Value | Meaning |
0 | Disabled |
@@ -2001,34 +1949,86 @@ Force enable High Latency mode (RCK_FORCEHL)
-Update rate (RCK_PERIOD)
+Quicktune auto save (QUIK_AUTO_SAVE)
-When in High Latency mode, send Rockblock updates every N seconds
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: 0 600
- Units: seconds
-Display Rockblock debugging text (RCK_DEBUG)
+Quicktune RC function (QUIK_RC_FUNC)
-Sends Rockblock debug text to GCS via statustexts
+RCn_OPTION number to use to control tuning stop/start/save
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-Enable Message transmission (RCK_ENABLE)
+Quicktune maximum gain reduction (QUIK_MAX_REDUCE)
-Enables the Rockblock sending and recieving
+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.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Units: percent
+- Range: 0 100
+
+
+
+Quicktune options (QUIK_OPTIONS)
+
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+
+
+EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)
+
+ExternalNav may be used if innovations are below this threshold
+
+
+
+EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)
+
+ExternalNav may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)
+
+OpticalFlow may be used if innovations are below this threshold
+
+
+
+EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)
+
+OpticalFlow may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source Rangefinder Max (ESRC_RNGFND_MAX)
+
+OpticalFlow may be used if rangefinder distance is below this threshold
+
+- Range: 0 50
+- Units: meters
+
+
+
+Mount POI distance max (POI_DIST_MAX)
+
+POI's max distance (in meters) from the vehicle
+
@@ -2260,73 +2260,183 @@ Aerobatic options (AEROM_OPTIONS)
-Tricks on Switch Enable (TRIK_ENABLE)
+Tricks on Switch Enable (TRIK_ENABLE)
+
+Enables Tricks on Switch. TRIK params hidden until enabled
+
+
+
+Trik Selection Scripting Function (TRIK_SEL_FN)
+
+Setting an RC channel's _OPTION to this value will use it for trick selection
+
+
+
+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
+
+
+
+DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+
+Enable DJIRS2 debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled with attitude reporting |
+
+
+
+
+DJIRS2 upside down (DJIR_UPSIDEDOWN)
+
+DJIRS2 upside down
+
+Value | Meaning |
+0 | Right side up |
+1 | Upside down |
+
+
+
+
+ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+
+ViewPro debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled including attitude reporting |
+
+
+
+
+ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
-Enables Tricks on Switch. TRIK params hidden until enabled
+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 |
+
-Trik Selection Scripting Function (TRIK_SEL_FN)
+ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-Setting an RC channel's _OPTION to this value will use it for trick selection
+ViewPro Zoom Speed. Higher numbers result in faster zooming
-- Range: 301 307
+- Range: 0 7
-Trik Action Scripting Function (TRIK_ACT_FN)
+ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
-Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)
+ViewPro Zoom Times Max
-- Range: 301 307
+- Range: 0 30
-Trik Count (TRIK_COUNT)
+EFI DLA enable (EFI_DLA_ENABLE)
-Number of tricks which can be selected over the range of the trik selection RC channel
+Enable EFI DLA driver
-- Range: 1 11
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Enable ANX battery support (BATT_ANX_ENABLE)
+EFI DLA fuel scale (EFI_DLA_LPS)
-Enable ANX battery support
+EFI DLA litres of fuel per second of injection time
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 0.00001 1
+- Units: litres
-Set ANX CAN driver (BATT_ANX_CANDRV)
+Hobbywing ESC Enable (ESC_HW_ENABLE)
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
Value | Meaning |
-0 | None |
-1 | 1stCANDriver |
-2 | 2ndCanDriver |
+0 | Disabled |
+1 | Enabled |
-ANX CAN battery index (BATT_ANX_INDEX)
+Hobbywing ESC motor poles (ESC_HW_POLES)
-ANX CAN battery index
+Number of motor poles for eRPM scaling
-- Range: 1 10
+- Range: 1 50
-ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
+Hobbywing ESC motor offset (ESC_HW_OFS)
-ANX CAN battery options
+Motor number offset of first ESC
-- Bitmask: 0:LogAllFrames
+- Range: 0 31
@@ -2487,25 +2597,35 @@ SkyPower EFI restart time (EFI_SP_RST_TIME)
-DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+Generator SVFFI enable (EFI_SVF_ENABLE)
-Enable DJIRS2 debug
+Enable SVFFI generator support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled with attitude reporting |
-DJIRS2 upside down (DJIR_UPSIDEDOWN)
+Generator SVFFI arming check (EFI_SVF_ARMCHECK)
-DJIRS2 upside down
+Check for Generator ARM state before arming
Value | Meaning |
-0 | Right side up |
-1 | Upside down |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+EFI INF-Inject enable (EFI_INF_ENABLE)
+
+Enable EFI INF-Inject driver
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
@@ -2567,162 +2687,68 @@ Halo6000 total fuel capacity (EFI_H6K_FUELTOT)
-Hobbywing ESC Enable (ESC_HW_ENABLE)
-
-Enable Hobbywing ESC telemetry
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-Hobbywing ESC motor poles (ESC_HW_POLES)
-
-Number of motor poles for eRPM scaling
-
-
-
-Hobbywing ESC motor offset (ESC_HW_OFS)
-
-Motor number offset of first ESC
-
-
-
-EFI INF-Inject enable (EFI_INF_ENABLE)
-
-Enable EFI INF-Inject driver
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+Enable ANX battery support (BATT_ANX_ENABLE)
-ViewPro debug
+Enable ANX battery support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled including attitude reporting |
-
-
-
-
-ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
-
-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 |
-
-
-
-
-ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
-
-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 |
-ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
+Set ANX CAN driver (BATT_ANX_CANDRV)
-Camera selection when switch is in high position
+Set ANX CAN driver
Value | Meaning |
-0 | No change in camera selection |
-1 | EO1 |
-2 | IR thermal |
-3 | EO1 + IR Picture-in-picture |
-4 | IR + EO1 Picture-in-picture |
-5 | Fusion |
-6 | IR1 13mm |
-7 | IR2 52mm |
+0 | None |
+1 | 1stCANDriver |
+2 | 2ndCanDriver |
-ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
-
-
-
-ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
+ANX CAN battery index (BATT_ANX_INDEX)
-ViewPro Zoom Times Max
+ANX CAN battery index
-- Range: 0 30
+- Range: 1 10
-Generator SVFFI enable (EFI_SVF_ENABLE)
+ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
-Enable SVFFI generator support
+ANX CAN battery options
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Bitmask: 0:LogAllFrames
-Generator SVFFI arming check (EFI_SVF_ARMCHECK)
+TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-Check for Generator ARM state before arming
+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 | Disabled |
-1 | Enabled |
+0 | Set as Rangefinder |
+1 | Set as Proximity sensor |
-EFI DLA enable (EFI_DLA_ENABLE)
+TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-Enable EFI DLA driver
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 1 4
-EFI DLA fuel scale (EFI_DLA_LPS)
+TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)
-EFI DLA litres of fuel per second of injection time
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-- Range: 0.00001 1
-- Units: litres
@@ -2804,32 +2830,6 @@ TOFSENSE-M Thir ID (TOFSENSE_ID3)
-TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-Value | Meaning |
-0 | Set as Rangefinder |
-1 | Set as Proximity sensor |
-
-
-
-
-TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-
-
-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 f89279d..38e5680 100644
--- a/Copter-4.5/Parameters.md
+++ b/Copter-4.5/Parameters.md
@@ -1251,71 +1251,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed
# Lua Script Parameters
-## PREV_ENABLE: parameter reversion enable
-
-Enable parameter reversion system
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## PREV_RC_FUNC: param reversion RC function
-
-RCn_OPTION number to used to trigger parameter reversion
-
-## WEB_ENABLE: enable web server
-
-enable web server
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BIND_PORT: web server TCP port
-
-web server TCP port
-
-- Range: 1 65535
-
-## WEB_DEBUG: web server debugging
-
-*Note: This parameter is for advanced users*
-
-web server debugging
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BLOCK_SIZE: web server block size
-
-*Note: This parameter is for advanced users*
-
-web server block size for download
-
-- Range: 1 65535
-
-## WEB_TIMEOUT: web server timeout
-
-*Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-- Units: s
-
-- Range: 0.1 60
-
-## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-
-*Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-
-- Range: 0 10000000
-
## RTUN_ENABLE: Rover Quicktune enable
Enable quicktune system
@@ -1397,6 +1332,57 @@ RCn_OPTION number to use to control tuning stop/start/save
|306|Scripting7|
|307|Scripting8|
+## PLND_ALT_CUTOFF: Precland altitude cutoff
+
+The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+
+- Range: 0 20
+
+- Units: m
+
+## DIST_CUTOFF: Precland distance cutoff
+
+The distance from target beyond which the target is ignored
+
+- Range: 0 100
+
+- Units: m
+
+## RCK_FORCEHL: Force enable High Latency mode
+
+Automatically enables High Latency mode if not already enabled
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_PERIOD: Update rate
+
+When in High Latency mode, send Rockblock updates every N seconds
+
+- Range: 0 600
+
+- Units: s
+
+## RCK_DEBUG: Display Rockblock debugging text
+
+Sends Rockblock debug text to GCS via statustexts
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_ENABLE: Enable Message transmission
+
+Enables the Rockblock sending and recieving
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
## BATT_SOC_COUNT: Count of SOC estimators
Number of battery SOC estimators
@@ -1523,135 +1509,123 @@ Battery estimator coefficient3
- Range: 0.01 0.5
-## QUIK_ENABLE: Quicktune enable
+## WEB_ENABLE: enable web server
-Enable quicktune system
+enable web server
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AXES: Quicktune axes
-
-axes to tune
-
-- Bitmask: 0:Roll,1:Pitch,2:Yaw
-
-## QUIK_DOUBLE_TIME: Quicktune doubling time
-
-Time to double a tuning parameter. Raise this for a slower tune.
-
-- Range: 5 20
-
-- Units: s
+## WEB_BIND_PORT: web server TCP port
-## QUIK_GAIN_MARGIN: Quicktune gain margin
+web server TCP port
-Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+- Range: 1 65535
-- Range: 20 80
+## WEB_DEBUG: web server debugging
-- Units: %
+*Note: This parameter is for advanced users*
-## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+web server debugging
-Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 1 10
+## WEB_BLOCK_SIZE: web server block size
-## QUIK_YAW_P_MAX: Quicktune Yaw P max
+*Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+web server block size for download
-- Range: 0.1 3
+- Range: 1 65535
-## QUIK_YAW_D_MAX: Quicktune Yaw D max
+## WEB_TIMEOUT: web server timeout
-Maximum value for yaw D gain
+*Note: This parameter is for advanced users*
-- Range: 0.001 1
+timeout for inactive connections
-## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio
+- Units: s
-Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+- Range: 0.1 60
-- Range: 0.5 1.0
+## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+*Note: This parameter is for advanced users*
-Ratio between P and I gains for yaw. Raise this to get a lower I gain
+sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-- Range: 0.5 20
+- Range: 0 10000000
-## QUIK_AUTO_FILTER: Quicktune auto filter enable
+## PREV_ENABLE: parameter reversion enable
-When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+Enable parameter reversion system
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AUTO_SAVE: Quicktune auto save
-
-Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-
-- Units: s
-
-## QUIK_RC_FUNC: Quicktune RC function
-
-RCn_OPTION number to use to control tuning stop/start/save
-
-## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-
-This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-
-- Units: %
-
-- Range: 0 100
-
-## QUIK_OPTIONS: Quicktune options
+## PREV_RC_FUNC: param reversion RC function
-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.
+RCn_OPTION number to used to trigger parameter reversion
-- Bitmask: 0:UseTwoPositionSwitch
+## SHIP_ENABLE: Ship landing enable
-## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
+Enable ship landing system
-ExternalNav may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 0 1
+## SHIP_LAND_ANGLE: Ship landing angle
-## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
+Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
-ExternalNav may be used if quality is above this threshold
+- Range: -180 180
-- Range: 0 100
+- Units: deg
-- Units: %
+## SHIP_AUTO_OFS: Ship automatic offset trigger
-## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation 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.
-OpticalFlow may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Trigger|
-- Range: 0 1
+## WINCH_RATE_UP: WinchControl Rate Up
-## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
+Maximum rate when retracting line
-OpticalFlow may be used if quality is above this threshold
+- Range: 0.1 5.0
-- Range: 0 100
+## WINCH_RATE_DN: WinchControl Rate Down
-- Units: %
+Maximum rate when releasing line
-## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
+- Range: 0.1 5.0
-OpticalFlow may be used if rangefinder distance is below this threshold
+## WINCH_RC_FUNC: Winch Rate Control RC function
-- Range: 0 50
+RCn_OPTION number to use to control winch rate
-- Units: m
+|Value|Meaning|
+|:---:|:---:|
+|300|Scripting1|
+|301|Scripting2|
+|302|Scripting3|
+|303|Scripting4|
+|304|Scripting5|
+|305|Scripting6|
+|306|Scripting7|
+|307|Scripting8|
## DR_ENABLE: Deadreckoning Enable
@@ -1727,115 +1701,141 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De
|21|Smart_RTL|
|27|Auto RTL|
-## PLND_ALT_CUTOFF: Precland altitude cutoff
+## QUIK_ENABLE: Quicktune enable
-The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-- Range: 0 20
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Units: m
+## QUIK_AXES: Quicktune axes
-## DIST_CUTOFF: Precland distance cutoff
+axes to tune
-The distance from target beyond which the target is ignored
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
-- Range: 0 100
+## QUIK_DOUBLE_TIME: Quicktune doubling time
-- Units: m
+Time to double a tuning parameter. Raise this for a slower tune.
-## SHIP_ENABLE: Ship landing enable
+- Range: 5 20
-Enable ship landing system
+- Units: s
+
+## QUIK_GAIN_MARGIN: Quicktune gain margin
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+
+- Units: %
+
+## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+- Range: 1 10
+
+## QUIK_YAW_P_MAX: Quicktune Yaw P max
+
+Maximum value for yaw P gain
+
+- Range: 0.1 3
+
+## QUIK_YAW_D_MAX: Quicktune Yaw D max
+
+Maximum value for yaw D gain
+
+- Range: 0.001 1
+
+## 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 1.0
+
+## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+- Range: 0.5 20
+
+## QUIK_AUTO_FILTER: Quicktune auto filter enable
+
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## SHIP_LAND_ANGLE: Ship landing angle
+## QUIK_AUTO_SAVE: Quicktune auto save
-Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: -180 180
+- Units: s
-- Units: deg
+## QUIK_RC_FUNC: Quicktune RC function
-## SHIP_AUTO_OFS: Ship automatic offset trigger
+RCn_OPTION number to use to control tuning stop/start/save
-Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
+## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Trigger|
+This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-## POI_DIST_MAX: Mount POI distance max
+- Units: %
-POI's max distance (in meters) from the vehicle
+- Range: 0 100
-- Range: 0 10000
+## QUIK_OPTIONS: Quicktune options
-## WINCH_RATE_UP: WinchControl Rate Up
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
-Maximum rate when retracting line
+- Bitmask: 0:UseTwoPositionSwitch
-- Range: 0.1 5.0
+## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
-## WINCH_RATE_DN: WinchControl Rate Down
+ExternalNav may be used if innovations are below this threshold
-Maximum rate when releasing line
+- Range: 0 1
-- Range: 0.1 5.0
+## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
-## WINCH_RC_FUNC: Winch Rate Control RC function
+ExternalNav may be used if quality is above this threshold
-RCn_OPTION number to use to control winch rate
+- Range: 0 100
-|Value|Meaning|
-|:---:|:---:|
-|300|Scripting1|
-|301|Scripting2|
-|302|Scripting3|
-|303|Scripting4|
-|304|Scripting5|
-|305|Scripting6|
-|306|Scripting7|
-|307|Scripting8|
+- Units: %
-## RCK_FORCEHL: Force enable High Latency mode
+## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold
-Automatically enables High Latency mode if not already enabled
+OpticalFlow may be used if innovations are below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 1
-## RCK_PERIOD: Update rate
+## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
-When in High Latency mode, send Rockblock updates every N seconds
+OpticalFlow may be used if quality is above this threshold
-- Range: 0 600
+- Range: 0 100
-- Units: s
+- Units: %
-## RCK_DEBUG: Display Rockblock debugging text
+## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
-Sends Rockblock debug text to GCS via statustexts
+OpticalFlow may be used if rangefinder distance is below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 50
-## RCK_ENABLE: Enable Message transmission
+- Units: m
-Enables the Rockblock sending and recieving
+## POI_DIST_MAX: Mount POI distance max
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+POI's max distance (in meters) from the vehicle
+
+- Range: 0 10000
## AEROM_ANG_ACCEL: Angular acceleration limit
@@ -2025,38 +2025,133 @@ Number of tricks which can be selected over the range of the trik selection RC c
- Range: 1 11
-## BATT_ANX_ENABLE: Enable ANX battery support
+## DJIR_DEBUG: DJIRS2 debug
-Enable ANX battery support
+*Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
+|2|Enabled with attitude reporting|
-## BATT_ANX_CANDRV: Set ANX CAN driver
+## DJIR_UPSIDEDOWN: DJIRS2 upside down
-Set ANX CAN driver
+DJIRS2 upside down
|Value|Meaning|
|:---:|:---:|
-|0|None|
-|1|1stCANDriver|
-|2|2ndCanDriver|
+|0|Right side up|
+|1|Upside down|
-## BATT_ANX_INDEX: ANX CAN battery index
+## VIEP_DEBUG: ViewPro debug
-ANX CAN battery index
+*Note: This parameter is for advanced users*
-- Range: 1 10
+ViewPro debug
-## BATT_ANX_OPTIONS: ANX CAN battery options
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Enabled including attitude reporting|
-*Note: This parameter is for advanced users*
+## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low
-ANX CAN battery options
+Camera selection when switch is in low position
-- Bitmask: 0:LogAllFrames
+|Value|Meaning|
+|:---:|:---:|
+|0|No change in camera selection|
+|1|EO1|
+|2|IR thermal|
+|3|EO1 + IR Picture-in-picture|
+|4|IR + EO1 Picture-in-picture|
+|5|Fusion|
+|6|IR1 13mm|
+|7|IR2 52mm|
+
+## 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_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
+
+## ESC_HW_ENABLE: Hobbywing ESC Enable
+
+Enable Hobbywing ESC telemetry
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## ESC_HW_POLES: Hobbywing ESC motor poles
+
+Number of motor poles for eRPM scaling
+
+- Range: 1 50
+
+## ESC_HW_OFS: Hobbywing ESC motor offset
+
+Motor number offset of first ESC
+
+- Range: 0 31
## EFI_SP_ENABLE: Enable SkyPower EFI support
@@ -2202,26 +2297,32 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th
- Units: s
-## DJIR_DEBUG: DJIRS2 debug
+## EFI_SVF_ENABLE: Generator SVFFI enable
-*Note: This parameter is for advanced users*
+Enable SVFFI generator support
-Enable DJIRS2 debug
+|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|
-|2|Enabled with attitude reporting|
-## DJIR_UPSIDEDOWN: DJIRS2 upside down
+## EFI_INF_ENABLE: EFI INF-Inject enable
-DJIRS2 upside down
+Enable EFI INF-Inject driver
|Value|Meaning|
|:---:|:---:|
-|0|Right side up|
-|1|Upside down|
+|0|Disabled|
+|1|Enabled|
## EFI_H6K_ENABLE: Enable Halo6000 EFI driver
@@ -2270,139 +2371,57 @@ The capacity of the tank in litres
- Units: litres
-## ESC_HW_ENABLE: Hobbywing ESC Enable
-
-Enable Hobbywing ESC telemetry
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## ESC_HW_POLES: Hobbywing ESC motor poles
-
-Number of motor poles for eRPM scaling
-
-- Range: 1 50
-
-## ESC_HW_OFS: Hobbywing ESC motor offset
-
-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*
+## BATT_ANX_ENABLE: Enable ANX battery support
-ViewPro debug
+Enable ANX battery support
|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
+## BATT_ANX_CANDRV: Set ANX CAN driver
-Camera selection when switch is in high position
+Set ANX CAN driver
|Value|Meaning|
|:---:|:---:|
-|0|No change in camera selection|
-|1|EO1|
-|2|IR thermal|
-|3|EO1 + IR Picture-in-picture|
-|4|IR + EO1 Picture-in-picture|
-|5|Fusion|
-|6|IR1 13mm|
-|7|IR2 52mm|
-
-## VIEP_ZOOM_SPEED: ViewPro Zoom Speed
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
+|0|None|
+|1|1stCANDriver|
+|2|2ndCanDriver|
-- Range: 0 7
+## BATT_ANX_INDEX: ANX CAN battery index
-## VIEP_ZOOM_MAX: ViewPro Zoom Times Max
+ANX CAN battery index
-ViewPro Zoom Times Max
+- Range: 1 10
-- Range: 0 30
+## BATT_ANX_OPTIONS: ANX CAN battery options
-## EFI_SVF_ENABLE: Generator SVFFI enable
+*Note: This parameter is for advanced users*
-Enable SVFFI generator support
+ANX CAN battery options
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Bitmask: 0:LogAllFrames
-## EFI_SVF_ARMCHECK: Generator SVFFI arming check
+## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-Check for Generator ARM state before arming
+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|Disabled|
-|1|Enabled|
-
-## EFI_DLA_ENABLE: EFI DLA enable
-
-Enable EFI DLA driver
+|0|Set as Rangefinder|
+|1|Set as Proximity sensor|
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-## EFI_DLA_LPS: EFI DLA fuel scale
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-EFI DLA litres of fuel per second of injection time
+- Range: 1 4
-- Range: 0.00001 1
+## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-- Units: litres
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor
@@ -2464,25 +2483,6 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N
- Range: 1 255
-## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Set as Rangefinder|
-|1|Set as Proximity sensor|
-
-## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-- Range: 1 4
-
-## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-
-Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-
# ADSB Parameters
## ADSB_TYPE: ADSB Type
diff --git a/Copter-4.5/ParametersLatex.rst b/Copter-4.5/ParametersLatex.rst
index 582a1c1..966fb91 100644
--- a/Copter-4.5/ParametersLatex.rst
+++ b/Copter-4.5/ParametersLatex.rst
@@ -2756,151 +2756,6 @@ Lua Script Parameters
---------------------
-.. _PREV_ENABLE:
-
-PREV\_ENABLE: parameter reversion enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable parameter reversion system
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _PREV_RC_FUNC:
-
-PREV\_RC\_FUNC: param reversion RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-RCn\_OPTION number to used to trigger parameter reversion
-
-
-.. _WEB_ENABLE:
-
-WEB\_ENABLE: enable web server
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-enable web server
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BIND_PORT:
-
-WEB\_BIND\_PORT: web server TCP port
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-web server TCP port
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_DEBUG:
-
-WEB\_DEBUG: web server debugging
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server debugging
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BLOCK_SIZE:
-
-WEB\_BLOCK\_SIZE: web server block size
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server block size for download
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_TIMEOUT:
-
-WEB\_TIMEOUT: web server timeout
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-
-+-----------+---------+
-| Range | Units |
-+===========+=========+
-| 0.1 to 60 | seconds |
-+-----------+---------+
-
-
-
-
-.. _WEB_SENDFILE_MIN:
-
-WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-
-
-+---------------+
-| Range |
-+===============+
-| 0 to 10000000 |
-+---------------+
-
-
-
-
.. _RTUN_ENABLE:
RTUN\_ENABLE: Rover Quicktune enable
@@ -3119,110 +2974,224 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
-.. _BATT_SOC_COUNT:
-
-BATT\_SOC\_COUNT: Count of SOC estimators
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of battery SOC estimators
-
+.. _PLND_ALT_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+PLND\_ALT\_CUTOFF: Precland altitude cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
-.. _BATT_SOC1_IDX:
++---------+--------+
+| Range | Units |
++=========+========+
+| 0 to 20 | meters |
++---------+--------+
-BATT\_SOC1\_IDX: Battery estimator index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator index
+.. _DIST_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+DIST\_CUTOFF: Precland distance cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The distance from target beyond which the target is ignored
-.. _BATT_SOC1_NCELL:
++----------+--------+
+| Range | Units |
++==========+========+
+| 0 to 100 | meters |
++----------+--------+
-BATT\_SOC1\_NCELL: Battery estimator cell count
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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_SOC1_C1:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_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_SOC1_C2:
++----------+---------+
+| Range | Units |
++==========+=========+
+| 0 to 600 | seconds |
++----------+---------+
-BATT\_SOC1\_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_SOC1_C3:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_C3: Battery estimator coefficient3
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator coefficient3
+.. _RCK_ENABLE:
-+-------------+
-| Range |
-+=============+
-| 0.01 to 0.5 |
-+-------------+
+RCK\_ENABLE: Enable Message transmission
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enables the Rockblock sending and recieving
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _BATT_SOC_COUNT:
+
+BATT\_SOC\_COUNT: Count of SOC estimators
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of battery SOC estimators
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_IDX:
+
+BATT\_SOC1\_IDX: Battery estimator index
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator index
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_NCELL:
+
+BATT\_SOC1\_NCELL: Battery estimator cell count
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator cell count
+
+
++---------+
+| Range |
++=========+
+| 0 to 48 |
++---------+
+
+
+
+
+.. _BATT_SOC1_C1:
+
+BATT\_SOC1\_C1: Battery estimator coefficient1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient1
+
+
++------------+
+| Range |
++============+
+| 100 to 200 |
++------------+
+
+
+
+
+.. _BATT_SOC1_C2:
+
+BATT\_SOC1\_C2: Battery estimator coefficient2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient2
+
+
++--------+
+| Range |
++========+
+| 2 to 5 |
++--------+
+
+
+
+
+.. _BATT_SOC1_C3:
+
+BATT\_SOC1\_C3: Battery estimator coefficient3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient3
+
+
++-------------+
+| Range |
++=============+
+| 0.01 to 0.5 |
++-------------+
@@ -3497,13 +3466,13 @@ Battery estimator coefficient3
-.. _QUIK_ENABLE:
+.. _WEB_ENABLE:
-QUIK\_ENABLE: Quicktune enable
+WEB\_ENABLE: enable web server
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable quicktune system
+enable web server
+-------+----------+
@@ -3517,161 +3486,138 @@ Enable quicktune system
-.. _QUIK_AXES:
+.. _WEB_BIND_PORT:
-QUIK\_AXES: Quicktune axes
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BIND\_PORT: web server TCP port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-axes to tune
+web server TCP port
-+-----+---------+
-| Bit | Meaning |
-+=====+=========+
-| 0 | Roll |
-+-----+---------+
-| 1 | Pitch |
-+-----+---------+
-| 2 | Yaw |
-+-----+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_DOUBLE_TIME:
+.. _WEB_DEBUG:
-QUIK\_DOUBLE\_TIME: Quicktune doubling time
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_DEBUG: web server debugging
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Time to double a tuning parameter\. Raise this for a slower tune\.
