: Generator SVFFI enable +## TRIK_COUNT: Trik Count -Enable SVFFI generator support +Number of tricks which can be selected over the range of the trik selection RC channel -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Range: 1 11 -## EFI_SVF_ARMCHECK: Generator SVFFI arming check +## BATT_ANX_ENABLE: Enable ANX battery support -Check for Generator ARM state before arming +Enable ANX battery support |Value|Meaning| |:---:|:---:| |0|Disabled| |1|Enabled| -## ESC_HW_ENABLE: Hobbywing ESC Enable +## BATT_ANX_CANDRV: Set ANX CAN driver -Enable Hobbywing ESC telemetry +Set ANX CAN driver |Value|Meaning| |:---:|:---:| -|0|Disabled| -|1|Enabled| - -## ESC_HW_POLES: Hobbywing ESC motor poles - -Number of motor poles for eRPM scaling +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| -- Range: 1 50 +## BATT_ANX_INDEX: ANX CAN battery index -## ESC_HW_OFS: Hobbywing ESC motor offset +ANX CAN battery index -Motor number offset of first ESC +- Range: 1 10 -- Range: 0 31 +## BATT_ANX_OPTIONS: ANX CAN battery options -## EFI_INF_ENABLE: EFI INF-Inject enable +*Note: This parameter is for advanced users* -Enable EFI INF-Inject driver +ANX CAN battery options -|Value|Meaning| -|:---:|:---:| -|0|Disabled| -|1|Enabled| +- Bitmask: 0:LogAllFrames ## EFI_SP_ENABLE: Enable SkyPower EFI support @@ -1701,39 +1600,6 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th - Units: s -## BATT_ANX_ENABLE: Enable ANX battery support - -Enable ANX battery support - -|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 - ## DJIR_DEBUG: DJIRS2 debug *Note: This parameter is for advanced users* @@ -1802,24 +1668,139 @@ The capacity of the tank in litres - Units: litres -## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor +## ESC_HW_ENABLE: Hobbywing ESC Enable -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) +Enable Hobbywing ESC telemetry |Value|Meaning| |:---:|:---:| -|0|Set as Rangefinder| -|1|Set as Proximity sensor| +|0|Disabled| +|1|Enabled| -## TOFSENSE_S1_SP: TOFSENSE-M serial port config +## ESC_HW_POLES: Hobbywing ESC motor poles -UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. +Number of motor poles for eRPM scaling -- Range: 1 4 +- Range: 1 50 -## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate +## ESC_HW_OFS: Hobbywing ESC motor offset -Serial Port baud rate. Sensor baud rate can be changed from Nassistant software +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## 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 + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres ## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor @@ -1881,6 +1862,25 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N - Range: 1 255 +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + # AFS Parameters ## AFS_ENABLE: Enable Advanced Failsafe diff --git a/Rover-4.5/ParametersLatex.rst b/Rover-4.5/ParametersLatex.rst index e7ecdad..6f63289 100644 --- a/Rover-4.5/ParametersLatex.rst +++ b/Rover-4.5/ParametersLatex.rst @@ -1400,247 +1400,412 @@ Lua Script Parameters --------------------- -.. _POI_DIST_MAX: +.. _PREV_ENABLE: -POI\_DIST\_MAX: Mount POI distance max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -POI\'s max distance \(in meters\) from the vehicle +Enable parameter reversion system -+------------+ -| Range | -+============+ -| 0 to 10000 | -+------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _BATT_SOC_COUNT: +.. _PREV_RC_FUNC: -BATT\_SOC\_COUNT: Count of SOC estimators -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of battery SOC estimators +RCn\_OPTION number to used to trigger parameter reversion -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_ENABLE: +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +enable web server -.. _BATT_SOC1_IDX: -BATT\_SOC1\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator index -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ +.. _WEB_BIND_PORT: +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +web server TCP port -.. _BATT_SOC1_NCELL: -BATT\_SOC1\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ -Battery estimator cell count -+---------+ -| Range | -+=========+ -| 0 to 48 | -+---------+ +.. _WEB_DEBUG: +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* +web server debugging -.. _BATT_SOC1_C1: -BATT\_SOC1\_C1: Battery estimator coefficient1 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Battery estimator coefficient1 + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +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: +.. _RTUN_ENABLE: -BATT\_SOC2\_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_SOC2_NCELL: +.. _RTUN_AXES: -BATT\_SOC2\_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_SOC2_C1: +.. _RTUN_STR_FFRATIO: -BATT\_SOC2\_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_SOC2_C2: +.. _RTUN_STR_P_RATIO: -BATT\_SOC2\_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_SOC2_C3: +.. _RTUN_STR_I_RATIO: -BATT\_SOC2\_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 | ++----------+ -.. _BATT_SOC3_IDX: +.. _RTUN_SPD_FFRATIO: -BATT\_SOC3\_IDX: Battery estimator index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator index +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value -+--------+ -| Range | -+========+ -| 0 to 4 | -+--------+ ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ -.. _BATT_SOC3_NCELL: +.. _RTUN_SPD_P_RATIO: -BATT\_SOC3\_NCELL: Battery estimator cell count -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Battery estimator cell count +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _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 + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count +---------+ @@ -1652,9 +1817,9 @@ Battery estimator cell count -.. _BATT_SOC3_C1: +.. _BATT_SOC1_C1: -BATT\_SOC3\_C1: Battery estimator coefficient1 +BATT\_SOC1\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1670,9 +1835,9 @@ Battery estimator coefficient1 -.. _BATT_SOC3_C2: +.. _BATT_SOC1_C2: -BATT\_SOC3\_C2: Battery estimator coefficient2 +BATT\_SOC1\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1688,9 +1853,9 @@ Battery estimator coefficient2 -.. _BATT_SOC3_C3: +.. _BATT_SOC1_C3: -BATT\_SOC3\_C3: Battery estimator coefficient3 +BATT\_SOC1\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1706,9 +1871,9 @@ Battery estimator coefficient3 -.. _BATT_SOC4_IDX: +.. _BATT_SOC2_IDX: -BATT\_SOC4\_IDX: Battery estimator index +BATT\_SOC2\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1724,9 +1889,9 @@ Battery estimator index -.. _BATT_SOC4_NCELL: +.. _BATT_SOC2_NCELL: -BATT\_SOC4\_NCELL: Battery estimator cell count +BATT\_SOC2\_NCELL: Battery estimator cell count ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1742,9 +1907,9 @@ Battery estimator cell count -.. _BATT_SOC4_C1: +.. _BATT_SOC2_C1: -BATT\_SOC4\_C1: Battery estimator coefficient1 +BATT\_SOC2\_C1: Battery estimator coefficient1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1760,9 +1925,9 @@ Battery estimator coefficient1 -.. _BATT_SOC4_C2: +.. _BATT_SOC2_C2: -BATT\_SOC4\_C2: Battery estimator coefficient2 +BATT\_SOC2\_C2: Battery estimator coefficient2 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1778,9 +1943,9 @@ Battery estimator coefficient2 -.. _BATT_SOC4_C3: +.. _BATT_SOC2_C3: -BATT\_SOC4\_C3: Battery estimator coefficient3 +BATT\_SOC2\_C3: Battery estimator coefficient3 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -1796,117 +1961,190 @@ Battery estimator coefficient3 -.. _PREV_ENABLE: +.. _BATT_SOC3_IDX: -PREV\_ENABLE: parameter reversion enable +BATT\_SOC3\_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_SOC3_NCELL: -PREV\_RC\_FUNC: param reversion RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -RCn\_OPTION number to used to trigger parameter reversion +Battery estimator cell count -.. _RCK_FORCEHL: ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ -RCK\_FORCEHL: Force enable High Latency mode -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Automatically enables High Latency mode if not already enabled +.. _BATT_SOC3_C1: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient1 -.. _RCK_PERIOD: ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ -RCK\_PERIOD: Update rate -~~~~~~~~~~~~~~~~~~~~~~~~ -When in High Latency mode\, send Rockblock updates every N seconds +.. _BATT_SOC3_C2: -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 600 | seconds | -+----------+---------+ +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient2 -.. _RCK_DEBUG: ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ -RCK\_DEBUG: Display Rockblock debugging text -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Sends Rockblock debug text to GCS via statustexts +.. _BATT_SOC3_C3: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Battery estimator coefficient3 -.. _RCK_ENABLE: ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ -RCK\_ENABLE: Enable Message transmission + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enables the Rockblock sending and recieving +Battery estimator index -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ -.. _RTUN_ENABLE: +.. _BATT_SOC4_NCELL: -RTUN\_ENABLE: Rover Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enable quicktune system @@ -1923,138 +2161,158 @@ Enable quicktune system -.. _RTUN_AXES: +.. _QUIK_AXES: -RTUN\_AXES: Rover Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ axes to tune -+-----+----------+ -| Bit | Meaning | -+=====+==========+ -| 0 | Steering | -+-----+----------+ -| 1 | Speed | -+-----+----------+ ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ -.. _RTUN_STR_FFRATIO: +.. _QUIK_DOUBLE_TIME: -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 to 1.0 | -+----------+ ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ -.. _RTUN_STR_P_RATIO: +.. _QUIK_GAIN_MARGIN: -RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ -.. _RTUN_STR_I_RATIO: +.. _QUIK_OSC_SMAX: -RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ -.. _RTUN_SPD_FFRATIO: +.. _QUIK_YAW_P_MAX: -RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value +Maximum value for yaw P gain +----------+ | Range | +==========+ -| 0 to 1.0 | +| 0.1 to 3 | +----------+ -.. _RTUN_SPD_P_RATIO: +.. _QUIK_YAW_D_MAX: -RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged +Maximum value for yaw D gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ -.. _RTUN_SPD_I_RATIO: +.. _QUIK_RP_PI_RATIO: -RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain -+----------+ -| Range | -+==========+ -| 0 to 2.0 | -+----------+ ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ -.. _RTUN_AUTO_FILTER: +.. _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 | ++-----------+ + -RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER @@ -2071,10 +2329,10 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _RTUN_AUTO_SAVE: +.. _QUIK_AUTO_SAVE: -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 @@ -2089,34 +2347,137 @@ Number of seconds after completion of tune to auto\-save\. This is useful when u -.. _RTUN_RC_FUNC: +.. _QUIK_RC_FUNC: -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: + +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 | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +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 | ++-----+----------------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ @@ -2307,13 +2668,49 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. -.. _WEB_ENABLE: +.. _PLND_ALT_CUTOFF: -WEB\_ENABLE: enable web server -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -enable web server +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system +-------+----------+ @@ -2327,32 +2724,31 @@ enable web server -.. _WEB_BIND_PORT: +.. _SHIP_LAND_ANGLE: -WEB\_BIND\_PORT: web server TCP port -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -web server TCP port +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 | -+============+ -| 1 to 65535 | -+------------+ ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ -.. _WEB_DEBUG: +.. _SHIP_AUTO_OFS: -WEB\_DEBUG: web server debugging -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server debugging +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\. +-------+----------+ @@ -2360,88 +2756,49 @@ web server debugging +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 1 | Trigger | +-------+----------+ -.. _WEB_BLOCK_SIZE: +.. _POI_DIST_MAX: -WEB\_BLOCK\_SIZE: web server block size -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -web server block size for download +POI\'s max distance \(in meters\) from the vehicle +------------+ | Range | +============+ -| 1 to 65535 | +| 0 to 10000 | +------------+ -.. _WEB_TIMEOUT: +.. _WINCH_RATE_UP: -WEB\_TIMEOUT: web server timeout -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -timeout