+web server debugging
-+---------+---------+
-| Range | Units |
-+=========+=========+
-| 5 to 20 | seconds |
-+---------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_GAIN_MARGIN:
+.. _WEB_BLOCK_SIZE:
-QUIK\_GAIN\_MARGIN: Quicktune gain margin
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BLOCK\_SIZE: web server block size
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
+web server block size for download
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 20 to 80 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_OSC_SMAX:
+.. _WEB_TIMEOUT:
-QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_TIMEOUT: web server timeout
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+timeout for inactive connections
-+---------+
-| Range |
-+=========+
-| 1 to 10 |
-+---------+
++-----------+---------+
+| Range | Units |
++===========+=========+
+| 0.1 to 60 | seconds |
++-----------+---------+
-.. _QUIK_YAW_P_MAX:
+.. _WEB_SENDFILE_MIN:
-QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-+----------+
-| Range |
-+==========+
-| 0.1 to 3 |
-+----------+
++---------------+
+| Range |
++===============+
+| 0 to 10000000 |
++---------------+
-.. _QUIK_YAW_D_MAX:
+.. _PREV_ENABLE:
-QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_ENABLE: parameter reversion enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum value for yaw D gain
+Enable parameter reversion system
-+------------+
-| Range |
-+============+
-| 0.001 to 1 |
-+------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_RP_PI_RATIO:
+.. _PREV_RC_FUNC:
-QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_RC\_FUNC: param reversion RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+RCn\_OPTION number to used to trigger parameter reversion
-+------------+
-| 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:
+.. _SHIP_ENABLE:
-QUIK\_AUTO\_FILTER: Quicktune auto filter enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_ENABLE: Ship landing enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+Enable ship landing system
+-------+----------+
@@ -3685,155 +3631,108 @@ 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:
+.. _SHIP_LAND_ANGLE:
-QUIK\_RC\_FUNC: Quicktune RC function
+SHIP\_LAND\_ANGLE: Ship landing angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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
+Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\.
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++-------------+---------+
+| Range | Units |
++=============+=========+
+| -180 to 180 | degrees |
++-------------+---------+
-.. _ESRC_EXTN_QUAL:
+.. _SHIP_AUTO_OFS:
-ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_AUTO\_OFS: Ship automatic offset trigger
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ExternalNav may be used if quality is above this threshold
+Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\.
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Trigger |
++-------+----------+
-.. _ESRC_FLOW_THRESH:
+.. _WINCH_RATE_UP:
-ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_UP: WinchControl Rate Up
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if innovations are below this threshold
+Maximum rate when retracting line
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_FLOW_QUAL:
+.. _WINCH_RATE_DN:
-ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_DN: WinchControl Rate Down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if quality is above this threshold
+Maximum rate when releasing line
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_RNGFND_MAX:
+.. _WINCH_RC_FUNC:
-ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RC\_FUNC: Winch Rate Control RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if rangefinder distance is below this threshold
+RCn\_OPTION number to use to control winch rate
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 50 | meters |
-+---------+--------+
++-------+------------+
+| Value | Meaning |
++=======+============+
+| 300 | Scripting1 |
++-------+------------+
+| 301 | Scripting2 |
++-------+------------+
+| 302 | Scripting3 |
++-------+------------+
+| 303 | Scripting4 |
++-------+------------+
+| 304 | Scripting5 |
++-------+------------+
+| 305 | Scripting6 |
++-------+------------+
+| 306 | Scripting7 |
++-------+------------+
+| 307 | Scripting8 |
++-------+------------+
@@ -4024,193 +3923,181 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\.
-.. _PLND_ALT_CUTOFF:
+.. _QUIK_ENABLE:
-PLND\_ALT\_CUTOFF: Precland altitude cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 20 | meters |
-+---------+--------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DIST_CUTOFF:
+.. _QUIK_AXES:
-DIST\_CUTOFF: Precland distance cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
-The distance from target beyond which the target is ignored
+axes to tune
-+----------+--------+
-| Range | Units |
-+==========+========+
-| 0 to 100 | meters |
-+----------+--------+
++-----+---------+
+| Bit | Meaning |
++=====+=========+
+| 0 | Roll |
++-----+---------+
+| 1 | Pitch |
++-----+---------+
+| 2 | Yaw |
++-----+---------+
-.. _SHIP_ENABLE:
+.. _QUIK_DOUBLE_TIME:
-SHIP\_ENABLE: Ship landing enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ship landing system
+Time to double a tuning parameter\. Raise this for a slower tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++---------+---------+
+| Range | Units |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
-.. _SHIP_LAND_ANGLE:
+.. _QUIK_GAIN_MARGIN:
-SHIP\_LAND\_ANGLE: Ship landing angle
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_GAIN\_MARGIN: Quicktune gain margin
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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\.
+Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
-+-------------+---------+
-| Range | Units |
-+=============+=========+
-| -180 to 180 | degrees |
-+-------------+---------+
++----------+---------+
+| Range | Units |
++==========+=========+
+| 20 to 80 | percent |
++----------+---------+
-.. _SHIP_AUTO_OFS:
+.. _QUIK_OSC_SMAX:
-SHIP\_AUTO\_OFS: Ship automatic offset trigger
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OSC\_SMAX: Quicktune oscillation rate 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\.
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Trigger |
-+-------+----------+
++---------+
+| Range |
++=========+
+| 1 to 10 |
++---------+
-.. _POI_DIST_MAX:
+.. _QUIK_YAW_P_MAX:
-POI\_DIST\_MAX: Mount POI distance max
+QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-POI\'s max distance \(in meters\) from the vehicle
+Maximum value for yaw P gain
-+------------+
-| Range |
-+============+
-| 0 to 10000 |
-+------------+
++----------+
+| Range |
++==========+
+| 0.1 to 3 |
++----------+
-.. _WINCH_RATE_UP:
+.. _QUIK_YAW_D_MAX:
-WINCH\_RATE\_UP: WinchControl Rate Up
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when retracting line
+Maximum value for yaw D gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.001 to 1 |
+------------+
-.. _WINCH_RATE_DN:
+.. _QUIK_RP_PI_RATIO:
-WINCH\_RATE\_DN: WinchControl Rate Down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when releasing line
+Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.5 to 1.0 |
+------------+
-.. _WINCH_RC_FUNC:
+.. _QUIK_Y_PI_RATIO:
-WINCH\_RC\_FUNC: Winch Rate Control RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-RCn\_OPTION number to use to control winch rate
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
-+-------+------------+
-| Value | Meaning |
-+=======+============+
-| 300 | Scripting1 |
-+-------+------------+
-| 301 | Scripting2 |
-+-------+------------+
-| 302 | Scripting3 |
-+-------+------------+
-| 303 | Scripting4 |
-+-------+------------+
-| 304 | Scripting5 |
-+-------+------------+
-| 305 | Scripting6 |
-+-------+------------+
-| 306 | Scripting7 |
-+-------+------------+
-| 307 | Scripting8 |
-+-------+------------+
++-----------+
+| Range |
++===========+
+| 0.5 to 20 |
++-----------+
-.. _RCK_FORCEHL:
+.. _QUIK_AUTO_FILTER:
-RCK\_FORCEHL: Force enable High Latency mode
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Automatically enables High Latency mode if not already enabled
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+-------+----------+
@@ -4224,60 +4111,173 @@ Automatically enables High Latency mode if not already enabled
-.. _RCK_PERIOD:
+.. _QUIK_AUTO_SAVE:
-RCK\_PERIOD: Update rate
-~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_SAVE: Quicktune auto save
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When in High Latency mode\, send Rockblock updates every N seconds
+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 600 | seconds |
+| 0 to 100 | percent |
+----------+---------+
-.. _RCK_DEBUG:
+.. _QUIK_OPTIONS:
-RCK\_DEBUG: Display Rockblock debugging text
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Sends Rockblock debug text to GCS via statustexts
+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\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++-----+----------------------+
+| Bit | Meaning |
++=====+======================+
+| 0 | UseTwoPositionSwitch |
++-----+----------------------+
-.. _RCK_ENABLE:
+.. _ESRC_EXTN_THRESH:
-RCK\_ENABLE: Enable Message transmission
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enables the Rockblock sending and recieving
+ExternalNav may be used if innovations are below this threshold
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++--------+
+| 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 |
++---------+--------+
+
+
+
+
+.. _POI_DIST_MAX:
+
+POI\_DIST\_MAX: Mount POI distance max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+POI\'s max distance \(in meters\) from the vehicle
+
+
++------------+
+| Range |
++============+
+| 0 to 10000 |
++------------+
@@ -4835,13 +4835,211 @@ Number of tricks which can be selected over the range of the trik selection RC c
-.. _BATT_ANX_ENABLE:
+.. _DJIR_DEBUG:
+
+DJIR\_DEBUG: DJIRS2 debug
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
+
+
++-------+---------------------------------+
+| Value | Meaning |
++=======+=================================+
+| 0 | Disabled |
++-------+---------------------------------+
+| 1 | Enabled |
++-------+---------------------------------+
+| 2 | Enabled with attitude reporting |
++-------+---------------------------------+
+
+
+
+
+.. _DJIR_UPSIDEDOWN:
+
+DJIR\_UPSIDEDOWN: DJIRS2 upside down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+DJIRS2 upside down
+
+
++-------+---------------+
+| Value | Meaning |
++=======+===============+
+| 0 | Right side up |
++-------+---------------+
+| 1 | Upside down |
++-------+---------------+
+
+
+
+
+.. _VIEP_DEBUG:
+
+VIEP\_DEBUG: ViewPro debug
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+ViewPro debug
+
+
++-------+--------------------------------------+
+| Value | Meaning |
++=======+======================================+
+| 0 | Disabled |
++-------+--------------------------------------+
+| 1 | Enabled |
++-------+--------------------------------------+
+| 2 | Enabled including attitude reporting |
++-------+--------------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWLOW:
+
+VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in low position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
-BATT\_ANX\_ENABLE: Enable ANX battery support
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ANX battery support
+
+.. _VIEP_CAM_SWMID:
+
+VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in middle position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWHIGH:
+
+VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in high position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_ZOOM_SPEED:
+
+VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Speed\. Higher numbers result in faster zooming
+
+
++--------+
+| Range |
++========+
+| 0 to 7 |
++--------+
+
+
+
+
+.. _VIEP_ZOOM_MAX:
+
+VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Times Max
+
+
++---------+
+| Range |
++=========+
+| 0 to 30 |
++---------+
+
+
+
+
+.. _EFI_DLA_ENABLE:
+
+EFI\_DLA\_ENABLE: EFI DLA enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI DLA driver
+-------+----------+
@@ -4855,61 +5053,76 @@ Enable ANX battery support
-.. _BATT_ANX_CANDRV:
+.. _EFI_DLA_LPS:
+
+EFI\_DLA\_LPS: EFI DLA fuel scale
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+EFI DLA litres of fuel per second of injection time
+
+
++--------------+--------+
+| Range | Units |
++==============+========+
+| 0.00001 to 1 | litres |
++--------------+--------+
+
+
+
+
+.. _ESC_HW_ENABLE:
-BATT\_ANX\_CANDRV: Set ANX CAN driver
+ESC\_HW\_ENABLE: Hobbywing ESC Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
-+-------+--------------+
-| Value | Meaning |
-+=======+==============+
-| 0 | None |
-+-------+--------------+
-| 1 | 1stCANDriver |
-+-------+--------------+
-| 2 | 2ndCanDriver |
-+-------+--------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _BATT_ANX_INDEX:
+.. _ESC_HW_POLES:
-BATT\_ANX\_INDEX: ANX CAN battery index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_POLES: Hobbywing ESC motor poles
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ANX CAN battery index
+Number of motor poles for eRPM scaling
+---------+
| Range |
+=========+
-| 1 to 10 |
+| 1 to 50 |
+---------+
-.. _BATT_ANX_OPTIONS:
+.. _ESC_HW_OFS:
-BATT\_ANX\_OPTIONS: ANX CAN battery options
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_OFS: Hobbywing ESC motor offset
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-ANX CAN battery options
+Motor number offset of first ESC
-+-----+--------------+
-| Bit | Meaning |
-+=====+==============+
-| 0 | LogAllFrames |
-+-----+--------------+
++---------+
+| Range |
++=========+
+| 0 to 31 |
++---------+
@@ -5219,45 +5432,62 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t
-.. _DJIR_DEBUG:
+.. _EFI_SVF_ENABLE:
-DJIR\_DEBUG: DJIRS2 debug
-~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ENABLE: Generator SVFFI enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-Enable DJIRS2 debug
+Enable SVFFI generator support
-+-------+---------------------------------+
-| Value | Meaning |
-+=======+=================================+
-| 0 | Disabled |
-+-------+---------------------------------+
-| 1 | Enabled |
-+-------+---------------------------------+
-| 2 | Enabled with attitude reporting |
-+-------+---------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DJIR_UPSIDEDOWN:
+.. _EFI_SVF_ARMCHECK:
-DJIR\_UPSIDEDOWN: DJIRS2 upside down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-DJIRS2 upside down
+Check for Generator ARM state before arming
-+-------+---------------+
-| Value | Meaning |
-+=======+===============+
-| 0 | Right side up |
-+-------+---------------+
-| 1 | Upside down |
-+-------+---------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _EFI_INF_ENABLE:
+
+EFI\_INF\_ENABLE: EFI INF\-Inject enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI INF\-Inject driver
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
@@ -5329,358 +5559,175 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis
| 304 | 304 |
+-------+----------+
| 305 | 305 |
-+-------+----------+
-| 306 | 306 |
-+-------+----------+
-| 307 | 307 |
-+-------+----------+
-
-
-
-
-.. _EFI_H6K_TELEM_RT:
-
-EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The rate that additional generator telemetry is sent
-
-
-+-------+
-| Units |
-+=======+
-| hertz |
-+-------+
-
-
-
-
-.. _EFI_H6K_FUELTOT:
-
-EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The capacity of the tank in litres
-
-
-+--------+
-| Units |
-+========+
-| litres |
-+--------+
-
-
-
-
-.. _ESC_HW_ENABLE:
-
-ESC\_HW\_ENABLE: Hobbywing ESC Enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable Hobbywing ESC telemetry
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _ESC_HW_POLES:
-
-ESC\_HW\_POLES: Hobbywing ESC motor poles
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of motor poles for eRPM scaling
-
-
-+---------+
-| Range |
-+=========+
-| 1 to 50 |
-+---------+
-
-
-
-
-.. _ESC_HW_OFS:
-
-ESC\_HW\_OFS: Hobbywing ESC motor offset
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Motor number offset of first ESC
-
-
-+---------+
-| Range |
-+=========+
-| 0 to 31 |
-+---------+
-
-
-
-
-.. _EFI_INF_ENABLE:
-
-EFI\_INF\_ENABLE: EFI INF\-Inject enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable EFI INF\-Inject driver
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _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 |
-+-------+--------------------------------------+
++-------+----------+
+| 306 | 306 |
++-------+----------+
+| 307 | 307 |
++-------+----------+
-.. _VIEP_CAM_SWLOW:
+.. _EFI_H6K_TELEM_RT:
-VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in low position
+The rate that additional generator telemetry is sent
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+
+| Units |
++=======+
+| hertz |
++-------+
-.. _VIEP_CAM_SWMID:
+.. _EFI_H6K_FUELTOT:
-VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in middle position
+The capacity of the tank in litres
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++--------+
+| Units |
++========+
+| litres |
++--------+
-.. _VIEP_CAM_SWHIGH:
+.. _BATT_ANX_ENABLE:
-VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+BATT\_ANX\_ENABLE: Enable ANX battery support
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in high position
+Enable ANX battery support
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _VIEP_ZOOM_SPEED:
+.. _BATT_ANX_CANDRV:
-VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+BATT\_ANX\_CANDRV: Set ANX CAN driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Speed\. Higher numbers result in faster zooming
+Set ANX CAN driver
-+--------+
-| Range |
-+========+
-| 0 to 7 |
-+--------+
++-------+--------------+
+| Value | Meaning |
++=======+==============+
+| 0 | None |
++-------+--------------+
+| 1 | 1stCANDriver |
++-------+--------------+
+| 2 | 2ndCanDriver |
++-------+--------------+
-.. _VIEP_ZOOM_MAX:
+.. _BATT_ANX_INDEX:
-VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+BATT\_ANX\_INDEX: ANX CAN battery index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Times Max
+ANX CAN battery index
+---------+
| Range |
+=========+
-| 0 to 30 |
+| 1 to 10 |
+---------+
-.. _EFI_SVF_ENABLE:
-
-EFI\_SVF\_ENABLE: Generator SVFFI enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable SVFFI generator support
-
+.. _BATT_ANX_OPTIONS:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+BATT\_ANX\_OPTIONS: ANX CAN battery options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
+ANX CAN battery options
-.. _EFI_SVF_ARMCHECK:
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
-EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Check for Generator ARM state before arming
+.. _TOFSENSE_S1_PRX:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-.. _EFI_DLA_ENABLE:
++-------+-------------------------+
+| Value | Meaning |
++=======+=========================+
+| 0 | Set as Rangefinder |
++-------+-------------------------+
+| 1 | Set as Proximity sensor |
++-------+-------------------------+
-EFI\_DLA\_ENABLE: EFI DLA enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable EFI DLA driver
+.. _TOFSENSE_S1_SP:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+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\.
-.. _EFI_DLA_LPS:
++--------+
+| Range |
++========+
+| 1 to 4 |
++--------+
-EFI\_DLA\_LPS: EFI DLA fuel scale
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-EFI DLA litres of fuel per second of injection time
+.. _TOFSENSE_S1_BR:
-+--------------+--------+
-| Range | Units |
-+==============+========+
-| 0.00001 to 1 | litres |
-+--------------+--------+
+TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
.. _TOFSENSE_PRX:
@@ -5849,53 +5896,6 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro
-.. _TOFSENSE_S1_PRX:
-
-TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-
-
-+-------+-------------------------+
-| Value | Meaning |
-+=======+=========================+
-| 0 | Set as Rangefinder |
-+-------+-------------------------+
-| 1 | Set as Proximity sensor |
-+-------+-------------------------+
-
-
-
-
-.. _TOFSENSE_S1_SP:
-
-TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\.
-
-
-+--------+
-| Range |
-+========+
-| 1 to 4 |
-+--------+
-
-
-
-
-.. _TOFSENSE_S1_BR:
-
-TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
-
-
.. _parameters_ADSB_:
diff --git a/Copter-4.5/apm.pdef.xml b/Copter-4.5/apm.pdef.xml
index 3d6ea14..79082d1 100644
--- a/Copter-4.5/apm.pdef.xml
+++ b/Copter-4.5/apm.pdef.xml
@@ -830,40 +830,6 @@
-
-
- Disabled
- Enabled
-
-
-
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
- s
- seconds
- 0.1 60
-
-
- 0 10000000
-
Disabled
@@ -913,6 +879,39 @@
Scripting8
+
+ 0 20
+ m
+ meters
+
+
+ 0 100
+ m
+ meters
+
+
+
+ Disabled
+ Enabled
+
+
+
+ 0 600
+ s
+ seconds
+
+
+
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
+
+
0 4
@@ -976,80 +975,74 @@
0.01 0.5
-
+
Disabled
Enabled
-
- 0:Roll,1:Pitch,2:Yaw
-
-
- 5 20
- s
- seconds
-
-
- 20 80
- %
- percent
-
-
- 1 10
+
+ 1 65535
-
- 0.1 3
+
+
+ Disabled
+ Enabled
+
-
- 0.001 1
+
+ 1 65535
-
- 0.5 1.0
+
+ s
+ seconds
+ 0.1 60
-
- 0.5 20
+
+ 0 10000000
-
+
Disabled
Enabled
-
- s
- seconds
-
-
+
-
- %
- percent
- 0 100
-
-
- 0:UseTwoPositionSwitch
+
+
+ Disabled
+ Enabled
+
-
- 0 1
+
+ -180 180
+ deg
+ degrees
-
- 0 100
- %
- percent
+
+
+ Disabled
+ Trigger
+
-
- 0 1
+
+ 0.1 5.0
-
- 0 100
- %
- percent
+
+ 0.1 5.0
-
- 0 50
- m
- meters
+
+
+ Scripting1
+ Scripting2
+ Scripting3
+ Scripting4
+ Scripting5
+ Scripting6
+ Scripting7
+ Scripting8
+
@@ -1101,76 +1094,83 @@
Auto RTL
-
- 0 20
- m
- meters
-
-
- 0 100
- m
- meters
-
-
+
Disabled
Enabled
-
- -180 180
- deg
- degrees
+
+ 0:Roll,1:Pitch,2:Yaw
-
-
- Disabled
- Trigger
-
+
+ 5 20
+ s
+ seconds
-
- 0 10000
+
+ 20 80
+ %
+ percent
-
- 0.1 5.0
+
+ 1 10
-
- 0.1 5.0
+
+ 0.1 3
-
-
- Scripting1
- Scripting2
- Scripting3
- Scripting4
- Scripting5
- Scripting6
- Scripting7
- Scripting8
-
+
+ 0.001 1
-
+
+ 0.5 1.0
+
+
+ 0.5 20
+
+
Disabled
Enabled
-
- 0 600
+
s
seconds
-
-
- Disabled
- Enabled
-
+
+
+
+ %
+ percent
+ 0 100
-
-
- Disabled
- Enabled
-
+
+ 0:UseTwoPositionSwitch
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 50
+ m
+ meters
+
+
+ 0 10000
deg/s/s
@@ -1289,24 +1289,90 @@
1 11
-
+
Disabled
Enabled
+ Enabled with attitude reporting
-
+
- None
- 1stCANDriver
- 2ndCanDriver
+ Right side up
+ Upside down
-
- 1 10
+
+
+ Disabled
+ Enabled
+ Enabled including attitude reporting
+
-
- 0:LogAllFrames
+
+
+ No change in camera selection
+ EO1
+ IR thermal
+ EO1 + IR Picture-in-picture
+ IR + EO1 Picture-in-picture
+ Fusion
+ IR1 13mm
+ IR2 52mm
+
+
+
+
+ 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
+
+
+
+ 1 50
+
+
+ 0 31
@@ -1400,17 +1466,22 @@
s
seconds
-
+
Disabled
Enabled
- Enabled with attitude reporting
-
+
- Right side up
- Upside down
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
@@ -1447,96 +1518,36 @@
litres
litres
-
-
- Disabled
- Enabled
-
-
-
- 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
+ None
+ 1stCANDriver
+ 2ndCanDriver
-
- 0 7
-
-
- 0 30
-
-
-
- Disabled
- Enabled
-
+
+ 1 10
-
-
- Disabled
- Enabled
-
+
+ 0:LogAllFrames
-
+
- Disabled
- Enabled
+ Set as Rangefinder
+ Set as Proximity sensor
-
- 0.00001 1
- litres
- litres
+
+ 1 4
+
+
Set as Rangefinder
@@ -1570,17 +1581,6 @@
1 255
-
-
- Set as Rangefinder
- Set as Proximity sensor
-
-
-
- 1 4
-
-
-
diff --git a/Plane-4.5/Parameters.html b/Plane-4.5/Parameters.html
index f6e812a..951538e 100644
--- a/Plane-4.5/Parameters.html
+++ b/Plane-4.5/Parameters.html
@@ -1319,79 +1319,6 @@ Flight mode block from GCS (FLTMODE_GCSBLOCK)
Lua Script Parameters
-parameter reversion enable (PREV_ENABLE)
-
-Enable parameter reversion system
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-param reversion RC function (PREV_RC_FUNC)
-
-RCn_OPTION number to used to trigger parameter reversion
-
-
-
-enable web server (WEB_ENABLE)
-
-enable web server
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-web server TCP port (WEB_BIND_PORT)
-
-web server TCP port
-
-
-
-web server debugging (WEB_DEBUG)
Note: This parameter is for advanced users
-
-web server debugging
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-web server block size (WEB_BLOCK_SIZE)
Note: This parameter is for advanced users
-
-web server block size for download
-
-
-
-web server timeout (WEB_TIMEOUT)
Note: This parameter is for advanced users
-
-timeout for inactive connections
-
-- Units: seconds
-- Range: 0.1 60
-
-
-
-web server minimum file size for sendfile (WEB_SENDFILE_MIN)
Note: This parameter is for advanced users
-
-sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-
-
-
Rover Quicktune enable (RTUN_ENABLE)
Enable quicktune system
@@ -1495,6 +1422,66 @@ Rover Quicktune RC function (RTUN_RC_FUNC)
+Precland altitude cutoff (PLND_ALT_CUTOFF)
+
+The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+
+- Range: 0 20
+- Units: meters
+
+
+
+Precland distance cutoff (DIST_CUTOFF)
+
+The distance from target beyond which the target is ignored
+
+- Range: 0 100
+- Units: meters
+
+
+
+Force enable High Latency mode (RCK_FORCEHL)
+
+Automatically enables High Latency mode if not already enabled
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+Update rate (RCK_PERIOD)
+
+When in High Latency mode, send Rockblock updates every N seconds
+
+- Range: 0 600
+- Units: seconds
+
+
+
+Display Rockblock debugging text (RCK_DEBUG)
+
+Sends Rockblock debug text to GCS via statustexts
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+Enable Message transmission (RCK_ENABLE)
+
+Enables the Rockblock sending and recieving
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
Count of SOC estimators (BATT_SOC_COUNT)
Number of battery SOC estimators
@@ -1663,9 +1650,9 @@ Battery estimator coefficient3 (BATT_SOC4_C3)
-Quicktune enable (QUIK_ENABLE)
+enable web server (WEB_ENABLE)
-Enable quicktune system
+enable web server
Value | Meaning |
0 | Disabled |
@@ -1674,75 +1661,71 @@ Quicktune enable (QUIK_ENABLE)
-Quicktune axes (QUIK_AXES)
-
-axes to tune
-
-- Bitmask: 0:Roll,1:Pitch,2:Yaw
-
-
-
-Quicktune doubling time (QUIK_DOUBLE_TIME)
+web server TCP port (WEB_BIND_PORT)
-Time to double a tuning parameter. Raise this for a slower tune.
+web server TCP port
-- Range: 5 20
-- Units: seconds
+- Range: 1 65535
-Quicktune gain margin (QUIK_GAIN_MARGIN)
+web server debugging (WEB_DEBUG)
Note: This parameter is for advanced users
-Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+web server debugging
-- Range: 20 80
-- Units: percent
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Quicktune oscillation rate threshold (QUIK_OSC_SMAX)
+web server block size (WEB_BLOCK_SIZE)
Note: This parameter is for advanced users
-Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+web server block size for download
-- Range: 1 10
+- Range: 1 65535
-Quicktune Yaw P max (QUIK_YAW_P_MAX)
+web server timeout (WEB_TIMEOUT)
Note: This parameter is for advanced users
-Maximum value for yaw P gain
+timeout for inactive connections
-- Range: 0.1 3
+- Units: seconds
+- Range: 0.1 60
-Quicktune Yaw D max (QUIK_YAW_D_MAX)
+web server minimum file size for sendfile (WEB_SENDFILE_MIN)
Note: This parameter is for advanced users
-Maximum value for yaw D gain
+sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-- Range: 0.001 1
+- Range: 0 10000000
-Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)
+parameter reversion enable (PREV_ENABLE)
-Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+Enable parameter reversion system
-- Range: 0.5 1.0
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)
+param reversion RC function (PREV_RC_FUNC)
-Ratio between P and I gains for yaw. Raise this to get a lower I gain
+RCn_OPTION number to used to trigger parameter reversion
-Quicktune auto filter enable (QUIK_AUTO_FILTER)
+Ship landing enable (SHIP_ENABLE)
-When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+Enable ship landing system
Value | Meaning |
0 | Disabled |
@@ -1751,95 +1734,73 @@ Quicktune auto filter enable (QUIK_AUTO_FILTER)
-Quicktune auto save (QUIK_AUTO_SAVE)
+Ship landing angle (SHIP_LAND_ANGLE)
-Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
+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.
-- Units: seconds
+- Range: -180 180
+- Units: degrees
-Quicktune RC function (QUIK_RC_FUNC)
+Ship automatic offset trigger (SHIP_AUTO_OFS)
-RCn_OPTION number to use to control tuning stop/start/save
+Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
+Value | Meaning |
+0 | Disabled |
+1 | Trigger |
+
-Quicktune maximum gain reduction (QUIK_MAX_REDUCE)
+WinchControl Rate Up (WINCH_RATE_UP)
-This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
+Maximum rate when retracting line
-- Units: percent
-- Range: 0 100
+- Range: 0.1 5.0
-Quicktune options (QUIK_OPTIONS)
+WinchControl Rate Down (WINCH_RATE_DN)
-Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+Maximum rate when releasing line
-- Bitmask: 0:UseTwoPositionSwitch
+- Range: 0.1 5.0
-EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)
+Winch Rate Control RC function (WINCH_RC_FUNC)
-ExternalNav may be used if innovations are below this threshold
+RCn_OPTION number to use to control winch rate
-- Range: 0 1
+Value | Meaning |
+300 | Scripting1 |
+301 | Scripting2 |
+302 | Scripting3 |
+303 | Scripting4 |
+304 | Scripting5 |
+305 | Scripting6 |
+306 | Scripting7 |
+307 | Scripting8 |
+
-EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)
+Deadreckoning Enable (DR_ENABLE)
-ExternalNav may be used if quality is above this threshold
+Deadreckoning Enable
-- Range: 0 100
-- Units: percent
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)
+Deadreckoning Enable Distance (DR_ENABLE_DIST)
-OpticalFlow may be used if innovations are below this threshold
-
-
-
-EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)
-
-OpticalFlow may be used if quality is above this threshold
-
-- Range: 0 100
-- Units: percent
-
-
-
-EKF Source Rangefinder Max (ESRC_RNGFND_MAX)
-
-OpticalFlow may be used if rangefinder distance is below this threshold
-
-- Range: 0 50
-- Units: meters
-
-
-
-Deadreckoning Enable (DR_ENABLE)
-
-Deadreckoning Enable
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-Deadreckoning Enable Distance (DR_ENABLE_DIST)
-
-Distance from home (in meters) beyond which the dead reckoning will be enabled
+Distance from home (in meters) beyond which the dead reckoning will be enabled
@@ -1916,99 +1877,86 @@ Deadreckoning Next Mode (DR_NEXT_MODE)
-Precland altitude cutoff (PLND_ALT_CUTOFF)
+Quicktune enable (QUIK_ENABLE)
-The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-- Range: 0 20
-- Units: meters
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Precland distance cutoff (DIST_CUTOFF)
+Quicktune axes (QUIK_AXES)
-The distance from target beyond which the target is ignored
+axes to tune
-- Range: 0 100
-- Units: meters
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
-Ship landing enable (SHIP_ENABLE)
+Quicktune doubling time (QUIK_DOUBLE_TIME)
-Enable ship landing system
+Time to double a tuning parameter. Raise this for a slower tune.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 5 20
+- Units: seconds
-Ship landing angle (SHIP_LAND_ANGLE)
+Quicktune gain margin (QUIK_GAIN_MARGIN)
-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.
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
-- Range: -180 180
-- Units: degrees
+- Range: 20 80
+- Units: percent
-Ship automatic offset trigger (SHIP_AUTO_OFS)
+Quicktune oscillation rate threshold (QUIK_OSC_SMAX)
-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.
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
-Value | Meaning |
-0 | Disabled |
-1 | Trigger |
-
+- Range: 1 10
-Mount POI distance max (POI_DIST_MAX)
+Quicktune Yaw P max (QUIK_YAW_P_MAX)
-POI's max distance (in meters) from the vehicle
+Maximum value for yaw P gain
-- Range: 0 10000
+- Range: 0.1 3
-WinchControl Rate Up (WINCH_RATE_UP)
+Quicktune Yaw D max (QUIK_YAW_D_MAX)
-Maximum rate when retracting line
+Maximum value for yaw D gain
-- Range: 0.1 5.0
+- Range: 0.001 1
-WinchControl Rate Down (WINCH_RATE_DN)
+Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)
-Maximum rate when releasing line
+Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
-- Range: 0.1 5.0
+- Range: 0.5 1.0
-Winch Rate Control RC function (WINCH_RC_FUNC)
+Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)
-RCn_OPTION number to use to control winch rate
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
-Value | Meaning |
-300 | Scripting1 |
-301 | Scripting2 |
-302 | Scripting3 |
-303 | Scripting4 |
-304 | Scripting5 |
-305 | Scripting6 |
-306 | Scripting7 |
-307 | Scripting8 |
-
+- Range: 0.5 20
-Force enable High Latency mode (RCK_FORCEHL)
+Quicktune auto filter enable (QUIK_AUTO_FILTER)
-Automatically enables High Latency mode if not already enabled
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
Value | Meaning |
0 | Disabled |
@@ -2017,34 +1965,86 @@ Force enable High Latency mode (RCK_FORCEHL)
-Update rate (RCK_PERIOD)
+Quicktune auto save (QUIK_AUTO_SAVE)
-When in High Latency mode, send Rockblock updates every N seconds
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: 0 600
- Units: seconds
-Display Rockblock debugging text (RCK_DEBUG)
+Quicktune RC function (QUIK_RC_FUNC)
-Sends Rockblock debug text to GCS via statustexts
+RCn_OPTION number to use to control tuning stop/start/save
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-Enable Message transmission (RCK_ENABLE)
+Quicktune maximum gain reduction (QUIK_MAX_REDUCE)
-Enables the Rockblock sending and recieving
+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.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Units: percent
+- Range: 0 100
+
+
+
+Quicktune options (QUIK_OPTIONS)
+
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+
+
+EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)
+
+ExternalNav may be used if innovations are below this threshold
+
+
+
+EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)
+
+ExternalNav may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)
+
+OpticalFlow may be used if innovations are below this threshold
+
+
+
+EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)
+
+OpticalFlow may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source Rangefinder Max (ESRC_RNGFND_MAX)
+
+OpticalFlow may be used if rangefinder distance is below this threshold
+
+- Range: 0 50
+- Units: meters
+
+
+
+Mount POI distance max (POI_DIST_MAX)
+
+POI's max distance (in meters) from the vehicle
+
@@ -2276,73 +2276,183 @@ Aerobatic options (AEROM_OPTIONS)
-Tricks on Switch Enable (TRIK_ENABLE)
+Tricks on Switch Enable (TRIK_ENABLE)
+
+Enables Tricks on Switch. TRIK params hidden until enabled
+
+
+
+Trik Selection Scripting Function (TRIK_SEL_FN)
+
+Setting an RC channel's _OPTION to this value will use it for trick selection
+
+
+
+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
+
+
+
+DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+
+Enable DJIRS2 debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled with attitude reporting |
+
+
+
+
+DJIRS2 upside down (DJIR_UPSIDEDOWN)
+
+DJIRS2 upside down
+
+Value | Meaning |
+0 | Right side up |
+1 | Upside down |
+
+
+
+
+ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+
+ViewPro debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled including attitude reporting |
+
+
+
+
+ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
-Enables Tricks on Switch. TRIK params hidden until enabled
+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 |
+
-Trik Selection Scripting Function (TRIK_SEL_FN)
+ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-Setting an RC channel's _OPTION to this value will use it for trick selection
+ViewPro Zoom Speed. Higher numbers result in faster zooming
-- Range: 301 307
+- Range: 0 7
-Trik Action Scripting Function (TRIK_ACT_FN)
+ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
-Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)
+ViewPro Zoom Times Max
-- Range: 301 307
+- Range: 0 30
-Trik Count (TRIK_COUNT)
+EFI DLA enable (EFI_DLA_ENABLE)
-Number of tricks which can be selected over the range of the trik selection RC channel
+Enable EFI DLA driver
-- Range: 1 11
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Enable ANX battery support (BATT_ANX_ENABLE)
+EFI DLA fuel scale (EFI_DLA_LPS)
-Enable ANX battery support
+EFI DLA litres of fuel per second of injection time
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 0.00001 1
+- Units: litres
-Set ANX CAN driver (BATT_ANX_CANDRV)
+Hobbywing ESC Enable (ESC_HW_ENABLE)
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
Value | Meaning |
-0 | None |
-1 | 1stCANDriver |
-2 | 2ndCanDriver |
+0 | Disabled |
+1 | Enabled |
-ANX CAN battery index (BATT_ANX_INDEX)
+Hobbywing ESC motor poles (ESC_HW_POLES)
-ANX CAN battery index
+Number of motor poles for eRPM scaling
-- Range: 1 10
+- Range: 1 50
-ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
+Hobbywing ESC motor offset (ESC_HW_OFS)
-ANX CAN battery options
+Motor number offset of first ESC
-- Bitmask: 0:LogAllFrames
+- Range: 0 31
@@ -2503,25 +2613,35 @@ SkyPower EFI restart time (EFI_SP_RST_TIME)
-DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+Generator SVFFI enable (EFI_SVF_ENABLE)
-Enable DJIRS2 debug
+Enable SVFFI generator support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled with attitude reporting |
-DJIRS2 upside down (DJIR_UPSIDEDOWN)
+Generator SVFFI arming check (EFI_SVF_ARMCHECK)
-DJIRS2 upside down
+Check for Generator ARM state before arming
Value | Meaning |
-0 | Right side up |
-1 | Upside down |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+EFI INF-Inject enable (EFI_INF_ENABLE)
+
+Enable EFI INF-Inject driver
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
@@ -2583,162 +2703,68 @@ Halo6000 total fuel capacity (EFI_H6K_FUELTOT)
-Hobbywing ESC Enable (ESC_HW_ENABLE)
-
-Enable Hobbywing ESC telemetry
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-Hobbywing ESC motor poles (ESC_HW_POLES)
-
-Number of motor poles for eRPM scaling
-
-
-
-Hobbywing ESC motor offset (ESC_HW_OFS)
-
-Motor number offset of first ESC
-
-
-
-EFI INF-Inject enable (EFI_INF_ENABLE)
-
-Enable EFI INF-Inject driver
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+Enable ANX battery support (BATT_ANX_ENABLE)
-ViewPro debug
+Enable ANX battery support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled including attitude reporting |
-
-
-
-
-ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
-
-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 |
-
-
-
-
-ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
-
-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 |
-ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
+Set ANX CAN driver (BATT_ANX_CANDRV)
-Camera selection when switch is in high position
+Set ANX CAN driver
Value | Meaning |
-0 | No change in camera selection |
-1 | EO1 |
-2 | IR thermal |
-3 | EO1 + IR Picture-in-picture |
-4 | IR + EO1 Picture-in-picture |
-5 | Fusion |
-6 | IR1 13mm |
-7 | IR2 52mm |
+0 | None |
+1 | 1stCANDriver |
+2 | 2ndCanDriver |
-ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
-
-
-
-ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
+ANX CAN battery index (BATT_ANX_INDEX)
-ViewPro Zoom Times Max
+ANX CAN battery index
-- Range: 0 30
+- Range: 1 10
-Generator SVFFI enable (EFI_SVF_ENABLE)
+ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
-Enable SVFFI generator support
+ANX CAN battery options
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Bitmask: 0:LogAllFrames
-Generator SVFFI arming check (EFI_SVF_ARMCHECK)
+TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-Check for Generator ARM state before arming
+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 | Disabled |
-1 | Enabled |
+0 | Set as Rangefinder |
+1 | Set as Proximity sensor |
-EFI DLA enable (EFI_DLA_ENABLE)
+TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-Enable EFI DLA driver
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 1 4
-EFI DLA fuel scale (EFI_DLA_LPS)
+TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)
-EFI DLA litres of fuel per second of injection time
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-- Range: 0.00001 1
-- Units: litres
@@ -2820,32 +2846,6 @@ TOFSENSE-M Thir ID (TOFSENSE_ID3)
-TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-Value | Meaning |
-0 | Set as Rangefinder |
-1 | Set as Proximity sensor |
-
-
-
-
-TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-
-
-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 17fe8c0..7e46c56 100644
--- a/Plane-4.5/Parameters.md
+++ b/Plane-4.5/Parameters.md
@@ -1290,71 +1290,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed
# Lua Script Parameters
-## PREV_ENABLE: parameter reversion enable
-
-Enable parameter reversion system
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## PREV_RC_FUNC: param reversion RC function
-
-RCn_OPTION number to used to trigger parameter reversion
-
-## WEB_ENABLE: enable web server
-
-enable web server
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BIND_PORT: web server TCP port
-
-web server TCP port
-
-- Range: 1 65535
-
-## WEB_DEBUG: web server debugging
-
-*Note: This parameter is for advanced users*
-
-web server debugging
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BLOCK_SIZE: web server block size
-
-*Note: This parameter is for advanced users*
-
-web server block size for download
-
-- Range: 1 65535
-
-## WEB_TIMEOUT: web server timeout
-
-*Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-- Units: s
-
-- Range: 0.1 60
-
-## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-
-*Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-
-- Range: 0 10000000
-
## RTUN_ENABLE: Rover Quicktune enable
Enable quicktune system
@@ -1436,6 +1371,57 @@ RCn_OPTION number to use to control tuning stop/start/save
|306|Scripting7|
|307|Scripting8|
+## PLND_ALT_CUTOFF: Precland altitude cutoff
+
+The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+
+- Range: 0 20
+
+- Units: m
+
+## DIST_CUTOFF: Precland distance cutoff
+
+The distance from target beyond which the target is ignored
+
+- Range: 0 100
+
+- Units: m
+
+## RCK_FORCEHL: Force enable High Latency mode
+
+Automatically enables High Latency mode if not already enabled
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_PERIOD: Update rate
+
+When in High Latency mode, send Rockblock updates every N seconds
+
+- Range: 0 600
+
+- Units: s
+
+## RCK_DEBUG: Display Rockblock debugging text
+
+Sends Rockblock debug text to GCS via statustexts
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_ENABLE: Enable Message transmission
+
+Enables the Rockblock sending and recieving
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
## BATT_SOC_COUNT: Count of SOC estimators
Number of battery SOC estimators
@@ -1562,135 +1548,123 @@ Battery estimator coefficient3
- Range: 0.01 0.5
-## QUIK_ENABLE: Quicktune enable
+## WEB_ENABLE: enable web server
-Enable quicktune system
+enable web server
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AXES: Quicktune axes
-
-axes to tune
-
-- Bitmask: 0:Roll,1:Pitch,2:Yaw
-
-## QUIK_DOUBLE_TIME: Quicktune doubling time
-
-Time to double a tuning parameter. Raise this for a slower tune.
-
-- Range: 5 20
-
-- Units: s
+## WEB_BIND_PORT: web server TCP port
-## QUIK_GAIN_MARGIN: Quicktune gain margin
+web server TCP port
-Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+- Range: 1 65535
-- Range: 20 80
+## WEB_DEBUG: web server debugging
-- Units: %
+*Note: This parameter is for advanced users*
-## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+web server debugging
-Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 1 10
+## WEB_BLOCK_SIZE: web server block size
-## QUIK_YAW_P_MAX: Quicktune Yaw P max
+*Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+web server block size for download
-- Range: 0.1 3
+- Range: 1 65535
-## QUIK_YAW_D_MAX: Quicktune Yaw D max
+## WEB_TIMEOUT: web server timeout
-Maximum value for yaw D gain
+*Note: This parameter is for advanced users*
-- Range: 0.001 1
+timeout for inactive connections
-## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio
+- Units: s
-Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+- Range: 0.1 60
-- Range: 0.5 1.0
+## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+*Note: This parameter is for advanced users*
-Ratio between P and I gains for yaw. Raise this to get a lower I gain
+sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-- Range: 0.5 20
+- Range: 0 10000000
-## QUIK_AUTO_FILTER: Quicktune auto filter enable
+## PREV_ENABLE: parameter reversion enable
-When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+Enable parameter reversion system
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AUTO_SAVE: Quicktune auto save
-
-Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-
-- Units: s
-
-## QUIK_RC_FUNC: Quicktune RC function
-
-RCn_OPTION number to use to control tuning stop/start/save
-
-## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-
-This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-
-- Units: %
-
-- Range: 0 100
-
-## QUIK_OPTIONS: Quicktune options
+## PREV_RC_FUNC: param reversion RC function
-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.
+RCn_OPTION number to used to trigger parameter reversion
-- Bitmask: 0:UseTwoPositionSwitch
+## SHIP_ENABLE: Ship landing enable
-## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
+Enable ship landing system
-ExternalNav may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 0 1
+## SHIP_LAND_ANGLE: Ship landing angle
-## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
+Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
-ExternalNav may be used if quality is above this threshold
+- Range: -180 180
-- Range: 0 100
+- Units: deg
-- Units: %
+## SHIP_AUTO_OFS: Ship automatic offset trigger
-## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation 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.
-OpticalFlow may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Trigger|
-- Range: 0 1
+## WINCH_RATE_UP: WinchControl Rate Up
-## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
+Maximum rate when retracting line
-OpticalFlow may be used if quality is above this threshold
+- Range: 0.1 5.0
-- Range: 0 100
+## WINCH_RATE_DN: WinchControl Rate Down
-- Units: %
+Maximum rate when releasing line
-## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
+- Range: 0.1 5.0
-OpticalFlow may be used if rangefinder distance is below this threshold
+## WINCH_RC_FUNC: Winch Rate Control RC function
-- Range: 0 50
+RCn_OPTION number to use to control winch rate
-- Units: m
+|Value|Meaning|
+|:---:|:---:|
+|300|Scripting1|
+|301|Scripting2|
+|302|Scripting3|
+|303|Scripting4|
+|304|Scripting5|
+|305|Scripting6|
+|306|Scripting7|
+|307|Scripting8|
## DR_ENABLE: Deadreckoning Enable
@@ -1766,115 +1740,141 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De
|21|Smart_RTL|
|27|Auto RTL|
-## PLND_ALT_CUTOFF: Precland altitude cutoff
+## QUIK_ENABLE: Quicktune enable
-The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-- Range: 0 20
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Units: m
+## QUIK_AXES: Quicktune axes
-## DIST_CUTOFF: Precland distance cutoff
+axes to tune
-The distance from target beyond which the target is ignored
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
-- Range: 0 100
+## QUIK_DOUBLE_TIME: Quicktune doubling time
-- Units: m
+Time to double a tuning parameter. Raise this for a slower tune.
-## SHIP_ENABLE: Ship landing enable
+- Range: 5 20
-Enable ship landing system
+- Units: s
+
+## QUIK_GAIN_MARGIN: Quicktune gain margin
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+
+- Units: %
+
+## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+- Range: 1 10
+
+## QUIK_YAW_P_MAX: Quicktune Yaw P max
+
+Maximum value for yaw P gain
+
+- Range: 0.1 3
+
+## QUIK_YAW_D_MAX: Quicktune Yaw D max
+
+Maximum value for yaw D gain
+
+- Range: 0.001 1
+
+## 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 1.0
+
+## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+- Range: 0.5 20
+
+## QUIK_AUTO_FILTER: Quicktune auto filter enable
+
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## SHIP_LAND_ANGLE: Ship landing angle
+## QUIK_AUTO_SAVE: Quicktune auto save
-Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: -180 180
+- Units: s
-- Units: deg
+## QUIK_RC_FUNC: Quicktune RC function
-## SHIP_AUTO_OFS: Ship automatic offset trigger
+RCn_OPTION number to use to control tuning stop/start/save
-Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
+## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Trigger|
+This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-## POI_DIST_MAX: Mount POI distance max
+- Units: %
-POI's max distance (in meters) from the vehicle
+- Range: 0 100
-- Range: 0 10000
+## QUIK_OPTIONS: Quicktune options
-## WINCH_RATE_UP: WinchControl Rate Up
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
-Maximum rate when retracting line
+- Bitmask: 0:UseTwoPositionSwitch
-- Range: 0.1 5.0
+## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
-## WINCH_RATE_DN: WinchControl Rate Down
+ExternalNav may be used if innovations are below this threshold
-Maximum rate when releasing line
+- Range: 0 1
-- Range: 0.1 5.0
+## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
-## WINCH_RC_FUNC: Winch Rate Control RC function
+ExternalNav may be used if quality is above this threshold
-RCn_OPTION number to use to control winch rate
+- Range: 0 100
-|Value|Meaning|
-|:---:|:---:|
-|300|Scripting1|
-|301|Scripting2|
-|302|Scripting3|
-|303|Scripting4|
-|304|Scripting5|
-|305|Scripting6|
-|306|Scripting7|
-|307|Scripting8|
+- Units: %
-## RCK_FORCEHL: Force enable High Latency mode
+## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold
-Automatically enables High Latency mode if not already enabled
+OpticalFlow may be used if innovations are below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 1
-## RCK_PERIOD: Update rate
+## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
-When in High Latency mode, send Rockblock updates every N seconds
+OpticalFlow may be used if quality is above this threshold
-- Range: 0 600
+- Range: 0 100
-- Units: s
+- Units: %
-## RCK_DEBUG: Display Rockblock debugging text
+## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
-Sends Rockblock debug text to GCS via statustexts
+OpticalFlow may be used if rangefinder distance is below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 50
-## RCK_ENABLE: Enable Message transmission
+- Units: m
-Enables the Rockblock sending and recieving
+## POI_DIST_MAX: Mount POI distance max
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+POI's max distance (in meters) from the vehicle
+
+- Range: 0 10000
## AEROM_ANG_ACCEL: Angular acceleration limit
@@ -2064,38 +2064,133 @@ Number of tricks which can be selected over the range of the trik selection RC c
- Range: 1 11
-## BATT_ANX_ENABLE: Enable ANX battery support
+## DJIR_DEBUG: DJIRS2 debug
-Enable ANX battery support
+*Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
+|2|Enabled with attitude reporting|
-## BATT_ANX_CANDRV: Set ANX CAN driver
+## DJIR_UPSIDEDOWN: DJIRS2 upside down
-Set ANX CAN driver
+DJIRS2 upside down
|Value|Meaning|
|:---:|:---:|
-|0|None|
-|1|1stCANDriver|
-|2|2ndCanDriver|
+|0|Right side up|
+|1|Upside down|
-## BATT_ANX_INDEX: ANX CAN battery index
+## VIEP_DEBUG: ViewPro debug
-ANX CAN battery index
+*Note: This parameter is for advanced users*
-- Range: 1 10
+ViewPro debug
-## BATT_ANX_OPTIONS: ANX CAN battery options
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Enabled including attitude reporting|
-*Note: This parameter is for advanced users*
+## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low
-ANX CAN battery options
+Camera selection when switch is in low position
-- Bitmask: 0:LogAllFrames
+|Value|Meaning|
+|:---:|:---:|
+|0|No change in camera selection|
+|1|EO1|
+|2|IR thermal|
+|3|EO1 + IR Picture-in-picture|
+|4|IR + EO1 Picture-in-picture|
+|5|Fusion|
+|6|IR1 13mm|
+|7|IR2 52mm|
+
+## 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_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
+
+## ESC_HW_ENABLE: Hobbywing ESC Enable
+
+Enable Hobbywing ESC telemetry
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## ESC_HW_POLES: Hobbywing ESC motor poles
+
+Number of motor poles for eRPM scaling
+
+- Range: 1 50
+
+## ESC_HW_OFS: Hobbywing ESC motor offset
+
+Motor number offset of first ESC
+
+- Range: 0 31
## EFI_SP_ENABLE: Enable SkyPower EFI support
@@ -2241,26 +2336,32 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th
- Units: s
-## DJIR_DEBUG: DJIRS2 debug
+## EFI_SVF_ENABLE: Generator SVFFI enable
-*Note: This parameter is for advanced users*
+Enable SVFFI generator support
-Enable DJIRS2 debug
+|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|
-|2|Enabled with attitude reporting|
-## DJIR_UPSIDEDOWN: DJIRS2 upside down
+## EFI_INF_ENABLE: EFI INF-Inject enable
-DJIRS2 upside down
+Enable EFI INF-Inject driver
|Value|Meaning|
|:---:|:---:|
-|0|Right side up|
-|1|Upside down|
+|0|Disabled|
+|1|Enabled|
## EFI_H6K_ENABLE: Enable Halo6000 EFI driver
@@ -2309,139 +2410,57 @@ The capacity of the tank in litres
- Units: litres
-## ESC_HW_ENABLE: Hobbywing ESC Enable
-
-Enable Hobbywing ESC telemetry
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## ESC_HW_POLES: Hobbywing ESC motor poles
-
-Number of motor poles for eRPM scaling
-
-- Range: 1 50
-
-## ESC_HW_OFS: Hobbywing ESC motor offset
-
-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*
+## BATT_ANX_ENABLE: Enable ANX battery support
-ViewPro debug
+Enable ANX battery support
|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
+## BATT_ANX_CANDRV: Set ANX CAN driver
-Camera selection when switch is in high position
+Set ANX CAN driver
|Value|Meaning|
|:---:|:---:|
-|0|No change in camera selection|
-|1|EO1|
-|2|IR thermal|
-|3|EO1 + IR Picture-in-picture|
-|4|IR + EO1 Picture-in-picture|
-|5|Fusion|
-|6|IR1 13mm|
-|7|IR2 52mm|
-
-## VIEP_ZOOM_SPEED: ViewPro Zoom Speed
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
+|0|None|
+|1|1stCANDriver|
+|2|2ndCanDriver|
-- Range: 0 7
+## BATT_ANX_INDEX: ANX CAN battery index
-## VIEP_ZOOM_MAX: ViewPro Zoom Times Max
+ANX CAN battery index
-ViewPro Zoom Times Max
+- Range: 1 10
-- Range: 0 30
+## BATT_ANX_OPTIONS: ANX CAN battery options
-## EFI_SVF_ENABLE: Generator SVFFI enable
+*Note: This parameter is for advanced users*
-Enable SVFFI generator support
+ANX CAN battery options
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Bitmask: 0:LogAllFrames
-## EFI_SVF_ARMCHECK: Generator SVFFI arming check
+## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-Check for Generator ARM state before arming
+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|Disabled|
-|1|Enabled|
-
-## EFI_DLA_ENABLE: EFI DLA enable
-
-Enable EFI DLA driver
+|0|Set as Rangefinder|
+|1|Set as Proximity sensor|
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-## EFI_DLA_LPS: EFI DLA fuel scale
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-EFI DLA litres of fuel per second of injection time
+- Range: 1 4
-- Range: 0.00001 1
+## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-- Units: litres
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor
@@ -2503,25 +2522,6 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N
- Range: 1 255
-## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Set as Rangefinder|
-|1|Set as Proximity sensor|
-
-## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-- Range: 1 4
-
-## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-
-Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-
# ADSB Parameters
## ADSB_TYPE: ADSB Type
diff --git a/Plane-4.5/ParametersLatex.rst b/Plane-4.5/ParametersLatex.rst
index 23a376f..9810bf5 100644
--- a/Plane-4.5/ParametersLatex.rst
+++ b/Plane-4.5/ParametersLatex.rst
@@ -2788,151 +2788,6 @@ Lua Script Parameters
---------------------
-.. _PREV_ENABLE:
-
-PREV\_ENABLE: parameter reversion enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable parameter reversion system
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _PREV_RC_FUNC:
-
-PREV\_RC\_FUNC: param reversion RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-RCn\_OPTION number to used to trigger parameter reversion
-
-
-.. _WEB_ENABLE:
-
-WEB\_ENABLE: enable web server
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-enable web server
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BIND_PORT:
-
-WEB\_BIND\_PORT: web server TCP port
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-web server TCP port
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_DEBUG:
-
-WEB\_DEBUG: web server debugging
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server debugging
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BLOCK_SIZE:
-
-WEB\_BLOCK\_SIZE: web server block size
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server block size for download
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_TIMEOUT:
-
-WEB\_TIMEOUT: web server timeout
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-
-+-----------+---------+
-| Range | Units |
-+===========+=========+
-| 0.1 to 60 | seconds |
-+-----------+---------+
-
-
-
-
-.. _WEB_SENDFILE_MIN:
-
-WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-
-
-+---------------+
-| Range |
-+===============+
-| 0 to 10000000 |
-+---------------+
-
-
-
-
.. _RTUN_ENABLE:
RTUN\_ENABLE: Rover Quicktune enable
@@ -3151,110 +3006,224 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
-.. _BATT_SOC_COUNT:
-
-BATT\_SOC\_COUNT: Count of SOC estimators
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of battery SOC estimators
-
+.. _PLND_ALT_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+PLND\_ALT\_CUTOFF: Precland altitude cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
-.. _BATT_SOC1_IDX:
++---------+--------+
+| Range | Units |
++=========+========+
+| 0 to 20 | meters |
++---------+--------+
-BATT\_SOC1\_IDX: Battery estimator index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator index
+.. _DIST_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+DIST\_CUTOFF: Precland distance cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The distance from target beyond which the target is ignored
-.. _BATT_SOC1_NCELL:
++----------+--------+
+| Range | Units |
++==========+========+
+| 0 to 100 | meters |
++----------+--------+
-BATT\_SOC1\_NCELL: Battery estimator cell count
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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_SOC1_C1:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_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_SOC1_C2:
++----------+---------+
+| Range | Units |
++==========+=========+
+| 0 to 600 | seconds |
++----------+---------+
-BATT\_SOC1\_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_SOC1_C3:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_C3: Battery estimator coefficient3
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator coefficient3
+.. _RCK_ENABLE:
-+-------------+
-| Range |
-+=============+
-| 0.01 to 0.5 |
-+-------------+
+RCK\_ENABLE: Enable Message transmission
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enables the Rockblock sending and recieving
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _BATT_SOC_COUNT:
+
+BATT\_SOC\_COUNT: Count of SOC estimators
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of battery SOC estimators
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_IDX:
+
+BATT\_SOC1\_IDX: Battery estimator index
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator index
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_NCELL:
+
+BATT\_SOC1\_NCELL: Battery estimator cell count
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator cell count
+
+
++---------+
+| Range |
++=========+
+| 0 to 48 |
++---------+
+
+
+
+
+.. _BATT_SOC1_C1:
+
+BATT\_SOC1\_C1: Battery estimator coefficient1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient1
+
+
++------------+
+| Range |
++============+
+| 100 to 200 |
++------------+
+
+
+
+
+.. _BATT_SOC1_C2:
+
+BATT\_SOC1\_C2: Battery estimator coefficient2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient2
+
+
++--------+
+| Range |
++========+
+| 2 to 5 |
++--------+
+
+
+
+
+.. _BATT_SOC1_C3:
+
+BATT\_SOC1\_C3: Battery estimator coefficient3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient3
+
+
++-------------+
+| Range |
++=============+
+| 0.01 to 0.5 |
++-------------+
@@ -3529,13 +3498,13 @@ Battery estimator coefficient3
-.. _QUIK_ENABLE:
+.. _WEB_ENABLE:
-QUIK\_ENABLE: Quicktune enable
+WEB\_ENABLE: enable web server
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable quicktune system
+enable web server
+-------+----------+
@@ -3549,161 +3518,138 @@ Enable quicktune system
-.. _QUIK_AXES:
+.. _WEB_BIND_PORT:
-QUIK\_AXES: Quicktune axes
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BIND\_PORT: web server TCP port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-axes to tune
+web server TCP port
-+-----+---------+
-| Bit | Meaning |
-+=====+=========+
-| 0 | Roll |
-+-----+---------+
-| 1 | Pitch |
-+-----+---------+
-| 2 | Yaw |
-+-----+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_DOUBLE_TIME:
+.. _WEB_DEBUG:
-QUIK\_DOUBLE\_TIME: Quicktune doubling time
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_DEBUG: web server debugging
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Time to double a tuning parameter\. Raise this for a slower tune\.
+web server debugging
-+---------+---------+
-| Range | Units |
-+=========+=========+
-| 5 to 20 | seconds |
-+---------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_GAIN_MARGIN:
+.. _WEB_BLOCK_SIZE:
-QUIK\_GAIN\_MARGIN: Quicktune gain margin
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BLOCK\_SIZE: web server block size
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
+web server block size for download
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 20 to 80 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_OSC_SMAX:
+.. _WEB_TIMEOUT:
-QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_TIMEOUT: web server timeout
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+timeout for inactive connections
-+---------+
-| Range |
-+=========+
-| 1 to 10 |
-+---------+
++-----------+---------+
+| Range | Units |
++===========+=========+
+| 0.1 to 60 | seconds |
++-----------+---------+
-.. _QUIK_YAW_P_MAX:
+.. _WEB_SENDFILE_MIN:
-QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-+----------+
-| Range |
-+==========+
-| 0.1 to 3 |
-+----------+
++---------------+
+| Range |
++===============+
+| 0 to 10000000 |
++---------------+
-.. _QUIK_YAW_D_MAX:
+.. _PREV_ENABLE:
-QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_ENABLE: parameter reversion enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum value for yaw D gain
+Enable parameter reversion system
-+------------+
-| Range |
-+============+
-| 0.001 to 1 |
-+------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_RP_PI_RATIO:
+.. _PREV_RC_FUNC:
-QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_RC\_FUNC: param reversion RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+RCn\_OPTION number to used to trigger parameter reversion
-+------------+
-| 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:
+.. _SHIP_ENABLE:
-QUIK\_AUTO\_FILTER: Quicktune auto filter enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_ENABLE: Ship landing enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+Enable ship landing system
+-------+----------+
@@ -3717,155 +3663,108 @@ 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:
+.. _SHIP_LAND_ANGLE:
-QUIK\_RC\_FUNC: Quicktune RC function
+SHIP\_LAND\_ANGLE: Ship landing angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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
+Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\.
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++-------------+---------+
+| Range | Units |
++=============+=========+
+| -180 to 180 | degrees |
++-------------+---------+
-.. _ESRC_EXTN_QUAL:
+.. _SHIP_AUTO_OFS:
-ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_AUTO\_OFS: Ship automatic offset trigger
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ExternalNav may be used if quality is above this threshold
+Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\.
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Trigger |
++-------+----------+
-.. _ESRC_FLOW_THRESH:
+.. _WINCH_RATE_UP:
-ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_UP: WinchControl Rate Up
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if innovations are below this threshold
+Maximum rate when retracting line
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_FLOW_QUAL:
+.. _WINCH_RATE_DN:
-ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_DN: WinchControl Rate Down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if quality is above this threshold
+Maximum rate when releasing line
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_RNGFND_MAX:
+.. _WINCH_RC_FUNC:
-ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RC\_FUNC: Winch Rate Control RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if rangefinder distance is below this threshold
+RCn\_OPTION number to use to control winch rate
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 50 | meters |
-+---------+--------+
++-------+------------+
+| Value | Meaning |
++=======+============+
+| 300 | Scripting1 |
++-------+------------+
+| 301 | Scripting2 |
++-------+------------+
+| 302 | Scripting3 |
++-------+------------+
+| 303 | Scripting4 |
++-------+------------+
+| 304 | Scripting5 |
++-------+------------+
+| 305 | Scripting6 |
++-------+------------+
+| 306 | Scripting7 |
++-------+------------+
+| 307 | Scripting8 |
++-------+------------+
@@ -4056,193 +3955,181 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\.
-.. _PLND_ALT_CUTOFF:
+.. _QUIK_ENABLE:
-PLND\_ALT\_CUTOFF: Precland altitude cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 20 | meters |
-+---------+--------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DIST_CUTOFF:
+.. _QUIK_AXES:
-DIST\_CUTOFF: Precland distance cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
-The distance from target beyond which the target is ignored
+axes to tune
-+----------+--------+
-| Range | Units |
-+==========+========+
-| 0 to 100 | meters |
-+----------+--------+
++-----+---------+
+| Bit | Meaning |
++=====+=========+
+| 0 | Roll |
++-----+---------+
+| 1 | Pitch |
++-----+---------+
+| 2 | Yaw |
++-----+---------+
-.. _SHIP_ENABLE:
+.. _QUIK_DOUBLE_TIME:
-SHIP\_ENABLE: Ship landing enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ship landing system
+Time to double a tuning parameter\. Raise this for a slower tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++---------+---------+
+| Range | Units |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
-.. _SHIP_LAND_ANGLE:
+.. _QUIK_GAIN_MARGIN:
-SHIP\_LAND\_ANGLE: Ship landing angle
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_GAIN\_MARGIN: Quicktune gain margin
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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\.
+Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
-+-------------+---------+
-| Range | Units |
-+=============+=========+
-| -180 to 180 | degrees |
-+-------------+---------+
++----------+---------+
+| Range | Units |
++==========+=========+
+| 20 to 80 | percent |
++----------+---------+
-.. _SHIP_AUTO_OFS:
+.. _QUIK_OSC_SMAX:
-SHIP\_AUTO\_OFS: Ship automatic offset trigger
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OSC\_SMAX: Quicktune oscillation rate 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\.
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Trigger |
-+-------+----------+
++---------+
+| Range |
++=========+
+| 1 to 10 |
++---------+
-.. _POI_DIST_MAX:
+.. _QUIK_YAW_P_MAX:
-POI\_DIST\_MAX: Mount POI distance max
+QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-POI\'s max distance \(in meters\) from the vehicle
+Maximum value for yaw P gain
-+------------+
-| Range |
-+============+
-| 0 to 10000 |
-+------------+
++----------+
+| Range |
++==========+
+| 0.1 to 3 |
++----------+
-.. _WINCH_RATE_UP:
+.. _QUIK_YAW_D_MAX:
-WINCH\_RATE\_UP: WinchControl Rate Up
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when retracting line
+Maximum value for yaw D gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.001 to 1 |
+------------+
-.. _WINCH_RATE_DN:
+.. _QUIK_RP_PI_RATIO:
-WINCH\_RATE\_DN: WinchControl Rate Down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when releasing line
+Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.5 to 1.0 |
+------------+
-.. _WINCH_RC_FUNC:
+.. _QUIK_Y_PI_RATIO:
-WINCH\_RC\_FUNC: Winch Rate Control RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-RCn\_OPTION number to use to control winch rate
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
-+-------+------------+
-| Value | Meaning |
-+=======+============+
-| 300 | Scripting1 |
-+-------+------------+
-| 301 | Scripting2 |
-+-------+------------+
-| 302 | Scripting3 |
-+-------+------------+
-| 303 | Scripting4 |
-+-------+------------+
-| 304 | Scripting5 |
-+-------+------------+
-| 305 | Scripting6 |
-+-------+------------+
-| 306 | Scripting7 |
-+-------+------------+
-| 307 | Scripting8 |
-+-------+------------+
++-----------+
+| Range |
++===========+
+| 0.5 to 20 |
++-----------+
-.. _RCK_FORCEHL:
+.. _QUIK_AUTO_FILTER:
-RCK\_FORCEHL: Force enable High Latency mode
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Automatically enables High Latency mode if not already enabled
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+-------+----------+
@@ -4256,60 +4143,173 @@ Automatically enables High Latency mode if not already enabled
-.. _RCK_PERIOD:
+.. _QUIK_AUTO_SAVE:
-RCK\_PERIOD: Update rate
-~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_SAVE: Quicktune auto save
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When in High Latency mode\, send Rockblock updates every N seconds
+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 600 | seconds |
+| 0 to 100 | percent |
+----------+---------+
-.. _RCK_DEBUG:
+.. _QUIK_OPTIONS:
-RCK\_DEBUG: Display Rockblock debugging text
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Sends Rockblock debug text to GCS via statustexts
+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\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++-----+----------------------+
+| Bit | Meaning |
++=====+======================+
+| 0 | UseTwoPositionSwitch |
++-----+----------------------+
-.. _RCK_ENABLE:
+.. _ESRC_EXTN_THRESH:
-RCK\_ENABLE: Enable Message transmission
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enables the Rockblock sending and recieving
+ExternalNav may be used if innovations are below this threshold
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++--------+
+| 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 |
++---------+--------+
+
+
+
+
+.. _POI_DIST_MAX:
+
+POI\_DIST\_MAX: Mount POI distance max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+POI\'s max distance \(in meters\) from the vehicle
+
+
++------------+
+| Range |
++============+
+| 0 to 10000 |
++------------+
@@ -4867,13 +4867,211 @@ Number of tricks which can be selected over the range of the trik selection RC c
-.. _BATT_ANX_ENABLE:
+.. _DJIR_DEBUG:
+
+DJIR\_DEBUG: DJIRS2 debug
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
+
+
++-------+---------------------------------+
+| Value | Meaning |
++=======+=================================+
+| 0 | Disabled |
++-------+---------------------------------+
+| 1 | Enabled |
++-------+---------------------------------+
+| 2 | Enabled with attitude reporting |
++-------+---------------------------------+
+
+
+
+
+.. _DJIR_UPSIDEDOWN:
+
+DJIR\_UPSIDEDOWN: DJIRS2 upside down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+DJIRS2 upside down
+
+
++-------+---------------+
+| Value | Meaning |
++=======+===============+
+| 0 | Right side up |
++-------+---------------+
+| 1 | Upside down |
++-------+---------------+
+
+
+
+
+.. _VIEP_DEBUG:
+
+VIEP\_DEBUG: ViewPro debug
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+ViewPro debug
+
+
++-------+--------------------------------------+
+| Value | Meaning |
++=======+======================================+
+| 0 | Disabled |
++-------+--------------------------------------+
+| 1 | Enabled |
++-------+--------------------------------------+
+| 2 | Enabled including attitude reporting |
++-------+--------------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWLOW:
+
+VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in low position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
-BATT\_ANX\_ENABLE: Enable ANX battery support
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ANX battery support
+
+.. _VIEP_CAM_SWMID:
+
+VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in middle position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWHIGH:
+
+VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in high position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_ZOOM_SPEED:
+
+VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Speed\. Higher numbers result in faster zooming
+
+
++--------+
+| Range |
++========+
+| 0 to 7 |
++--------+
+
+
+
+
+.. _VIEP_ZOOM_MAX:
+
+VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Times Max
+
+
++---------+
+| Range |
++=========+
+| 0 to 30 |
++---------+
+
+
+
+
+.. _EFI_DLA_ENABLE:
+
+EFI\_DLA\_ENABLE: EFI DLA enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI DLA driver
+-------+----------+
@@ -4887,61 +5085,76 @@ Enable ANX battery support
-.. _BATT_ANX_CANDRV:
+.. _EFI_DLA_LPS:
+
+EFI\_DLA\_LPS: EFI DLA fuel scale
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+EFI DLA litres of fuel per second of injection time
+
+
++--------------+--------+
+| Range | Units |
++==============+========+
+| 0.00001 to 1 | litres |
++--------------+--------+
+
+
+
+
+.. _ESC_HW_ENABLE:
-BATT\_ANX\_CANDRV: Set ANX CAN driver
+ESC\_HW\_ENABLE: Hobbywing ESC Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
-+-------+--------------+
-| Value | Meaning |
-+=======+==============+
-| 0 | None |
-+-------+--------------+
-| 1 | 1stCANDriver |
-+-------+--------------+
-| 2 | 2ndCanDriver |
-+-------+--------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _BATT_ANX_INDEX:
+.. _ESC_HW_POLES:
-BATT\_ANX\_INDEX: ANX CAN battery index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_POLES: Hobbywing ESC motor poles
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ANX CAN battery index
+Number of motor poles for eRPM scaling
+---------+
| Range |
+=========+
-| 1 to 10 |
+| 1 to 50 |
+---------+
-.. _BATT_ANX_OPTIONS:
+.. _ESC_HW_OFS:
-BATT\_ANX\_OPTIONS: ANX CAN battery options
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_OFS: Hobbywing ESC motor offset
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-ANX CAN battery options
+Motor number offset of first ESC
-+-----+--------------+
-| Bit | Meaning |
-+=====+==============+
-| 0 | LogAllFrames |
-+-----+--------------+
++---------+
+| Range |
++=========+
+| 0 to 31 |
++---------+
@@ -5251,45 +5464,62 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t
-.. _DJIR_DEBUG:
+.. _EFI_SVF_ENABLE:
-DJIR\_DEBUG: DJIRS2 debug
-~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ENABLE: Generator SVFFI enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-Enable DJIRS2 debug
+Enable SVFFI generator support
-+-------+---------------------------------+
-| Value | Meaning |
-+=======+=================================+
-| 0 | Disabled |
-+-------+---------------------------------+
-| 1 | Enabled |
-+-------+---------------------------------+
-| 2 | Enabled with attitude reporting |
-+-------+---------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DJIR_UPSIDEDOWN:
+.. _EFI_SVF_ARMCHECK:
-DJIR\_UPSIDEDOWN: DJIRS2 upside down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-DJIRS2 upside down
+Check for Generator ARM state before arming
-+-------+---------------+
-| Value | Meaning |
-+=======+===============+
-| 0 | Right side up |
-+-------+---------------+
-| 1 | Upside down |
-+-------+---------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _EFI_INF_ENABLE:
+
+EFI\_INF\_ENABLE: EFI INF\-Inject enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI INF\-Inject driver
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
@@ -5361,358 +5591,175 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis
| 304 | 304 |
+-------+----------+
| 305 | 305 |
-+-------+----------+
-| 306 | 306 |
-+-------+----------+
-| 307 | 307 |
-+-------+----------+
-
-
-
-
-.. _EFI_H6K_TELEM_RT:
-
-EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The rate that additional generator telemetry is sent
-
-
-+-------+
-| Units |
-+=======+
-| hertz |
-+-------+
-
-
-
-
-.. _EFI_H6K_FUELTOT:
-
-EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The capacity of the tank in litres
-
-
-+--------+
-| Units |
-+========+
-| litres |
-+--------+
-
-
-
-
-.. _ESC_HW_ENABLE:
-
-ESC\_HW\_ENABLE: Hobbywing ESC Enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable Hobbywing ESC telemetry
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _ESC_HW_POLES:
-
-ESC\_HW\_POLES: Hobbywing ESC motor poles
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of motor poles for eRPM scaling
-
-
-+---------+
-| Range |
-+=========+
-| 1 to 50 |
-+---------+
-
-
-
-
-.. _ESC_HW_OFS:
-
-ESC\_HW\_OFS: Hobbywing ESC motor offset
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Motor number offset of first ESC
-
-
-+---------+
-| Range |
-+=========+
-| 0 to 31 |
-+---------+
-
-
-
-
-.. _EFI_INF_ENABLE:
-
-EFI\_INF\_ENABLE: EFI INF\-Inject enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable EFI INF\-Inject driver
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _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 |
-+-------+--------------------------------------+
++-------+----------+
+| 306 | 306 |
++-------+----------+
+| 307 | 307 |
++-------+----------+
-.. _VIEP_CAM_SWLOW:
+.. _EFI_H6K_TELEM_RT:
-VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in low position
+The rate that additional generator telemetry is sent
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+
+| Units |
++=======+
+| hertz |
++-------+
-.. _VIEP_CAM_SWMID:
+.. _EFI_H6K_FUELTOT:
-VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in middle position
+The capacity of the tank in litres
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++--------+
+| Units |
++========+
+| litres |
++--------+
-.. _VIEP_CAM_SWHIGH:
+.. _BATT_ANX_ENABLE:
-VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+BATT\_ANX\_ENABLE: Enable ANX battery support
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in high position
+Enable ANX battery support
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _VIEP_ZOOM_SPEED:
+.. _BATT_ANX_CANDRV:
-VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+BATT\_ANX\_CANDRV: Set ANX CAN driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Speed\. Higher numbers result in faster zooming
+Set ANX CAN driver
-+--------+
-| Range |
-+========+
-| 0 to 7 |
-+--------+
++-------+--------------+
+| Value | Meaning |
++=======+==============+
+| 0 | None |
++-------+--------------+
+| 1 | 1stCANDriver |
++-------+--------------+
+| 2 | 2ndCanDriver |
++-------+--------------+
-.. _VIEP_ZOOM_MAX:
+.. _BATT_ANX_INDEX:
-VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+BATT\_ANX\_INDEX: ANX CAN battery index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Times Max
+ANX CAN battery index
+---------+
| Range |
+=========+
-| 0 to 30 |
+| 1 to 10 |
+---------+
-.. _EFI_SVF_ENABLE:
-
-EFI\_SVF\_ENABLE: Generator SVFFI enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable SVFFI generator support
-
+.. _BATT_ANX_OPTIONS:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+BATT\_ANX\_OPTIONS: ANX CAN battery options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
+ANX CAN battery options
-.. _EFI_SVF_ARMCHECK:
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
-EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Check for Generator ARM state before arming
+.. _TOFSENSE_S1_PRX:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-.. _EFI_DLA_ENABLE:
++-------+-------------------------+
+| Value | Meaning |
++=======+=========================+
+| 0 | Set as Rangefinder |
++-------+-------------------------+
+| 1 | Set as Proximity sensor |
++-------+-------------------------+
-EFI\_DLA\_ENABLE: EFI DLA enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable EFI DLA driver
+.. _TOFSENSE_S1_SP:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+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\.
-.. _EFI_DLA_LPS:
++--------+
+| Range |
++========+
+| 1 to 4 |
++--------+
-EFI\_DLA\_LPS: EFI DLA fuel scale
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-EFI DLA litres of fuel per second of injection time
+.. _TOFSENSE_S1_BR:
-+--------------+--------+
-| Range | Units |
-+==============+========+
-| 0.00001 to 1 | litres |
-+--------------+--------+
+TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
.. _TOFSENSE_PRX:
@@ -5881,53 +5928,6 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro
-.. _TOFSENSE_S1_PRX:
-
-TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-
-
-+-------+-------------------------+
-| Value | Meaning |
-+=======+=========================+
-| 0 | Set as Rangefinder |
-+-------+-------------------------+
-| 1 | Set as Proximity sensor |
-+-------+-------------------------+
-
-
-
-
-.. _TOFSENSE_S1_SP:
-
-TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\.
-
-
-+--------+
-| Range |
-+========+
-| 1 to 4 |
-+--------+
-
-
-
-
-.. _TOFSENSE_S1_BR:
-
-TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
-
-
.. _parameters_ADSB_:
diff --git a/Plane-4.5/apm.pdef.xml b/Plane-4.5/apm.pdef.xml
index b70ef79..0cd902e 100644
--- a/Plane-4.5/apm.pdef.xml
+++ b/Plane-4.5/apm.pdef.xml
@@ -806,40 +806,6 @@
-
-
- Disabled
- Enabled
-
-
-
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
- s
- seconds
- 0.1 60
-
-
- 0 10000000
-
Disabled
@@ -889,6 +855,39 @@
Scripting8
+
+ 0 20
+ m
+ meters
+
+
+ 0 100
+ m
+ meters
+
+
+
+ Disabled
+ Enabled
+
+
+
+ 0 600
+ s
+ seconds
+
+
+
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
+
+
0 4
@@ -952,80 +951,74 @@
0.01 0.5
-
+
Disabled
Enabled
-
- 0:Roll,1:Pitch,2:Yaw
-
-
- 5 20
- s
- seconds
-
-
- 20 80
- %
- percent
-
-
- 1 10
+
+ 1 65535
-
- 0.1 3
+
+
+ Disabled
+ Enabled
+
-
- 0.001 1
+
+ 1 65535
-
- 0.5 1.0
+
+ s
+ seconds
+ 0.1 60
-
- 0.5 20
+
+ 0 10000000
-
+
Disabled
Enabled
-
- s
- seconds
-
-
+
-
- %
- percent
- 0 100
-
-
- 0:UseTwoPositionSwitch
+
+
+ Disabled
+ Enabled
+
-
- 0 1
+
+ -180 180
+ deg
+ degrees
-
- 0 100
- %
- percent
+
+
+ Disabled
+ Trigger
+
-
- 0 1
+
+ 0.1 5.0
-
- 0 100
- %
- percent
+
+ 0.1 5.0
-
- 0 50
- m
- meters
+
+
+ Scripting1
+ Scripting2
+ Scripting3
+ Scripting4
+ Scripting5
+ Scripting6
+ Scripting7
+ Scripting8
+
@@ -1077,76 +1070,83 @@
Auto RTL
-
- 0 20
- m
- meters
-
-
- 0 100
- m
- meters
-
-
+
Disabled
Enabled
-
- -180 180
- deg
- degrees
+
+ 0:Roll,1:Pitch,2:Yaw
-
-
- Disabled
- Trigger
-
+
+ 5 20
+ s
+ seconds
-
- 0 10000
+
+ 20 80
+ %
+ percent
-
- 0.1 5.0
+
+ 1 10
-
- 0.1 5.0
+
+ 0.1 3
-
-
- Scripting1
- Scripting2
- Scripting3
- Scripting4
- Scripting5
- Scripting6
- Scripting7
- Scripting8
-
+
+ 0.001 1
-
+
+ 0.5 1.0
+
+
+ 0.5 20
+
+
Disabled
Enabled
-
- 0 600
+
s
seconds
-
-
- Disabled
- Enabled
-
+
+
+
+ %
+ percent
+ 0 100
-
-
- Disabled
- Enabled
-
+
+ 0:UseTwoPositionSwitch
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 50
+ m
+ meters
+
+
+ 0 10000
deg/s/s
@@ -1265,24 +1265,90 @@
1 11
-
+
Disabled
Enabled
+ Enabled with attitude reporting
-
+
- None
- 1stCANDriver
- 2ndCanDriver
+ Right side up
+ Upside down
-
- 1 10
+
+
+ Disabled
+ Enabled
+ Enabled including attitude reporting
+
-
- 0:LogAllFrames
+
+
+ No change in camera selection
+ EO1
+ IR thermal
+ EO1 + IR Picture-in-picture
+ IR + EO1 Picture-in-picture
+ Fusion
+ IR1 13mm
+ IR2 52mm
+
+
+
+
+ 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
+
+
+
+ 1 50
+
+
+ 0 31
@@ -1376,17 +1442,22 @@
s
seconds
-
+
Disabled
Enabled
- Enabled with attitude reporting
-
+
- Right side up
- Upside down
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
@@ -1423,96 +1494,36 @@
litres
litres
-
-
- Disabled
- Enabled
-
-
-
- 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
+ None
+ 1stCANDriver
+ 2ndCanDriver
-
- 0 7
-
-
- 0 30
-
-
-
- Disabled
- Enabled
-
+
+ 1 10
-
-
- Disabled
- Enabled
-
+
+ 0:LogAllFrames
-
+
- Disabled
- Enabled
+ Set as Rangefinder
+ Set as Proximity sensor
-
- 0.00001 1
- litres
- litres
+
+ 1 4
+
+
Set as Rangefinder
@@ -1546,17 +1557,6 @@
1 255
-
-
- Set as Rangefinder
- Set as Proximity sensor
-
-
-
- 1 4
-
-
-
diff --git a/Rover-4.5/Parameters.html b/Rover-4.5/Parameters.html
index 35f236a..696b394 100644
--- a/Rover-4.5/Parameters.html
+++ b/Rover-4.5/Parameters.html
@@ -700,79 +700,6 @@ Flight mode block from GCS (FLTMODE_GCSBLOCK)
Lua Script Parameters
-parameter reversion enable (PREV_ENABLE)
-
-Enable parameter reversion system
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-param reversion RC function (PREV_RC_FUNC)
-
-RCn_OPTION number to used to trigger parameter reversion
-
-
-
-enable web server (WEB_ENABLE)
-
-enable web server
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-web server TCP port (WEB_BIND_PORT)
-
-web server TCP port
-
-
-
-web server debugging (WEB_DEBUG)
Note: This parameter is for advanced users
-
-web server debugging
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-web server block size (WEB_BLOCK_SIZE)
Note: This parameter is for advanced users
-
-web server block size for download
-
-
-
-web server timeout (WEB_TIMEOUT)
Note: This parameter is for advanced users
-
-timeout for inactive connections
-
-- Units: seconds
-- Range: 0.1 60
-
-
-
-web server minimum file size for sendfile (WEB_SENDFILE_MIN)
Note: This parameter is for advanced users
-
-sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-
-
-
Rover Quicktune enable (RTUN_ENABLE)
Enable quicktune system
@@ -876,6 +803,66 @@ Rover Quicktune RC function (RTUN_RC_FUNC)
+Precland altitude cutoff (PLND_ALT_CUTOFF)
+
+The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+
+- Range: 0 20
+- Units: meters
+
+
+
+Precland distance cutoff (DIST_CUTOFF)
+
+The distance from target beyond which the target is ignored
+
+- Range: 0 100
+- Units: meters
+
+
+
+Force enable High Latency mode (RCK_FORCEHL)
+
+Automatically enables High Latency mode if not already enabled
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+Update rate (RCK_PERIOD)
+
+When in High Latency mode, send Rockblock updates every N seconds
+
+- Range: 0 600
+- Units: seconds
+
+
+
+Display Rockblock debugging text (RCK_DEBUG)
+
+Sends Rockblock debug text to GCS via statustexts
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+Enable Message transmission (RCK_ENABLE)
+
+Enables the Rockblock sending and recieving
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
Count of SOC estimators (BATT_SOC_COUNT)
Number of battery SOC estimators
@@ -1044,9 +1031,9 @@ Battery estimator coefficient3 (BATT_SOC4_C3)
-Quicktune enable (QUIK_ENABLE)
+enable web server (WEB_ENABLE)
-Enable quicktune system
+enable web server
Value | Meaning |
0 | Disabled |
@@ -1055,75 +1042,71 @@ Quicktune enable (QUIK_ENABLE)
-Quicktune axes (QUIK_AXES)
-
-axes to tune
-
-- Bitmask: 0:Roll,1:Pitch,2:Yaw
-
-
-
-Quicktune doubling time (QUIK_DOUBLE_TIME)
+web server TCP port (WEB_BIND_PORT)
-Time to double a tuning parameter. Raise this for a slower tune.
+web server TCP port
-- Range: 5 20
-- Units: seconds
+- Range: 1 65535
-Quicktune gain margin (QUIK_GAIN_MARGIN)
+web server debugging (WEB_DEBUG)
Note: This parameter is for advanced users
-Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+web server debugging
-- Range: 20 80
-- Units: percent
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Quicktune oscillation rate threshold (QUIK_OSC_SMAX)
+web server block size (WEB_BLOCK_SIZE)
Note: This parameter is for advanced users
-Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+web server block size for download
-- Range: 1 10
+- Range: 1 65535
-Quicktune Yaw P max (QUIK_YAW_P_MAX)
+web server timeout (WEB_TIMEOUT)
Note: This parameter is for advanced users
-Maximum value for yaw P gain
+timeout for inactive connections
-- Range: 0.1 3
+- Units: seconds
+- Range: 0.1 60
-Quicktune Yaw D max (QUIK_YAW_D_MAX)
+web server minimum file size for sendfile (WEB_SENDFILE_MIN)
Note: This parameter is for advanced users
-Maximum value for yaw D gain
+sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-- Range: 0.001 1
+- Range: 0 10000000
-Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)
+parameter reversion enable (PREV_ENABLE)
-Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+Enable parameter reversion system
-- Range: 0.5 1.0
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)
+param reversion RC function (PREV_RC_FUNC)
-Ratio between P and I gains for yaw. Raise this to get a lower I gain
+RCn_OPTION number to used to trigger parameter reversion
-Quicktune auto filter enable (QUIK_AUTO_FILTER)
+Ship landing enable (SHIP_ENABLE)
-When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+Enable ship landing system
Value | Meaning |
0 | Disabled |
@@ -1132,95 +1115,73 @@ Quicktune auto filter enable (QUIK_AUTO_FILTER)
-Quicktune auto save (QUIK_AUTO_SAVE)
+Ship landing angle (SHIP_LAND_ANGLE)
-Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
+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.
-- Units: seconds
+- Range: -180 180
+- Units: degrees
-Quicktune RC function (QUIK_RC_FUNC)
+Ship automatic offset trigger (SHIP_AUTO_OFS)
-RCn_OPTION number to use to control tuning stop/start/save
+Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
+Value | Meaning |
+0 | Disabled |
+1 | Trigger |
+
-Quicktune maximum gain reduction (QUIK_MAX_REDUCE)
+WinchControl Rate Up (WINCH_RATE_UP)
-This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
+Maximum rate when retracting line
-- Units: percent
-- Range: 0 100
+- Range: 0.1 5.0
-Quicktune options (QUIK_OPTIONS)
+WinchControl Rate Down (WINCH_RATE_DN)
-Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+Maximum rate when releasing line
-- Bitmask: 0:UseTwoPositionSwitch
+- Range: 0.1 5.0
-EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)
+Winch Rate Control RC function (WINCH_RC_FUNC)
-ExternalNav may be used if innovations are below this threshold
+RCn_OPTION number to use to control winch rate
-- Range: 0 1
+Value | Meaning |
+300 | Scripting1 |
+301 | Scripting2 |
+302 | Scripting3 |
+303 | Scripting4 |
+304 | Scripting5 |
+305 | Scripting6 |
+306 | Scripting7 |
+307 | Scripting8 |
+
-EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)
+Deadreckoning Enable (DR_ENABLE)
-ExternalNav may be used if quality is above this threshold
+Deadreckoning Enable
-- Range: 0 100
-- Units: percent
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)
+Deadreckoning Enable Distance (DR_ENABLE_DIST)
-OpticalFlow may be used if innovations are below this threshold
-
-
-
-EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)
-
-OpticalFlow may be used if quality is above this threshold
-
-- Range: 0 100
-- Units: percent
-
-
-
-EKF Source Rangefinder Max (ESRC_RNGFND_MAX)
-
-OpticalFlow may be used if rangefinder distance is below this threshold
-
-- Range: 0 50
-- Units: meters
-
-
-
-Deadreckoning Enable (DR_ENABLE)
-
-Deadreckoning Enable
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-Deadreckoning Enable Distance (DR_ENABLE_DIST)
-
-Distance from home (in meters) beyond which the dead reckoning will be enabled
+Distance from home (in meters) beyond which the dead reckoning will be enabled
@@ -1297,99 +1258,86 @@ Deadreckoning Next Mode (DR_NEXT_MODE)
-Precland altitude cutoff (PLND_ALT_CUTOFF)
+Quicktune enable (QUIK_ENABLE)
-The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-- Range: 0 20
-- Units: meters
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Precland distance cutoff (DIST_CUTOFF)
+Quicktune axes (QUIK_AXES)
-The distance from target beyond which the target is ignored
+axes to tune
-- Range: 0 100
-- Units: meters
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
-Ship landing enable (SHIP_ENABLE)
+Quicktune doubling time (QUIK_DOUBLE_TIME)
-Enable ship landing system
+Time to double a tuning parameter. Raise this for a slower tune.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 5 20
+- Units: seconds
-Ship landing angle (SHIP_LAND_ANGLE)
+Quicktune gain margin (QUIK_GAIN_MARGIN)
-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.
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
-- Range: -180 180
-- Units: degrees
+- Range: 20 80
+- Units: percent
-Ship automatic offset trigger (SHIP_AUTO_OFS)
+Quicktune oscillation rate threshold (QUIK_OSC_SMAX)
-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.
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
-Value | Meaning |
-0 | Disabled |
-1 | Trigger |
-
+- Range: 1 10
-Mount POI distance max (POI_DIST_MAX)
+Quicktune Yaw P max (QUIK_YAW_P_MAX)
-POI's max distance (in meters) from the vehicle
+Maximum value for yaw P gain
-- Range: 0 10000
+- Range: 0.1 3
-WinchControl Rate Up (WINCH_RATE_UP)
+Quicktune Yaw D max (QUIK_YAW_D_MAX)
-Maximum rate when retracting line
+Maximum value for yaw D gain
-- Range: 0.1 5.0
+- Range: 0.001 1
-WinchControl Rate Down (WINCH_RATE_DN)
+Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)
-Maximum rate when releasing line
+Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
-- Range: 0.1 5.0
+- Range: 0.5 1.0
-Winch Rate Control RC function (WINCH_RC_FUNC)
+Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)
-RCn_OPTION number to use to control winch rate
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
-Value | Meaning |
-300 | Scripting1 |
-301 | Scripting2 |
-302 | Scripting3 |
-303 | Scripting4 |
-304 | Scripting5 |
-305 | Scripting6 |
-306 | Scripting7 |
-307 | Scripting8 |
-
+- Range: 0.5 20
-Force enable High Latency mode (RCK_FORCEHL)
+Quicktune auto filter enable (QUIK_AUTO_FILTER)
-Automatically enables High Latency mode if not already enabled
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
Value | Meaning |
0 | Disabled |
@@ -1398,34 +1346,86 @@ Force enable High Latency mode (RCK_FORCEHL)
-Update rate (RCK_PERIOD)
+Quicktune auto save (QUIK_AUTO_SAVE)
-When in High Latency mode, send Rockblock updates every N seconds
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: 0 600
- Units: seconds
-Display Rockblock debugging text (RCK_DEBUG)
+Quicktune RC function (QUIK_RC_FUNC)
-Sends Rockblock debug text to GCS via statustexts
+RCn_OPTION number to use to control tuning stop/start/save
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-Enable Message transmission (RCK_ENABLE)
+Quicktune maximum gain reduction (QUIK_MAX_REDUCE)
-Enables the Rockblock sending and recieving
+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.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Units: percent
+- Range: 0 100
+
+
+
+Quicktune options (QUIK_OPTIONS)
+
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+
+- Bitmask: 0:UseTwoPositionSwitch
+
+
+
+EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)
+
+ExternalNav may be used if innovations are below this threshold
+
+
+
+EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)
+
+ExternalNav may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)
+
+OpticalFlow may be used if innovations are below this threshold
+
+
+
+EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)
+
+OpticalFlow may be used if quality is above this threshold
+
+- Range: 0 100
+- Units: percent
+
+
+
+EKF Source Rangefinder Max (ESRC_RNGFND_MAX)
+
+OpticalFlow may be used if rangefinder distance is below this threshold
+
+- Range: 0 50
+- Units: meters
+
+
+
+Mount POI distance max (POI_DIST_MAX)
+
+POI's max distance (in meters) from the vehicle
+
@@ -1657,73 +1657,183 @@ Aerobatic options (AEROM_OPTIONS)
-Tricks on Switch Enable (TRIK_ENABLE)
+Tricks on Switch Enable (TRIK_ENABLE)
+
+Enables Tricks on Switch. TRIK params hidden until enabled
+
+
+
+Trik Selection Scripting Function (TRIK_SEL_FN)
+
+Setting an RC channel's _OPTION to this value will use it for trick selection
+
+
+
+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
+
+
+
+DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+
+Enable DJIRS2 debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled with attitude reporting |
+
+
+
+
+DJIRS2 upside down (DJIR_UPSIDEDOWN)
+
+DJIRS2 upside down
+
+Value | Meaning |
+0 | Right side up |
+1 | Upside down |
+
+
+
+
+ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+
+ViewPro debug
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+2 | Enabled including attitude reporting |
+
+
+
+
+ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
+
+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 |
+
+
+
+
+ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
-Enables Tricks on Switch. TRIK params hidden until enabled
+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 |
+
-Trik Selection Scripting Function (TRIK_SEL_FN)
+ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-Setting an RC channel's _OPTION to this value will use it for trick selection
+ViewPro Zoom Speed. Higher numbers result in faster zooming
-- Range: 301 307
+- Range: 0 7
-Trik Action Scripting Function (TRIK_ACT_FN)
+ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
-Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)
+ViewPro Zoom Times Max
-- Range: 301 307
+- Range: 0 30
-Trik Count (TRIK_COUNT)
+EFI DLA enable (EFI_DLA_ENABLE)
-Number of tricks which can be selected over the range of the trik selection RC channel
+Enable EFI DLA driver
-- Range: 1 11
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
+
-Enable ANX battery support (BATT_ANX_ENABLE)
+EFI DLA fuel scale (EFI_DLA_LPS)
-Enable ANX battery support
+EFI DLA litres of fuel per second of injection time
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 0.00001 1
+- Units: litres
-Set ANX CAN driver (BATT_ANX_CANDRV)
+Hobbywing ESC Enable (ESC_HW_ENABLE)
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
Value | Meaning |
-0 | None |
-1 | 1stCANDriver |
-2 | 2ndCanDriver |
+0 | Disabled |
+1 | Enabled |
-ANX CAN battery index (BATT_ANX_INDEX)
+Hobbywing ESC motor poles (ESC_HW_POLES)
-ANX CAN battery index
+Number of motor poles for eRPM scaling
-- Range: 1 10
+- Range: 1 50
-ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
+Hobbywing ESC motor offset (ESC_HW_OFS)
-ANX CAN battery options
+Motor number offset of first ESC
-- Bitmask: 0:LogAllFrames
+- Range: 0 31
@@ -1884,25 +1994,35 @@ SkyPower EFI restart time (EFI_SP_RST_TIME)
-DJIRS2 debug (DJIR_DEBUG)
Note: This parameter is for advanced users
+Generator SVFFI enable (EFI_SVF_ENABLE)
-Enable DJIRS2 debug
+Enable SVFFI generator support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled with attitude reporting |
-DJIRS2 upside down (DJIR_UPSIDEDOWN)
+Generator SVFFI arming check (EFI_SVF_ARMCHECK)
-DJIRS2 upside down
+Check for Generator ARM state before arming
Value | Meaning |
-0 | Right side up |
-1 | Upside down |
+0 | Disabled |
+1 | Enabled |
+
+
+
+
+EFI INF-Inject enable (EFI_INF_ENABLE)
+
+Enable EFI INF-Inject driver
+
+Value | Meaning |
+0 | Disabled |
+1 | Enabled |
@@ -1964,162 +2084,68 @@ Halo6000 total fuel capacity (EFI_H6K_FUELTOT)
-Hobbywing ESC Enable (ESC_HW_ENABLE)
-
-Enable Hobbywing ESC telemetry
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-Hobbywing ESC motor poles (ESC_HW_POLES)
-
-Number of motor poles for eRPM scaling
-
-
-
-Hobbywing ESC motor offset (ESC_HW_OFS)
-
-Motor number offset of first ESC
-
-
-
-EFI INF-Inject enable (EFI_INF_ENABLE)
-
-Enable EFI INF-Inject driver
-
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
-
-
-
-ViewPro debug (VIEP_DEBUG)
Note: This parameter is for advanced users
+Enable ANX battery support (BATT_ANX_ENABLE)
-ViewPro debug
+Enable ANX battery support
Value | Meaning |
0 | Disabled |
1 | Enabled |
-2 | Enabled including attitude reporting |
-
-
-
-
-ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)
-
-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 |
-
-
-
-
-ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)
-
-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 |
-ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)
+Set ANX CAN driver (BATT_ANX_CANDRV)
-Camera selection when switch is in high position
+Set ANX CAN driver
Value | Meaning |
-0 | No change in camera selection |
-1 | EO1 |
-2 | IR thermal |
-3 | EO1 + IR Picture-in-picture |
-4 | IR + EO1 Picture-in-picture |
-5 | Fusion |
-6 | IR1 13mm |
-7 | IR2 52mm |
+0 | None |
+1 | 1stCANDriver |
+2 | 2ndCanDriver |
-ViewPro Zoom Speed (VIEP_ZOOM_SPEED)
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
-
-
-
-ViewPro Zoom Times Max (VIEP_ZOOM_MAX)
+ANX CAN battery index (BATT_ANX_INDEX)
-ViewPro Zoom Times Max
+ANX CAN battery index
-- Range: 0 30
+- Range: 1 10
-Generator SVFFI enable (EFI_SVF_ENABLE)
+ANX CAN battery options (BATT_ANX_OPTIONS)
Note: This parameter is for advanced users
-Enable SVFFI generator support
+ANX CAN battery options
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Bitmask: 0:LogAllFrames
-Generator SVFFI arming check (EFI_SVF_ARMCHECK)
+TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-Check for Generator ARM state before arming
+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 | Disabled |
-1 | Enabled |
+0 | Set as Rangefinder |
+1 | Set as Proximity sensor |
-EFI DLA enable (EFI_DLA_ENABLE)
+TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-Enable EFI DLA driver
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-Value | Meaning |
-0 | Disabled |
-1 | Enabled |
-
+- Range: 1 4
-EFI DLA fuel scale (EFI_DLA_LPS)
+TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)
-EFI DLA litres of fuel per second of injection time
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-- Range: 0.00001 1
-- Units: litres
@@ -2201,32 +2227,6 @@ TOFSENSE-M Thir ID (TOFSENSE_ID3)
-TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-Value | Meaning |
-0 | Set as Rangefinder |
-1 | Set as Proximity sensor |
-
-
-
-
-TOFSENSE-M serial port config (TOFSENSE_S1_SP)
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-
-
-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 6c79170..512592d 100644
--- a/Rover-4.5/Parameters.md
+++ b/Rover-4.5/Parameters.md
@@ -649,71 +649,6 @@ Bitmask of flight modes to disable for GCS selection. Mode can still be accessed
# Lua Script Parameters
-## PREV_ENABLE: parameter reversion enable
-
-Enable parameter reversion system
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## PREV_RC_FUNC: param reversion RC function
-
-RCn_OPTION number to used to trigger parameter reversion
-
-## WEB_ENABLE: enable web server
-
-enable web server
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BIND_PORT: web server TCP port
-
-web server TCP port
-
-- Range: 1 65535
-
-## WEB_DEBUG: web server debugging
-
-*Note: This parameter is for advanced users*
-
-web server debugging
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## WEB_BLOCK_SIZE: web server block size
-
-*Note: This parameter is for advanced users*
-
-web server block size for download
-
-- Range: 1 65535
-
-## WEB_TIMEOUT: web server timeout
-
-*Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-- Units: s
-
-- Range: 0.1 60
-
-## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-
-*Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-
-- Range: 0 10000000
-
## RTUN_ENABLE: Rover Quicktune enable
Enable quicktune system
@@ -795,6 +730,57 @@ RCn_OPTION number to use to control tuning stop/start/save
|306|Scripting7|
|307|Scripting8|
+## PLND_ALT_CUTOFF: Precland altitude cutoff
+
+The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+
+- Range: 0 20
+
+- Units: m
+
+## DIST_CUTOFF: Precland distance cutoff
+
+The distance from target beyond which the target is ignored
+
+- Range: 0 100
+
+- Units: m
+
+## RCK_FORCEHL: Force enable High Latency mode
+
+Automatically enables High Latency mode if not already enabled
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_PERIOD: Update rate
+
+When in High Latency mode, send Rockblock updates every N seconds
+
+- Range: 0 600
+
+- Units: s
+
+## RCK_DEBUG: Display Rockblock debugging text
+
+Sends Rockblock debug text to GCS via statustexts
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## RCK_ENABLE: Enable Message transmission
+
+Enables the Rockblock sending and recieving
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
## BATT_SOC_COUNT: Count of SOC estimators
Number of battery SOC estimators
@@ -921,135 +907,123 @@ Battery estimator coefficient3
- Range: 0.01 0.5
-## QUIK_ENABLE: Quicktune enable
+## WEB_ENABLE: enable web server
-Enable quicktune system
+enable web server
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AXES: Quicktune axes
-
-axes to tune
-
-- Bitmask: 0:Roll,1:Pitch,2:Yaw
-
-## QUIK_DOUBLE_TIME: Quicktune doubling time
-
-Time to double a tuning parameter. Raise this for a slower tune.
-
-- Range: 5 20
-
-- Units: s
+## WEB_BIND_PORT: web server TCP port
-## QUIK_GAIN_MARGIN: Quicktune gain margin
+web server TCP port
-Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+- Range: 1 65535
-- Range: 20 80
+## WEB_DEBUG: web server debugging
-- Units: %
+*Note: This parameter is for advanced users*
-## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+web server debugging
-Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 1 10
+## WEB_BLOCK_SIZE: web server block size
-## QUIK_YAW_P_MAX: Quicktune Yaw P max
+*Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+web server block size for download
-- Range: 0.1 3
+- Range: 1 65535
-## QUIK_YAW_D_MAX: Quicktune Yaw D max
+## WEB_TIMEOUT: web server timeout
-Maximum value for yaw D gain
+*Note: This parameter is for advanced users*
-- Range: 0.001 1
+timeout for inactive connections
-## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio
+- Units: s
-Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
+- Range: 0.1 60
-- Range: 0.5 1.0
+## WEB_SENDFILE_MIN: web server minimum file size for sendfile
-## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+*Note: This parameter is for advanced users*
-Ratio between P and I gains for yaw. Raise this to get a lower I gain
+sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
-- Range: 0.5 20
+- Range: 0 10000000
-## QUIK_AUTO_FILTER: Quicktune auto filter enable
+## PREV_ENABLE: parameter reversion enable
-When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
+Enable parameter reversion system
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## QUIK_AUTO_SAVE: Quicktune auto save
-
-Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-
-- Units: s
-
-## QUIK_RC_FUNC: Quicktune RC function
-
-RCn_OPTION number to use to control tuning stop/start/save
-
-## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-
-This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-
-- Units: %
-
-- Range: 0 100
-
-## QUIK_OPTIONS: Quicktune options
+## PREV_RC_FUNC: param reversion RC function
-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.
+RCn_OPTION number to used to trigger parameter reversion
-- Bitmask: 0:UseTwoPositionSwitch
+## SHIP_ENABLE: Ship landing enable
-## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
+Enable ship landing system
-ExternalNav may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Range: 0 1
+## SHIP_LAND_ANGLE: Ship landing angle
-## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
+Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
-ExternalNav may be used if quality is above this threshold
+- Range: -180 180
-- Range: 0 100
+- Units: deg
-- Units: %
+## SHIP_AUTO_OFS: Ship automatic offset trigger
-## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation 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.
-OpticalFlow may be used if innovations are below this threshold
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Trigger|
-- Range: 0 1
+## WINCH_RATE_UP: WinchControl Rate Up
-## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
+Maximum rate when retracting line
-OpticalFlow may be used if quality is above this threshold
+- Range: 0.1 5.0
-- Range: 0 100
+## WINCH_RATE_DN: WinchControl Rate Down
-- Units: %
+Maximum rate when releasing line
-## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
+- Range: 0.1 5.0
-OpticalFlow may be used if rangefinder distance is below this threshold
+## WINCH_RC_FUNC: Winch Rate Control RC function
-- Range: 0 50
+RCn_OPTION number to use to control winch rate
-- Units: m
+|Value|Meaning|
+|:---:|:---:|
+|300|Scripting1|
+|301|Scripting2|
+|302|Scripting3|
+|303|Scripting4|
+|304|Scripting5|
+|305|Scripting6|
+|306|Scripting7|
+|307|Scripting8|
## DR_ENABLE: Deadreckoning Enable
@@ -1125,115 +1099,141 @@ Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. De
|21|Smart_RTL|
|27|Auto RTL|
-## PLND_ALT_CUTOFF: Precland altitude cutoff
+## QUIK_ENABLE: Quicktune enable
-The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-- Range: 0 20
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
-- Units: m
+## QUIK_AXES: Quicktune axes
-## DIST_CUTOFF: Precland distance cutoff
+axes to tune
-The distance from target beyond which the target is ignored
+- Bitmask: 0:Roll,1:Pitch,2:Yaw
-- Range: 0 100
+## QUIK_DOUBLE_TIME: Quicktune doubling time
-- Units: m
+Time to double a tuning parameter. Raise this for a slower tune.
-## SHIP_ENABLE: Ship landing enable
+- Range: 5 20
-Enable ship landing system
+- Units: s
+
+## QUIK_GAIN_MARGIN: Quicktune gain margin
+
+Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
+
+- Range: 20 80
+
+- Units: %
+
+## QUIK_OSC_SMAX: Quicktune oscillation rate threshold
+
+Threshold for oscillation detection. A lower value will lead to a more conservative tune.
+
+- Range: 1 10
+
+## QUIK_YAW_P_MAX: Quicktune Yaw P max
+
+Maximum value for yaw P gain
+
+- Range: 0.1 3
+
+## QUIK_YAW_D_MAX: Quicktune Yaw D max
+
+Maximum value for yaw D gain
+
+- Range: 0.001 1
+
+## 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 1.0
+
+## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio
+
+Ratio between P and I gains for yaw. Raise this to get a lower I gain
+
+- Range: 0.5 20
+
+## QUIK_AUTO_FILTER: Quicktune auto filter enable
+
+When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
-## SHIP_LAND_ANGLE: Ship landing angle
+## QUIK_AUTO_SAVE: Quicktune auto save
-Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
+Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
-- Range: -180 180
+- Units: s
-- Units: deg
+## QUIK_RC_FUNC: Quicktune RC function
-## SHIP_AUTO_OFS: Ship automatic offset trigger
+RCn_OPTION number to use to control tuning stop/start/save
-Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
+## QUIK_MAX_REDUCE: Quicktune maximum gain reduction
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Trigger|
+This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
-## POI_DIST_MAX: Mount POI distance max
+- Units: %
-POI's max distance (in meters) from the vehicle
+- Range: 0 100
-- Range: 0 10000
+## QUIK_OPTIONS: Quicktune options
-## WINCH_RATE_UP: WinchControl Rate Up
+Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
-Maximum rate when retracting line
+- Bitmask: 0:UseTwoPositionSwitch
-- Range: 0.1 5.0
+## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold
-## WINCH_RATE_DN: WinchControl Rate Down
+ExternalNav may be used if innovations are below this threshold
-Maximum rate when releasing line
+- Range: 0 1
-- Range: 0.1 5.0
+## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold
-## WINCH_RC_FUNC: Winch Rate Control RC function
+ExternalNav may be used if quality is above this threshold
-RCn_OPTION number to use to control winch rate
+- Range: 0 100
-|Value|Meaning|
-|:---:|:---:|
-|300|Scripting1|
-|301|Scripting2|
-|302|Scripting3|
-|303|Scripting4|
-|304|Scripting5|
-|305|Scripting6|
-|306|Scripting7|
-|307|Scripting8|
+- Units: %
-## RCK_FORCEHL: Force enable High Latency mode
+## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold
-Automatically enables High Latency mode if not already enabled
+OpticalFlow may be used if innovations are below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 1
-## RCK_PERIOD: Update rate
+## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold
-When in High Latency mode, send Rockblock updates every N seconds
+OpticalFlow may be used if quality is above this threshold
-- Range: 0 600
+- Range: 0 100
-- Units: s
+- Units: %
-## RCK_DEBUG: Display Rockblock debugging text
+## ESRC_RNGFND_MAX: EKF Source Rangefinder Max
-Sends Rockblock debug text to GCS via statustexts
+OpticalFlow may be used if rangefinder distance is below this threshold
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Range: 0 50
-## RCK_ENABLE: Enable Message transmission
+- Units: m
-Enables the Rockblock sending and recieving
+## POI_DIST_MAX: Mount POI distance max
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+POI's max distance (in meters) from the vehicle
+
+- Range: 0 10000
## AEROM_ANG_ACCEL: Angular acceleration limit
@@ -1423,38 +1423,133 @@ Number of tricks which can be selected over the range of the trik selection RC c
- Range: 1 11
-## BATT_ANX_ENABLE: Enable ANX battery support
+## DJIR_DEBUG: DJIRS2 debug
-Enable ANX battery support
+*Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
|Value|Meaning|
|:---:|:---:|
|0|Disabled|
|1|Enabled|
+|2|Enabled with attitude reporting|
-## BATT_ANX_CANDRV: Set ANX CAN driver
+## DJIR_UPSIDEDOWN: DJIRS2 upside down
-Set ANX CAN driver
+DJIRS2 upside down
|Value|Meaning|
|:---:|:---:|
-|0|None|
-|1|1stCANDriver|
-|2|2ndCanDriver|
+|0|Right side up|
+|1|Upside down|
-## BATT_ANX_INDEX: ANX CAN battery index
+## VIEP_DEBUG: ViewPro debug
-ANX CAN battery index
+*Note: This parameter is for advanced users*
-- Range: 1 10
+ViewPro debug
-## BATT_ANX_OPTIONS: ANX CAN battery options
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+|2|Enabled including attitude reporting|
-*Note: This parameter is for advanced users*
+## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low
-ANX CAN battery options
+Camera selection when switch is in low position
-- Bitmask: 0:LogAllFrames
+|Value|Meaning|
+|:---:|:---:|
+|0|No change in camera selection|
+|1|EO1|
+|2|IR thermal|
+|3|EO1 + IR Picture-in-picture|
+|4|IR + EO1 Picture-in-picture|
+|5|Fusion|
+|6|IR1 13mm|
+|7|IR2 52mm|
+
+## 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_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
+
+## ESC_HW_ENABLE: Hobbywing ESC Enable
+
+Enable Hobbywing ESC telemetry
+
+|Value|Meaning|
+|:---:|:---:|
+|0|Disabled|
+|1|Enabled|
+
+## ESC_HW_POLES: Hobbywing ESC motor poles
+
+Number of motor poles for eRPM scaling
+
+- Range: 1 50
+
+## ESC_HW_OFS: Hobbywing ESC motor offset
+
+Motor number offset of first ESC
+
+- Range: 0 31
## EFI_SP_ENABLE: Enable SkyPower EFI support
@@ -1600,26 +1695,32 @@ SkyPower EFI restart time. If engine should be running and it has stopped for th
- Units: s
-## DJIR_DEBUG: DJIRS2 debug
+## EFI_SVF_ENABLE: Generator SVFFI enable
-*Note: This parameter is for advanced users*
+Enable SVFFI generator support
-Enable DJIRS2 debug
+|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|
-|2|Enabled with attitude reporting|
-## DJIR_UPSIDEDOWN: DJIRS2 upside down
+## EFI_INF_ENABLE: EFI INF-Inject enable
-DJIRS2 upside down
+Enable EFI INF-Inject driver
|Value|Meaning|
|:---:|:---:|
-|0|Right side up|
-|1|Upside down|
+|0|Disabled|
+|1|Enabled|
## EFI_H6K_ENABLE: Enable Halo6000 EFI driver
@@ -1668,139 +1769,57 @@ The capacity of the tank in litres
- Units: litres
-## ESC_HW_ENABLE: Hobbywing ESC Enable
-
-Enable Hobbywing ESC telemetry
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
-
-## ESC_HW_POLES: Hobbywing ESC motor poles
-
-Number of motor poles for eRPM scaling
-
-- Range: 1 50
-
-## ESC_HW_OFS: Hobbywing ESC motor offset
-
-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*
+## BATT_ANX_ENABLE: Enable ANX battery support
-ViewPro debug
+Enable ANX battery support
|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
+## BATT_ANX_CANDRV: Set ANX CAN driver
-Camera selection when switch is in high position
+Set ANX CAN driver
|Value|Meaning|
|:---:|:---:|
-|0|No change in camera selection|
-|1|EO1|
-|2|IR thermal|
-|3|EO1 + IR Picture-in-picture|
-|4|IR + EO1 Picture-in-picture|
-|5|Fusion|
-|6|IR1 13mm|
-|7|IR2 52mm|
-
-## VIEP_ZOOM_SPEED: ViewPro Zoom Speed
-
-ViewPro Zoom Speed. Higher numbers result in faster zooming
+|0|None|
+|1|1stCANDriver|
+|2|2ndCanDriver|
-- Range: 0 7
+## BATT_ANX_INDEX: ANX CAN battery index
-## VIEP_ZOOM_MAX: ViewPro Zoom Times Max
+ANX CAN battery index
-ViewPro Zoom Times Max
+- Range: 1 10
-- Range: 0 30
+## BATT_ANX_OPTIONS: ANX CAN battery options
-## EFI_SVF_ENABLE: Generator SVFFI enable
+*Note: This parameter is for advanced users*
-Enable SVFFI generator support
+ANX CAN battery options
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+- Bitmask: 0:LogAllFrames
-## EFI_SVF_ARMCHECK: Generator SVFFI arming check
+## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-Check for Generator ARM state before arming
+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|Disabled|
-|1|Enabled|
-
-## EFI_DLA_ENABLE: EFI DLA enable
-
-Enable EFI DLA driver
+|0|Set as Rangefinder|
+|1|Set as Proximity sensor|
-|Value|Meaning|
-|:---:|:---:|
-|0|Disabled|
-|1|Enabled|
+## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-## EFI_DLA_LPS: EFI DLA fuel scale
+UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-EFI DLA litres of fuel per second of injection time
+- Range: 1 4
-- Range: 0.00001 1
+## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-- Units: litres
+Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor
@@ -1862,25 +1881,6 @@ Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from N
- Range: 1 255
-## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor
-
-Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
-
-|Value|Meaning|
-|:---:|:---:|
-|0|Set as Rangefinder|
-|1|Set as Proximity sensor|
-
-## TOFSENSE_S1_SP: TOFSENSE-M serial port config
-
-UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
-
-- Range: 1 4
-
-## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate
-
-Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
-
# AFS Parameters
## AFS_ENABLE: Enable Advanced Failsafe
diff --git a/Rover-4.5/ParametersLatex.rst b/Rover-4.5/ParametersLatex.rst
index 6f63289..d3d9fa3 100644
--- a/Rover-4.5/ParametersLatex.rst
+++ b/Rover-4.5/ParametersLatex.rst
@@ -1400,151 +1400,6 @@ Lua Script Parameters
---------------------
-.. _PREV_ENABLE:
-
-PREV\_ENABLE: parameter reversion enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable parameter reversion system
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _PREV_RC_FUNC:
-
-PREV\_RC\_FUNC: param reversion RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-RCn\_OPTION number to used to trigger parameter reversion
-
-
-.. _WEB_ENABLE:
-
-WEB\_ENABLE: enable web server
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-enable web server
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BIND_PORT:
-
-WEB\_BIND\_PORT: web server TCP port
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-web server TCP port
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_DEBUG:
-
-WEB\_DEBUG: web server debugging
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server debugging
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _WEB_BLOCK_SIZE:
-
-WEB\_BLOCK\_SIZE: web server block size
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-web server block size for download
-
-
-+------------+
-| Range |
-+============+
-| 1 to 65535 |
-+------------+
-
-
-
-
-.. _WEB_TIMEOUT:
-
-WEB\_TIMEOUT: web server timeout
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-timeout for inactive connections
-
-
-+-----------+---------+
-| Range | Units |
-+===========+=========+
-| 0.1 to 60 | seconds |
-+-----------+---------+
-
-
-
-
-.. _WEB_SENDFILE_MIN:
-
-WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-| *Note: This parameter is for advanced users*
-
-sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-
-
-+---------------+
-| Range |
-+===============+
-| 0 to 10000000 |
-+---------------+
-
-
-
-
.. _RTUN_ENABLE:
RTUN\_ENABLE: Rover Quicktune enable
@@ -1763,110 +1618,224 @@ RCn\_OPTION number to use to control tuning stop\/start\/save
-.. _BATT_SOC_COUNT:
-
-BATT\_SOC\_COUNT: Count of SOC estimators
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of battery SOC estimators
-
+.. _PLND_ALT_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+PLND\_ALT\_CUTOFF: Precland altitude cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
-.. _BATT_SOC1_IDX:
++---------+--------+
+| Range | Units |
++=========+========+
+| 0 to 20 | meters |
++---------+--------+
-BATT\_SOC1\_IDX: Battery estimator index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator index
+.. _DIST_CUTOFF:
-+--------+
-| Range |
-+========+
-| 0 to 4 |
-+--------+
+DIST\_CUTOFF: Precland distance cutoff
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+The distance from target beyond which the target is ignored
-.. _BATT_SOC1_NCELL:
++----------+--------+
+| Range | Units |
++==========+========+
+| 0 to 100 | meters |
++----------+--------+
-BATT\_SOC1\_NCELL: Battery estimator cell count
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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_SOC1_C1:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_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_SOC1_C2:
++----------+---------+
+| Range | Units |
++==========+=========+
+| 0 to 600 | seconds |
++----------+---------+
-BATT\_SOC1\_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_SOC1_C3:
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-BATT\_SOC1\_C3: Battery estimator coefficient3
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Battery estimator coefficient3
+.. _RCK_ENABLE:
-+-------------+
-| Range |
-+=============+
-| 0.01 to 0.5 |
-+-------------+
+RCK\_ENABLE: Enable Message transmission
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enables the Rockblock sending and recieving
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _BATT_SOC_COUNT:
+
+BATT\_SOC\_COUNT: Count of SOC estimators
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Number of battery SOC estimators
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_IDX:
+
+BATT\_SOC1\_IDX: Battery estimator index
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator index
+
+
++--------+
+| Range |
++========+
+| 0 to 4 |
++--------+
+
+
+
+
+.. _BATT_SOC1_NCELL:
+
+BATT\_SOC1\_NCELL: Battery estimator cell count
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator cell count
+
+
++---------+
+| Range |
++=========+
+| 0 to 48 |
++---------+
+
+
+
+
+.. _BATT_SOC1_C1:
+
+BATT\_SOC1\_C1: Battery estimator coefficient1
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient1
+
+
++------------+
+| Range |
++============+
+| 100 to 200 |
++------------+
+
+
+
+
+.. _BATT_SOC1_C2:
+
+BATT\_SOC1\_C2: Battery estimator coefficient2
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient2
+
+
++--------+
+| Range |
++========+
+| 2 to 5 |
++--------+
+
+
+
+
+.. _BATT_SOC1_C3:
+
+BATT\_SOC1\_C3: Battery estimator coefficient3
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Battery estimator coefficient3
+
+
++-------------+
+| Range |
++=============+
+| 0.01 to 0.5 |
++-------------+
@@ -2141,13 +2110,13 @@ Battery estimator coefficient3
-.. _QUIK_ENABLE:
+.. _WEB_ENABLE:
-QUIK\_ENABLE: Quicktune enable
+WEB\_ENABLE: enable web server
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable quicktune system
+enable web server
+-------+----------+
@@ -2161,161 +2130,138 @@ Enable quicktune system
-.. _QUIK_AXES:
+.. _WEB_BIND_PORT:
-QUIK\_AXES: Quicktune axes
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BIND\_PORT: web server TCP port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-axes to tune
+web server TCP port
-+-----+---------+
-| Bit | Meaning |
-+=====+=========+
-| 0 | Roll |
-+-----+---------+
-| 1 | Pitch |
-+-----+---------+
-| 2 | Yaw |
-+-----+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_DOUBLE_TIME:
+.. _WEB_DEBUG:
-QUIK\_DOUBLE\_TIME: Quicktune doubling time
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_DEBUG: web server debugging
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Time to double a tuning parameter\. Raise this for a slower tune\.
+web server debugging
-+---------+---------+
-| Range | Units |
-+=========+=========+
-| 5 to 20 | seconds |
-+---------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_GAIN_MARGIN:
+.. _WEB_BLOCK_SIZE:
-QUIK\_GAIN\_MARGIN: Quicktune gain margin
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_BLOCK\_SIZE: web server block size
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
+web server block size for download
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 20 to 80 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 1 to 65535 |
++------------+
-.. _QUIK_OSC_SMAX:
+.. _WEB_TIMEOUT:
-QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_TIMEOUT: web server timeout
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
+timeout for inactive connections
-+---------+
-| Range |
-+=========+
-| 1 to 10 |
-+---------+
++-----------+---------+
+| Range | Units |
++===========+=========+
+| 0.1 to 60 | seconds |
++-----------+---------+
-.. _QUIK_YAW_P_MAX:
+.. _WEB_SENDFILE_MIN:
-QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WEB\_SENDFILE\_MIN: web server minimum file size for sendfile
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
-Maximum value for yaw P gain
+sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download
-+----------+
-| Range |
-+==========+
-| 0.1 to 3 |
-+----------+
++---------------+
+| Range |
++===============+
+| 0 to 10000000 |
++---------------+
-.. _QUIK_YAW_D_MAX:
+.. _PREV_ENABLE:
-QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_ENABLE: parameter reversion enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum value for yaw D gain
+Enable parameter reversion system
-+------------+
-| Range |
-+============+
-| 0.001 to 1 |
-+------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _QUIK_RP_PI_RATIO:
+.. _PREV_RC_FUNC:
-QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+PREV\_RC\_FUNC: param reversion RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+RCn\_OPTION number to used to trigger parameter reversion
-+------------+
-| 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:
+.. _SHIP_ENABLE:
-QUIK\_AUTO\_FILTER: Quicktune auto filter enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_ENABLE: Ship landing enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+Enable ship landing system
+-------+----------+
@@ -2329,155 +2275,108 @@ 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:
+.. _SHIP_LAND_ANGLE:
-QUIK\_RC\_FUNC: Quicktune RC function
+SHIP\_LAND\_ANGLE: Ship landing angle
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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
+Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\.
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++-------------+---------+
+| Range | Units |
++=============+=========+
+| -180 to 180 | degrees |
++-------------+---------+
-.. _ESRC_EXTN_QUAL:
+.. _SHIP_AUTO_OFS:
-ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+SHIP\_AUTO\_OFS: Ship automatic offset trigger
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ExternalNav may be used if quality is above this threshold
+Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\.
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Trigger |
++-------+----------+
-.. _ESRC_FLOW_THRESH:
+.. _WINCH_RATE_UP:
-ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_UP: WinchControl Rate Up
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if innovations are below this threshold
+Maximum rate when retracting line
-+--------+
-| Range |
-+========+
-| 0 to 1 |
-+--------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_FLOW_QUAL:
+.. _WINCH_RATE_DN:
-ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RATE\_DN: WinchControl Rate Down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if quality is above this threshold
+Maximum rate when releasing line
-+----------+---------+
-| Range | Units |
-+==========+=========+
-| 0 to 100 | percent |
-+----------+---------+
++------------+
+| Range |
++============+
+| 0.1 to 5.0 |
++------------+
-.. _ESRC_RNGFND_MAX:
+.. _WINCH_RC_FUNC:
-ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+WINCH\_RC\_FUNC: Winch Rate Control RC function
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-OpticalFlow may be used if rangefinder distance is below this threshold
+RCn\_OPTION number to use to control winch rate
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 50 | meters |
-+---------+--------+
++-------+------------+
+| Value | Meaning |
++=======+============+
+| 300 | Scripting1 |
++-------+------------+
+| 301 | Scripting2 |
++-------+------------+
+| 302 | Scripting3 |
++-------+------------+
+| 303 | Scripting4 |
++-------+------------+
+| 304 | Scripting5 |
++-------+------------+
+| 305 | Scripting6 |
++-------+------------+
+| 306 | Scripting7 |
++-------+------------+
+| 307 | Scripting8 |
++-------+------------+
@@ -2668,193 +2567,181 @@ Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\.
-.. _PLND_ALT_CUTOFF:
+.. _QUIK_ENABLE:
-PLND\_ALT\_CUTOFF: Precland altitude cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_ENABLE: Quicktune enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing
+Enable quicktune system
-+---------+--------+
-| Range | Units |
-+=========+========+
-| 0 to 20 | meters |
-+---------+--------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DIST_CUTOFF:
+.. _QUIK_AXES:
-DIST\_CUTOFF: Precland distance cutoff
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AXES: Quicktune axes
+~~~~~~~~~~~~~~~~~~~~~~~~~~
-The distance from target beyond which the target is ignored
+axes to tune
-+----------+--------+
-| Range | Units |
-+==========+========+
-| 0 to 100 | meters |
-+----------+--------+
++-----+---------+
+| Bit | Meaning |
++=====+=========+
+| 0 | Roll |
++-----+---------+
+| 1 | Pitch |
++-----+---------+
+| 2 | Yaw |
++-----+---------+
-.. _SHIP_ENABLE:
+.. _QUIK_DOUBLE_TIME:
-SHIP\_ENABLE: Ship landing enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_DOUBLE\_TIME: Quicktune doubling time
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ship landing system
+Time to double a tuning parameter\. Raise this for a slower tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++---------+---------+
+| Range | Units |
++=========+=========+
+| 5 to 20 | seconds |
++---------+---------+
-.. _SHIP_LAND_ANGLE:
+.. _QUIK_GAIN_MARGIN:
-SHIP\_LAND\_ANGLE: Ship landing angle
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_GAIN\_MARGIN: Quicktune gain margin
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-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\.
+Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune
-+-------------+---------+
-| Range | Units |
-+=============+=========+
-| -180 to 180 | degrees |
-+-------------+---------+
++----------+---------+
+| Range | Units |
++==========+=========+
+| 20 to 80 | percent |
++----------+---------+
-.. _SHIP_AUTO_OFS:
+.. _QUIK_OSC_SMAX:
-SHIP\_AUTO\_OFS: Ship automatic offset trigger
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OSC\_SMAX: Quicktune oscillation rate 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\.
+Threshold for oscillation detection\. A lower value will lead to a more conservative tune\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Trigger |
-+-------+----------+
++---------+
+| Range |
++=========+
+| 1 to 10 |
++---------+
-.. _POI_DIST_MAX:
+.. _QUIK_YAW_P_MAX:
-POI\_DIST\_MAX: Mount POI distance max
+QUIK\_YAW\_P\_MAX: Quicktune Yaw P max
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-POI\'s max distance \(in meters\) from the vehicle
+Maximum value for yaw P gain
-+------------+
-| Range |
-+============+
-| 0 to 10000 |
-+------------+
++----------+
+| Range |
++==========+
+| 0.1 to 3 |
++----------+
-.. _WINCH_RATE_UP:
+.. _QUIK_YAW_D_MAX:
-WINCH\_RATE\_UP: WinchControl Rate Up
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_YAW\_D\_MAX: Quicktune Yaw D max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when retracting line
+Maximum value for yaw D gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.001 to 1 |
+------------+
-.. _WINCH_RATE_DN:
+.. _QUIK_RP_PI_RATIO:
-WINCH\_RATE\_DN: WinchControl Rate Down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Maximum rate when releasing line
+Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain
+------------+
| Range |
+============+
-| 0.1 to 5.0 |
+| 0.5 to 1.0 |
+------------+
-.. _WINCH_RC_FUNC:
+.. _QUIK_Y_PI_RATIO:
-WINCH\_RC\_FUNC: Winch Rate Control RC function
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-RCn\_OPTION number to use to control winch rate
+Ratio between P and I gains for yaw\. Raise this to get a lower I gain
-+-------+------------+
-| Value | Meaning |
-+=======+============+
-| 300 | Scripting1 |
-+-------+------------+
-| 301 | Scripting2 |
-+-------+------------+
-| 302 | Scripting3 |
-+-------+------------+
-| 303 | Scripting4 |
-+-------+------------+
-| 304 | Scripting5 |
-+-------+------------+
-| 305 | Scripting6 |
-+-------+------------+
-| 306 | Scripting7 |
-+-------+------------+
-| 307 | Scripting8 |
-+-------+------------+
++-----------+
+| Range |
++===========+
+| 0.5 to 20 |
++-----------+
-.. _RCK_FORCEHL:
+.. _QUIK_AUTO_FILTER:
-RCK\_FORCEHL: Force enable High Latency mode
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_FILTER: Quicktune auto filter enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Automatically enables High Latency mode if not already enabled
+When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER
+-------+----------+
@@ -2868,60 +2755,173 @@ Automatically enables High Latency mode if not already enabled
-.. _RCK_PERIOD:
+.. _QUIK_AUTO_SAVE:
-RCK\_PERIOD: Update rate
-~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_AUTO\_SAVE: Quicktune auto save
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-When in High Latency mode\, send Rockblock updates every N seconds
+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 600 | seconds |
+| 0 to 100 | percent |
+----------+---------+
-.. _RCK_DEBUG:
+.. _QUIK_OPTIONS:
-RCK\_DEBUG: Display Rockblock debugging text
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+QUIK\_OPTIONS: Quicktune options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Sends Rockblock debug text to GCS via statustexts
+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\.
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++-----+----------------------+
+| Bit | Meaning |
++=====+======================+
+| 0 | UseTwoPositionSwitch |
++-----+----------------------+
-.. _RCK_ENABLE:
+.. _ESRC_EXTN_THRESH:
-RCK\_ENABLE: Enable Message transmission
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enables the Rockblock sending and recieving
+ExternalNav may be used if innovations are below this threshold
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
++--------+
+| 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 |
++---------+--------+
+
+
+
+
+.. _POI_DIST_MAX:
+
+POI\_DIST\_MAX: Mount POI distance max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+POI\'s max distance \(in meters\) from the vehicle
+
+
++------------+
+| Range |
++============+
+| 0 to 10000 |
++------------+
@@ -3479,13 +3479,211 @@ Number of tricks which can be selected over the range of the trik selection RC c
-.. _BATT_ANX_ENABLE:
+.. _DJIR_DEBUG:
+
+DJIR\_DEBUG: DJIRS2 debug
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+Enable DJIRS2 debug
+
+
++-------+---------------------------------+
+| Value | Meaning |
++=======+=================================+
+| 0 | Disabled |
++-------+---------------------------------+
+| 1 | Enabled |
++-------+---------------------------------+
+| 2 | Enabled with attitude reporting |
++-------+---------------------------------+
+
+
+
+
+.. _DJIR_UPSIDEDOWN:
+
+DJIR\_UPSIDEDOWN: DJIRS2 upside down
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+DJIRS2 upside down
+
+
++-------+---------------+
+| Value | Meaning |
++=======+===============+
+| 0 | Right side up |
++-------+---------------+
+| 1 | Upside down |
++-------+---------------+
+
+
+
+
+.. _VIEP_DEBUG:
+
+VIEP\_DEBUG: ViewPro debug
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+| *Note: This parameter is for advanced users*
+
+ViewPro debug
+
+
++-------+--------------------------------------+
+| Value | Meaning |
++=======+======================================+
+| 0 | Disabled |
++-------+--------------------------------------+
+| 1 | Enabled |
++-------+--------------------------------------+
+| 2 | Enabled including attitude reporting |
++-------+--------------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWLOW:
+
+VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in low position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
-BATT\_ANX\_ENABLE: Enable ANX battery support
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable ANX battery support
+
+.. _VIEP_CAM_SWMID:
+
+VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in middle position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_CAM_SWHIGH:
+
+VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Camera selection when switch is in high position
+
+
++-------+-------------------------------+
+| Value | Meaning |
++=======+===============================+
+| 0 | No change in camera selection |
++-------+-------------------------------+
+| 1 | EO1 |
++-------+-------------------------------+
+| 2 | IR thermal |
++-------+-------------------------------+
+| 3 | EO1 + IR Picture-in-picture |
++-------+-------------------------------+
+| 4 | IR + EO1 Picture-in-picture |
++-------+-------------------------------+
+| 5 | Fusion |
++-------+-------------------------------+
+| 6 | IR1 13mm |
++-------+-------------------------------+
+| 7 | IR2 52mm |
++-------+-------------------------------+
+
+
+
+
+.. _VIEP_ZOOM_SPEED:
+
+VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Speed\. Higher numbers result in faster zooming
+
+
++--------+
+| Range |
++========+
+| 0 to 7 |
++--------+
+
+
+
+
+.. _VIEP_ZOOM_MAX:
+
+VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+ViewPro Zoom Times Max
+
+
++---------+
+| Range |
++=========+
+| 0 to 30 |
++---------+
+
+
+
+
+.. _EFI_DLA_ENABLE:
+
+EFI\_DLA\_ENABLE: EFI DLA enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI DLA driver
+-------+----------+
@@ -3499,61 +3697,76 @@ Enable ANX battery support
-.. _BATT_ANX_CANDRV:
+.. _EFI_DLA_LPS:
+
+EFI\_DLA\_LPS: EFI DLA fuel scale
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+EFI DLA litres of fuel per second of injection time
+
+
++--------------+--------+
+| Range | Units |
++==============+========+
+| 0.00001 to 1 | litres |
++--------------+--------+
+
+
+
+
+.. _ESC_HW_ENABLE:
-BATT\_ANX\_CANDRV: Set ANX CAN driver
+ESC\_HW\_ENABLE: Hobbywing ESC Enable
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Set ANX CAN driver
+Enable Hobbywing ESC telemetry
-+-------+--------------+
-| Value | Meaning |
-+=======+==============+
-| 0 | None |
-+-------+--------------+
-| 1 | 1stCANDriver |
-+-------+--------------+
-| 2 | 2ndCanDriver |
-+-------+--------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _BATT_ANX_INDEX:
+.. _ESC_HW_POLES:
-BATT\_ANX\_INDEX: ANX CAN battery index
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_POLES: Hobbywing ESC motor poles
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ANX CAN battery index
+Number of motor poles for eRPM scaling
+---------+
| Range |
+=========+
-| 1 to 10 |
+| 1 to 50 |
+---------+
-.. _BATT_ANX_OPTIONS:
+.. _ESC_HW_OFS:
-BATT\_ANX\_OPTIONS: ANX CAN battery options
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ESC\_HW\_OFS: Hobbywing ESC motor offset
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-ANX CAN battery options
+Motor number offset of first ESC
-+-----+--------------+
-| Bit | Meaning |
-+=====+==============+
-| 0 | LogAllFrames |
-+-----+--------------+
++---------+
+| Range |
++=========+
+| 0 to 31 |
++---------+
@@ -3863,45 +4076,62 @@ SkyPower EFI restart time\. If engine should be running and it has stopped for t
-.. _DJIR_DEBUG:
+.. _EFI_SVF_ENABLE:
-DJIR\_DEBUG: DJIRS2 debug
-~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ENABLE: Generator SVFFI enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-| *Note: This parameter is for advanced users*
-Enable DJIRS2 debug
+Enable SVFFI generator support
-+-------+---------------------------------+
-| Value | Meaning |
-+=======+=================================+
-| 0 | Disabled |
-+-------+---------------------------------+
-| 1 | Enabled |
-+-------+---------------------------------+
-| 2 | Enabled with attitude reporting |
-+-------+---------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _DJIR_UPSIDEDOWN:
+.. _EFI_SVF_ARMCHECK:
-DJIR\_UPSIDEDOWN: DJIRS2 upside down
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-DJIRS2 upside down
+Check for Generator ARM state before arming
-+-------+---------------+
-| Value | Meaning |
-+=======+===============+
-| 0 | Right side up |
-+-------+---------------+
-| 1 | Upside down |
-+-------+---------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
+
+
+
+
+.. _EFI_INF_ENABLE:
+
+EFI\_INF\_ENABLE: EFI INF\-Inject enable
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+
+Enable EFI INF\-Inject driver
+
+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
@@ -3973,358 +4203,175 @@ The RC auxilliary function number for start\/stop of the generator\. Zero to dis
| 304 | 304 |
+-------+----------+
| 305 | 305 |
-+-------+----------+
-| 306 | 306 |
-+-------+----------+
-| 307 | 307 |
-+-------+----------+
-
-
-
-
-.. _EFI_H6K_TELEM_RT:
-
-EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The rate that additional generator telemetry is sent
-
-
-+-------+
-| Units |
-+=======+
-| hertz |
-+-------+
-
-
-
-
-.. _EFI_H6K_FUELTOT:
-
-EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-The capacity of the tank in litres
-
-
-+--------+
-| Units |
-+========+
-| litres |
-+--------+
-
-
-
-
-.. _ESC_HW_ENABLE:
-
-ESC\_HW\_ENABLE: Hobbywing ESC Enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable Hobbywing ESC telemetry
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _ESC_HW_POLES:
-
-ESC\_HW\_POLES: Hobbywing ESC motor poles
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Number of motor poles for eRPM scaling
-
-
-+---------+
-| Range |
-+=========+
-| 1 to 50 |
-+---------+
-
-
-
-
-.. _ESC_HW_OFS:
-
-ESC\_HW\_OFS: Hobbywing ESC motor offset
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Motor number offset of first ESC
-
-
-+---------+
-| Range |
-+=========+
-| 0 to 31 |
-+---------+
-
-
-
-
-.. _EFI_INF_ENABLE:
-
-EFI\_INF\_ENABLE: EFI INF\-Inject enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable EFI INF\-Inject driver
-
-
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
-
-
-
-
-.. _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 |
-+-------+--------------------------------------+
++-------+----------+
+| 306 | 306 |
++-------+----------+
+| 307 | 307 |
++-------+----------+
-.. _VIEP_CAM_SWLOW:
+.. _EFI_H6K_TELEM_RT:
-VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in low position
+The rate that additional generator telemetry is sent
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+
+| Units |
++=======+
+| hertz |
++-------+
-.. _VIEP_CAM_SWMID:
+.. _EFI_H6K_FUELTOT:
-VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid
+EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in middle position
+The capacity of the tank in litres
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++--------+
+| Units |
++========+
+| litres |
++--------+
-.. _VIEP_CAM_SWHIGH:
+.. _BATT_ANX_ENABLE:
-VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+BATT\_ANX\_ENABLE: Enable ANX battery support
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Camera selection when switch is in high position
+Enable ANX battery support
-+-------+-------------------------------+
-| Value | Meaning |
-+=======+===============================+
-| 0 | No change in camera selection |
-+-------+-------------------------------+
-| 1 | EO1 |
-+-------+-------------------------------+
-| 2 | IR thermal |
-+-------+-------------------------------+
-| 3 | EO1 + IR Picture-in-picture |
-+-------+-------------------------------+
-| 4 | IR + EO1 Picture-in-picture |
-+-------+-------------------------------+
-| 5 | Fusion |
-+-------+-------------------------------+
-| 6 | IR1 13mm |
-+-------+-------------------------------+
-| 7 | IR2 52mm |
-+-------+-------------------------------+
++-------+----------+
+| Value | Meaning |
++=======+==========+
+| 0 | Disabled |
++-------+----------+
+| 1 | Enabled |
++-------+----------+
-.. _VIEP_ZOOM_SPEED:
+.. _BATT_ANX_CANDRV:
-VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed
+BATT\_ANX\_CANDRV: Set ANX CAN driver
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Speed\. Higher numbers result in faster zooming
+Set ANX CAN driver
-+--------+
-| Range |
-+========+
-| 0 to 7 |
-+--------+
++-------+--------------+
+| Value | Meaning |
++=======+==============+
+| 0 | None |
++-------+--------------+
+| 1 | 1stCANDriver |
++-------+--------------+
+| 2 | 2ndCanDriver |
++-------+--------------+
-.. _VIEP_ZOOM_MAX:
+.. _BATT_ANX_INDEX:
-VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max
+BATT\_ANX\_INDEX: ANX CAN battery index
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-ViewPro Zoom Times Max
+ANX CAN battery index
+---------+
| Range |
+=========+
-| 0 to 30 |
+| 1 to 10 |
+---------+
-.. _EFI_SVF_ENABLE:
-
-EFI\_SVF\_ENABLE: Generator SVFFI enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Enable SVFFI generator support
-
+.. _BATT_ANX_OPTIONS:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+BATT\_ANX\_OPTIONS: ANX CAN battery options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+| *Note: This parameter is for advanced users*
+ANX CAN battery options
-.. _EFI_SVF_ARMCHECK:
++-----+--------------+
+| Bit | Meaning |
++=====+==============+
+| 0 | LogAllFrames |
++-----+--------------+
-EFI\_SVF\_ARMCHECK: Generator SVFFI arming check
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Check for Generator ARM state before arming
+.. _TOFSENSE_S1_PRX:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-.. _EFI_DLA_ENABLE:
++-------+-------------------------+
+| Value | Meaning |
++=======+=========================+
+| 0 | Set as Rangefinder |
++-------+-------------------------+
+| 1 | Set as Proximity sensor |
++-------+-------------------------+
-EFI\_DLA\_ENABLE: EFI DLA enable
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Enable EFI DLA driver
+.. _TOFSENSE_S1_SP:
-+-------+----------+
-| Value | Meaning |
-+=======+==========+
-| 0 | Disabled |
-+-------+----------+
-| 1 | Enabled |
-+-------+----------+
+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\.
-.. _EFI_DLA_LPS:
++--------+
+| Range |
++========+
+| 1 to 4 |
++--------+
-EFI\_DLA\_LPS: EFI DLA fuel scale
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-EFI DLA litres of fuel per second of injection time
+.. _TOFSENSE_S1_BR:
-+--------------+--------+
-| Range | Units |
-+==============+========+
-| 0.00001 to 1 | litres |
-+--------------+--------+
+TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
.. _TOFSENSE_PRX:
@@ -4493,53 +4540,6 @@ Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor fro
-.. _TOFSENSE_S1_PRX:
-
-TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\)
-
-
-+-------+-------------------------+
-| Value | Meaning |
-+=======+=========================+
-| 0 | Set as Rangefinder |
-+-------+-------------------------+
-| 1 | Set as Proximity sensor |
-+-------+-------------------------+
-
-
-
-
-.. _TOFSENSE_S1_SP:
-
-TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\.
-
-
-+--------+
-| Range |
-+========+
-| 1 to 4 |
-+--------+
-
-
-
-
-.. _TOFSENSE_S1_BR:
-
-TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-
-Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software
-
-
.. _parameters_AFS_:
diff --git a/Rover-4.5/apm.pdef.xml b/Rover-4.5/apm.pdef.xml
index f7c7f13..18086a5 100644
--- a/Rover-4.5/apm.pdef.xml
+++ b/Rover-4.5/apm.pdef.xml
@@ -431,40 +431,6 @@
-
-
- Disabled
- Enabled
-
-
-
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
-
- Disabled
- Enabled
-
-
-
- 1 65535
-
-
- s
- seconds
- 0.1 60
-
-
- 0 10000000
-
Disabled
@@ -514,6 +480,39 @@
Scripting8
+
+ 0 20
+ m
+ meters
+
+
+ 0 100
+ m
+ meters
+
+
+
+ Disabled
+ Enabled
+
+
+
+ 0 600
+ s
+ seconds
+
+
+
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
+
+
0 4
@@ -577,80 +576,74 @@
0.01 0.5
-
+
Disabled
Enabled
-
- 0:Roll,1:Pitch,2:Yaw
-
-
- 5 20
- s
- seconds
-
-
- 20 80
- %
- percent
-
-
- 1 10
+
+ 1 65535
-
- 0.1 3
+
+
+ Disabled
+ Enabled
+
-
- 0.001 1
+
+ 1 65535
-
- 0.5 1.0
+
+ s
+ seconds
+ 0.1 60
-
- 0.5 20
+
+ 0 10000000
-
+
Disabled
Enabled
-
- s
- seconds
-
-
+
-
- %
- percent
- 0 100
-
-
- 0:UseTwoPositionSwitch
+
+
+ Disabled
+ Enabled
+
-
- 0 1
+
+ -180 180
+ deg
+ degrees
-
- 0 100
- %
- percent
+
+
+ Disabled
+ Trigger
+
-
- 0 1
+
+ 0.1 5.0
-
- 0 100
- %
- percent
+
+ 0.1 5.0
-
- 0 50
- m
- meters
+
+
+ Scripting1
+ Scripting2
+ Scripting3
+ Scripting4
+ Scripting5
+ Scripting6
+ Scripting7
+ Scripting8
+
@@ -702,76 +695,83 @@
Auto RTL
-
- 0 20
- m
- meters
-
-
- 0 100
- m
- meters
-
-
+
Disabled
Enabled
-
- -180 180
- deg
- degrees
+
+ 0:Roll,1:Pitch,2:Yaw
-
-
- Disabled
- Trigger
-
+
+ 5 20
+ s
+ seconds
-
- 0 10000
+
+ 20 80
+ %
+ percent
-
- 0.1 5.0
+
+ 1 10
-
- 0.1 5.0
+
+ 0.1 3
-
-
- Scripting1
- Scripting2
- Scripting3
- Scripting4
- Scripting5
- Scripting6
- Scripting7
- Scripting8
-
+
+ 0.001 1
-
+
+ 0.5 1.0
+
+
+ 0.5 20
+
+
Disabled
Enabled
-
- 0 600
+
s
seconds
-
-
- Disabled
- Enabled
-
+
+
+
+ %
+ percent
+ 0 100
-
-
- Disabled
- Enabled
-
+
+ 0:UseTwoPositionSwitch
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 1
+
+
+ 0 100
+ %
+ percent
+
+
+ 0 50
+ m
+ meters
+
+
+ 0 10000
deg/s/s
@@ -890,24 +890,90 @@
1 11
-
+
Disabled
Enabled
+ Enabled with attitude reporting
-
+
- None
- 1stCANDriver
- 2ndCanDriver
+ Right side up
+ Upside down
-
- 1 10
+
+
+ Disabled
+ Enabled
+ Enabled including attitude reporting
+
-
- 0:LogAllFrames
+
+
+ No change in camera selection
+ EO1
+ IR thermal
+ EO1 + IR Picture-in-picture
+ IR + EO1 Picture-in-picture
+ Fusion
+ IR1 13mm
+ IR2 52mm
+
+
+
+
+ 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
+
+
+
+ 1 50
+
+
+ 0 31
@@ -1001,17 +1067,22 @@
s
seconds
-
+
Disabled
Enabled
- Enabled with attitude reporting
-
+
- Right side up
- Upside down
+ Disabled
+ Enabled
+
+
+
+
+ Disabled
+ Enabled
@@ -1048,96 +1119,36 @@
litres
litres
-
-
- Disabled
- Enabled
-
-
-
- 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
+ None
+ 1stCANDriver
+ 2ndCanDriver
-
- 0 7
-
-
- 0 30
-
-
-
- Disabled
- Enabled
-
+
+ 1 10
-
-
- Disabled
- Enabled
-
+
+ 0:LogAllFrames
-
+
- Disabled
- Enabled
+ Set as Rangefinder
+ Set as Proximity sensor
-
- 0.00001 1
- litres
- litres
+
+ 1 4
+
+
Set as Rangefinder
@@ -1171,17 +1182,6 @@
1 255
-
-
- Set as Rangefinder
- Set as Proximity sensor
-
-
-
- 1 4
-
-
-