for inactive connections +Maximum rate when retracting line -+-----------+---------+ -| Range | Units | -+===========+=========+ -| 0.1 to 60 | seconds | -+-----------+---------+ ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum rate when retracting line - - -+------------+ -| Range | -+============+ -| 0.1 to 5.0 | -+------------+ - - - - -.. _WINCH_RATE_DN: +.. _WINCH_RATE_DN: WINCH\_RATE\_DN: WinchControl Rate Down ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ @@ -2491,181 +2848,13 @@ RCn\_OPTION number to use to control winch rate -.. _QUIK_ENABLE: - -QUIK\_ENABLE: Quicktune enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable quicktune system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _QUIK_AXES: - -QUIK\_AXES: Quicktune axes -~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -axes to tune - - -+-----+---------+ -| Bit | Meaning | -+=====+=========+ -| 0 | Roll | -+-----+---------+ -| 1 | Pitch | -+-----+---------+ -| 2 | Yaw | -+-----+---------+ - - - - -.. _QUIK_DOUBLE_TIME: - -QUIK\_DOUBLE\_TIME: Quicktune doubling time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Time to double a tuning parameter\. Raise this for a slower tune\. - - -+---------+---------+ -| Range | Units | -+=========+=========+ -| 5 to 20 | seconds | -+---------+---------+ - - - - -.. _QUIK_GAIN_MARGIN: - -QUIK\_GAIN\_MARGIN: Quicktune gain margin -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 20 to 80 | percent | -+----------+---------+ - - - - -.. _QUIK_OSC_SMAX: - -QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. - - -+---------+ -| Range | -+=========+ -| 1 to 10 | -+---------+ - - - - -.. _QUIK_YAW_P_MAX: - -QUIK\_YAW\_P\_MAX: Quicktune Yaw P max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw P gain - - -+----------+ -| Range | -+==========+ -| 0.1 to 3 | -+----------+ - - - - -.. _QUIK_YAW_D_MAX: - -QUIK\_YAW\_D\_MAX: Quicktune Yaw D max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Maximum value for yaw D gain - - -+------------+ -| Range | -+============+ -| 0.001 to 1 | -+------------+ - - - - -.. _QUIK_RP_PI_RATIO: - -QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain - - -+------------+ -| Range | -+============+ -| 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 | -+-----------+ - - - - -.. _QUIK_AUTO_FILTER: +.. _RCK_FORCEHL: -QUIK\_AUTO\_FILTER: Quicktune auto filter enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER +Automatically enables High Latency mode if not already enabled +-------+----------+ @@ -2679,249 +2868,60 @@ When enabled the PID filter settings are automatically set based on INS\_GYRO\_F -.. _QUIK_AUTO_SAVE: - -QUIK\_AUTO\_SAVE: Quicktune auto save -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune - - -+---------+ -| Units | -+=========+ -| seconds | -+---------+ - - - - -.. _QUIK_RC_FUNC: - -QUIK\_RC\_FUNC: Quicktune RC function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -RCn\_OPTION number to use to control tuning stop\/start\/save - - -.. _QUIK_MAX_REDUCE: - -QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _QUIK_OPTIONS: - -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 | -+-----+----------------------+ - - - - -.. _ESRC_EXTN_THRESH: - -ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_EXTN_QUAL: - -ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -ExternalNav may be used if quality is above this threshold - - -+----------+---------+ -| Range | Units | -+==========+=========+ -| 0 to 100 | percent | -+----------+---------+ - - - - -.. _ESRC_FLOW_THRESH: - -ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if innovations are below this threshold - - -+--------+ -| Range | -+========+ -| 0 to 1 | -+--------+ - - - - -.. _ESRC_FLOW_QUAL: +.. _RCK_PERIOD: -ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ -OpticalFlow may be used if quality is above this threshold +When in High Latency mode\, send Rockblock updates every N seconds +----------+---------+ | Range | Units | +==========+=========+ -| 0 to 100 | percent | +| 0 to 600 | seconds | +----------+---------+ -.. _ESRC_RNGFND_MAX: - -ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -OpticalFlow may be used if rangefinder distance is below this threshold - - -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 50 | meters | -+---------+--------+ - - - - -.. _SHIP_ENABLE: - -SHIP\_ENABLE: Ship landing enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable ship landing system - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ - - - - -.. _SHIP_LAND_ANGLE: - -SHIP\_LAND\_ANGLE: Ship landing angle -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. - - -+-------------+---------+ -| Range | 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\. - - -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Trigger | -+-------+----------+ - - - - -.. _PLND_ALT_CUTOFF: +.. _RCK_DEBUG: -PLND\_ALT\_CUTOFF: Precland altitude cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing +Sends Rockblock debug text to GCS via statustexts -+---------+--------+ -| Range | Units | -+=========+========+ -| 0 to 20 | meters | -+---------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DIST_CUTOFF: +.. _RCK_ENABLE: -DIST\_CUTOFF: Precland distance cutoff -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -The distance from target beyond which the target is ignored +Enables the Rockblock sending and recieving -+----------+--------+ -| Range | Units | -+==========+========+ -| 0 to 100 | meters | -+----------+--------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ @@ -3398,327 +3398,94 @@ Options to control aerobatic behavior | Bit | Meaning | +=====+==========================+ | 0 | UseRTLOnAbort | -+-----+--------------------------+ -| 1 | AddAtToMessages | -+-----+--------------------------+ -| 2 | DualAircraftSynchronised | -+-----+--------------------------+ - - - - -+---------+ -| Units | -+=========+ -| degrees | -+---------+ - - - - -.. _TRIK_ENABLE: - -TRIK\_ENABLE: Tricks on Switch Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enables Tricks on Switch\. TRIK params hidden until enabled - - -.. _TRIK_SEL_FN: - -TRIK\_SEL\_FN: Trik Selection Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick selection - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_ACT_FN: - -TRIK\_ACT\_FN: Trik Action Scripting Function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) - - -+------------+ -| Range | -+============+ -| 301 to 307 | -+------------+ - - - - -.. _TRIK_COUNT: - -TRIK\_COUNT: Trik Count -~~~~~~~~~~~~~~~~~~~~~~~ - - -Number of tricks which can be selected over the range of the trik selection RC channel - - -+---------+ -| Range | -+=========+ -| 1 to 11 | -+---------+ - - - - -.. _VIEP_DEBUG: - -VIEP\_DEBUG: ViewPro debug -~~~~~~~~~~~~~~~~~~~~~~~~~~ - -| *Note: This parameter is for advanced users* - -ViewPro debug - - -+-------+--------------------------------------+ -| Value | Meaning | -+=======+======================================+ -| 0 | Disabled | -+-------+--------------------------------------+ -| 1 | Enabled | -+-------+--------------------------------------+ -| 2 | Enabled including attitude reporting | -+-------+--------------------------------------+ - - - - -.. _VIEP_CAM_SWLOW: - -VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Camera selection when switch is in low position - - -+-------+-------------------------------+ -| Value | Meaning | -+=======+===============================+ -| 0 | No change in camera selection | -+-------+-------------------------------+ -| 1 | EO1 | -+-------+-------------------------------+ -| 2 | IR thermal | -+-------+-------------------------------+ -| 3 | EO1 + IR Picture-in-picture | -+-------+-------------------------------+ -| 4 | IR + EO1 Picture-in-picture | -+-------+-------------------------------+ -| 5 | Fusion | -+-------+-------------------------------+ -| 6 | IR1 13mm | -+-------+-------------------------------+ -| 7 | IR2 52mm | -+-------+-------------------------------+ - - - - -.. _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 -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ -ViewPro Zoom Times Max +---------+ -| Range | +| Units | +=========+ -| 0 to 30 | +| degrees | +---------+ -.. _EFI_DLA_ENABLE: - -EFI\_DLA\_ENABLE: EFI DLA enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - - -Enable EFI DLA driver - +.. _TRIK_ENABLE: -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enables Tricks on Switch\. TRIK params hidden until enabled -.. _EFI_DLA_LPS: +.. _TRIK_SEL_FN: -EFI\_DLA\_LPS: EFI DLA fuel scale -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -EFI DLA litres of fuel per second of injection time +Setting an RC channel\'s \_OPTION to this value will use it for trick selection -+--------------+--------+ -| Range | Units | -+==============+========+ -| 0.00001 to 1 | litres | -+--------------+--------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ENABLE: +.. _TRIK_ACT_FN: -EFI\_SVF\_ENABLE: Generator SVFFI enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable SVFFI generator support +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ -.. _EFI_SVF_ARMCHECK: +.. _TRIK_COUNT: -EFI\_SVF\_ARMCHECK: Generator SVFFI arming check -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ -Check for Generator ARM state before arming +Number of tricks which can be selected over the range of the trik selection RC channel -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ -.. _ESC_HW_ENABLE: +.. _BATT_ANX_ENABLE: -ESC\_HW\_ENABLE: Hobbywing ESC Enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable Hobbywing ESC telemetry +Enable ANX battery support +-------+----------+ @@ -3732,58 +3499,61 @@ Enable Hobbywing ESC telemetry -.. _ESC_HW_POLES: +.. _BATT_ANX_CANDRV: -ESC\_HW\_POLES: Hobbywing ESC motor poles -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Number of motor poles for eRPM scaling +Set ANX CAN driver -+---------+ -| Range | -+=========+ -| 1 to 50 | -+---------+ ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ -.. _ESC_HW_OFS: +.. _BATT_ANX_INDEX: -ESC\_HW\_OFS: Hobbywing ESC motor offset -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Motor number offset of first ESC +ANX CAN battery index +---------+ | Range | +=========+ -| 0 to 31 | +| 1 to 10 | +---------+ -.. _EFI_INF_ENABLE: +.. _BATT_ANX_OPTIONS: -EFI\_INF\_ENABLE: EFI INF\-Inject enable -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +| *Note: This parameter is for advanced users* -Enable EFI INF\-Inject driver +ANX CAN battery options -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ @@ -3977,51 +3747,172 @@ SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered -.. _EFI_SP_TLM_RT: +.. _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\_SP\_TLM\_RT: SkyPower EFI telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ | *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 +Enable DJIRS2 debug -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 10 | hertz | -+---------+-------+ ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ -.. _EFI_SP_LOG_RT: +.. _DJIR_UPSIDEDOWN: -EFI\_SP\_LOG\_RT: SkyPower EFI log rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *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 +DJIRS2 upside down -+---------+-------+ -| Range | Units | -+=========+=======+ -| 1 to 50 | hertz | -+---------+-------+ ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ -.. _EFI_SP_ST_DISARM: +.. _EFI_H6K_ENABLE: -EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed +Enable Halo6000 EFI driver +-------+----------+ @@ -4035,33 +3926,35 @@ SkyPower EFI allow start disarmed\. This controls if starting the engine while d -.. _EFI_SP_MODEL: +.. _EFI_H6K_CANDRV: -EFI\_SP\_MODEL: SkyPower EFI ECU model -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI ECU model +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+---------+ -| Value | Meaning | -+=======+=========+ -| 0 | Default | -+-------+---------+ -| 1 | SP_275 | -+-------+---------+ ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ -.. _EFI_SP_GEN_CTRL: +.. _EFI_H6K_START_FN: -EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -SkyPower EFI enable generator control +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function +-------+----------+ @@ -4069,37 +3962,69 @@ SkyPower EFI enable generator control +=======+==========+ | 0 | Disabled | +-------+----------+ -| 1 | Enabled | +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | +-------+----------+ -.. _EFI_SP_RST_TIME: +.. _EFI_H6K_TELEM_RT: -EFI\_SP\_RST\_TIME: SkyPower EFI restart time -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -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\. +The rate that additional generator telemetry is sent -+---------+---------+ -| Range | Units | -+=========+=========+ -| 0 to 10 | seconds | -+---------+---------+ ++-------+ +| Units | ++=======+ +| hertz | ++-------+ -.. _BATT_ANX_ENABLE: +.. _EFI_H6K_FUELTOT: -BATT\_ANX\_ENABLE: Enable ANX battery support -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Enable ANX battery support +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry +-------+----------+ @@ -4113,265 +4038,293 @@ Enable ANX battery support -.. _BATT_ANX_CANDRV: +.. _ESC_HW_POLES: -BATT\_ANX\_CANDRV: Set ANX CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Set ANX CAN driver +Number of motor poles for eRPM scaling -+-------+--------------+ -| Value | Meaning | -+=======+==============+ -| 0 | None | -+-------+--------------+ -| 1 | 1stCANDriver | -+-------+--------------+ -| 2 | 2ndCanDriver | -+-------+--------------+ ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ -.. _BATT_ANX_INDEX: +.. _ESC_HW_OFS: -BATT\_ANX\_INDEX: ANX CAN battery index -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -ANX CAN battery index +Motor number offset of first ESC +---------+ | Range | +=========+ -| 1 to 10 | +| 0 to 31 | +---------+ -.. _BATT_ANX_OPTIONS: +.. _EFI_INF_ENABLE: -BATT\_ANX\_OPTIONS: ANX CAN battery options -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -| *Note: This parameter is for advanced users* -ANX CAN battery options +Enable EFI INF\-Inject driver -+-----+--------------+ -| Bit | Meaning | -+=====+==============+ -| 0 | LogAllFrames | -+-----+--------------+ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -.. _DJIR_DEBUG: +.. _VIEP_DEBUG: -DJIR\_DEBUG: DJIRS2 debug -~~~~~~~~~~~~~~~~~~~~~~~~~ +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ | *Note: This parameter is for advanced users* -Enable DJIRS2 debug +ViewPro debug -+-------+---------------------------------+ -| Value | Meaning | -+=======+=================================+ -| 0 | Disabled | -+-------+---------------------------------+ -| 1 | Enabled | -+-------+---------------------------------+ -| 2 | Enabled with attitude reporting | -+-------+---------------------------------+ ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ -.. _DJIR_UPSIDEDOWN: +.. _VIEP_CAM_SWLOW: -DJIR\_UPSIDEDOWN: DJIRS2 upside down -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +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 | ++-------+-------------------------------+ -DJIRS2 upside down -+-------+---------------+ -| Value | Meaning | -+=======+===============+ -| 0 | Right side up | -+-------+---------------+ -| 1 | Upside down | -+-------+---------------+ +.. _VIEP_CAM_SWMID: +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in middle position -.. _EFI_H6K_ENABLE: -EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Enable Halo6000 EFI driver -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 1 | Enabled | -+-------+----------+ +.. _VIEP_CAM_SWHIGH: +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Camera selection when switch is in high position -.. _EFI_H6K_CANDRV: -EFI\_H6K\_CANDRV: Halo6000 CAN driver -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ -Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver -+-------+-----------+ -| Value | Meaning | -+=======+===========+ -| 0 | Disabled | -+-------+-----------+ -| 1 | FirstCAN | -+-------+-----------+ -| 2 | SecondCAN | -+-------+-----------+ +.. _VIEP_ZOOM_SPEED: +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Speed\. Higher numbers result in faster zooming -.. _EFI_H6K_START_FN: -EFI\_H6K\_START\_FN: Halo6000 start auxilliary function -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ -The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function -+-------+----------+ -| Value | Meaning | -+=======+==========+ -| 0 | Disabled | -+-------+----------+ -| 300 | 300 | -+-------+----------+ -| 301 | 301 | -+-------+----------+ -| 302 | 302 | -+-------+----------+ -| 303 | 303 | -+-------+----------+ -| 304 | 304 | -+-------+----------+ -| 305 | 305 | -+-------+----------+ -| 306 | 306 | -+-------+----------+ -| 307 | 307 | -+-------+----------+ +.. _VIEP_ZOOM_MAX: +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +ViewPro Zoom Times Max -.. _EFI_H6K_TELEM_RT: -EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ -The rate that additional generator telemetry is sent -+-------+ -| Units | -+=======+ -| hertz | -+-------+ +.. _EFI_SVF_ENABLE: +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable SVFFI generator support -.. _EFI_H6K_FUELTOT: -EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -The capacity of the tank in litres -+--------+ -| Units | -+========+ -| litres | -+--------+ +.. _EFI_SVF_ARMCHECK: +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Check for Generator ARM state before arming -.. _TOFSENSE_S1_PRX: -TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) -+-------+-------------------------+ -| Value | Meaning | -+=======+=========================+ -| 0 | Set as Rangefinder | -+-------+-------------------------+ -| 1 | Set as Proximity sensor | -+-------+-------------------------+ +.. _EFI_DLA_ENABLE: +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +Enable EFI DLA driver -.. _TOFSENSE_S1_SP: -TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ -UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. -+--------+ -| Range | -+========+ -| 1 to 4 | -+--------+ +.. _EFI_DLA_LPS: +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +EFI DLA litres of fuel per second of injection time -.. _TOFSENSE_S1_BR: -TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ -Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software .. _TOFSENSE_PRX: @@ -4540,6 +4493,53 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + .. _parameters_AFS_: diff --git a/Rover-4.5/apm.pdef.xml b/Rover-4.5/apm.pdef.xml index 774cce8..f7c7f13 100644 --- a/Rover-4.5/apm.pdef.xml +++ b/Rover-4.5/apm.pdef.xml @@ -431,72 +431,6 @@ - - 0 10000 - - - 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 @@ -505,28 +439,31 @@ - + Disabled Enabled - - 0 600 - s - seconds + + 1 65535 - + Disabled Enabled - - - Disabled - Enabled - + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 @@ -577,99 +514,68 @@ Scripting8 - - - Disabled - Enabled - + + 0 4 - - m - meters + + 0 4 - - 0 10 + + 0 48 - - 0 30 + + 100 200 - - s - seconds + + 2 5 - - deg - degrees - 0 45 + + 0.01 0.5 - - m - meters - 0 1000 + + 0 4 - - s - seconds + + 0 48 - - - AltHold - Auto - Guided - Loiter - RTL - Circle - Land - PosHold - Brake - Guided_NoGPS - Smart_RTL - Auto RTL - + + 100 200 - - - Disabled - Enabled - + + 2 5 - - 1 65535 + + 0.01 0.5 - - - Disabled - Enabled - + + 0 4 - - 1 65535 + + 0 48 - - s - seconds - 0.1 60 + + 100 200 - - 0 10000000 + + 2 5 - - 0.1 5.0 + + 0.01 0.5 - - 0.1 5.0 + + 0 4 - - - Scripting1 - Scripting2 - Scripting3 - Scripting4 - Scripting5 - Scripting6 - Scripting7 - Scripting8 - + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 @@ -741,37 +647,131 @@ % percent - - 0 50 - m - meters + + 0 50 + m + meters + + + + Disabled + Enabled + + + + m + meters + + + 0 10 + + + 0 30 + + + s + seconds + + + deg + degrees + 0 45 + + + m + meters + 0 1000 + + + s + seconds + + + + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + PosHold + Brake + Guided_NoGPS + Smart_RTL + Auto RTL + + + + 0 20 + m + meters + + + 0 100 + m + meters + + + + Disabled + Enabled + + + + -180 180 + deg + degrees + + + + Disabled + Trigger + + + + 0 10000 + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + - + Disabled Enabled - - -180 180 - deg - degrees + + 0 600 + s + seconds - + Disabled - Trigger + Enabled - - 0 20 - m - meters - - - 0 100 - m - meters + + + Disabled + Enabled + deg/s/s @@ -890,95 +890,24 @@ 1 11 - - - 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 - - - - 0.00001 1 - litres - litres - - - - Disabled - Enabled - - - + Disabled Enabled - + - Disabled - Enabled + None + 1stCANDriver + 2ndCanDriver - - 1 50 - - - 0 31 + + 1 10 - - - Disabled - Enabled - + + 0:LogAllFrames @@ -1072,25 +1001,6 @@ s seconds - - - Disabled - Enabled - - - - - None - 1stCANDriver - 2ndCanDriver - - - - 1 10 - - - 0:LogAllFrames - Disabled @@ -1138,17 +1048,96 @@ litres litres - + - Set as Rangefinder - Set as Proximity sensor + Disabled + Enabled - - 1 4 + + 1 50 + + + 0 31 + + + + Disabled + Enabled + + + + + 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 + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres - - Set as Rangefinder @@ -1182,6 +1171,17 @@ 1 255 + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + +