From ab14102e2a2362a637be276eaf90e224acdbaa27 Mon Sep 17 00:00:00 2001 From: Git bot Date: Tue, 6 Aug 2024 00:47:38 +0000 Subject: [PATCH] Update metadata --- Copter-4.5/Parameters.html | 810 +++++++-------- Copter-4.5/Parameters.md | 698 ++++++------- Copter-4.5/ParametersLatex.rst | 1792 ++++++++++++++++---------------- Copter-4.5/apm.pdef.xml | 476 ++++----- Plane-4.5/Parameters.html | 810 +++++++-------- Plane-4.5/Parameters.md | 698 ++++++------- Plane-4.5/ParametersLatex.rst | 1792 ++++++++++++++++---------------- Plane-4.5/apm.pdef.xml | 476 ++++----- Rover-4.5/Parameters.html | 810 +++++++-------- Rover-4.5/Parameters.md | 698 ++++++------- Rover-4.5/ParametersLatex.rst | 1792 ++++++++++++++++---------------- Rover-4.5/apm.pdef.xml | 476 ++++----- 12 files changed, 5664 insertions(+), 5664 deletions(-) diff --git a/Copter-4.5/Parameters.html b/Copter-4.5/Parameters.html index d2bb2b5..2f76604 100644 --- a/Copter-4.5/Parameters.html +++ b/Copter-4.5/Parameters.html @@ -1303,79 +1303,6 @@

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Lua Script Parameters

-

parameter reversion enable (PREV_ENABLE)

- -

Enable parameter reversion system

- - - -

param reversion RC function (PREV_RC_FUNC)

- -

RCn_OPTION number to used to trigger parameter reversion

- - - -

enable web server (WEB_ENABLE)

- -

enable web server

- - - -

web server TCP port (WEB_BIND_PORT)

- -

web server TCP port

- - - -

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
- -

web server debugging

- - - -

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
- -

web server block size for download

- - - -

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
- -

timeout for inactive connections

- - - -

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
- -

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

- - -

Rover Quicktune enable (RTUN_ENABLE)

Enable quicktune system

@@ -1479,6 +1406,66 @@

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

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

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

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + +

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -1647,9 +1634,9 @@

Battery estimator coefficient3 (BATT_SOC4_C3)

-

Quicktune enable (QUIK_ENABLE)

+

enable web server (WEB_ENABLE)

-

Enable quicktune system

+

enable web server

-

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

-

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

-

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

-

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

-

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

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

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

+

Maximum rate when retracting line

-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

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

+

Maximum rate when releasing line

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Deadreckoning Enable (DR_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Deadreckoning Enable

-

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

- - - -

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

- -

OpticalFlow may be used if rangefinder distance is below this threshold

- - - -

Deadreckoning Enable (DR_ENABLE)

- -

Deadreckoning Enable

- - - -

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

@@ -1900,99 +1861,86 @@

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune axes (QUIK_AXES)

-

The distance from target beyond which the target is ignored

+

axes to tune

-

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.

-

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

-

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.

-

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

-

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

-

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

-

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

-

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

-

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.

+ + +

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.

+ + + +

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

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

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

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

Enables Tricks on Switch. TRIK params hidden until enabled

+

Camera selection when switch is in high position

-

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

-

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

-

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

-

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

-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

Set ANX CAN driver

+

Enable Hobbywing ESC telemetry

-

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

-

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

@@ -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

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

DJIRS2 upside down

+

Check for Generator ARM state before arming

+ + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ @@ -2567,162 +2687,68 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Hobbywing ESC Enable (ESC_HW_ENABLE)

- -

Enable Hobbywing ESC telemetry

- - - -

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

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

ViewPro debug

+

Enable ANX battery support

- - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

Camera selection when switch is in low position

- - - -

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

- -

Camera selection when switch is in middle position

- -

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

Camera selection when switch is in high position

+

Set ANX CAN driver

-

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

-

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

-

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)

-

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.

-

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

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

-

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

- -

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

- - - -

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

- -

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

- - - -

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

- -

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

- - -

ADSB_ Parameters

diff --git a/Copter-4.5/Parameters.md b/Copter-4.5/Parameters.md index 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

- - - -

param reversion RC function (PREV_RC_FUNC)

- -

RCn_OPTION number to used to trigger parameter reversion

- - - -

enable web server (WEB_ENABLE)

- -

enable web server

- - - -

web server TCP port (WEB_BIND_PORT)

- -

web server TCP port

- - - -

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
- -

web server debugging

- - - -

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
- -

web server block size for download

- - - -

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
- -

timeout for inactive connections

- - - -

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
- -

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

- - -

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

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

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

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + +

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -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

-

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

-

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

-

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

-

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

-

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

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

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

+

Maximum rate when retracting line

-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

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

+

Maximum rate when releasing line

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Deadreckoning Enable (DR_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Deadreckoning Enable

-

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

- - - -

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

- -

OpticalFlow may be used if rangefinder distance is below this threshold

- - - -

Deadreckoning Enable (DR_ENABLE)

- -

Deadreckoning Enable

- - - -

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune axes (QUIK_AXES)

-

The distance from target beyond which the target is ignored

+

axes to tune

-

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.

-

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

-

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.

-

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

-

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

-

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

-

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

-

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

-

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.

+ + +

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.

+ + + +

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

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

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

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

Enables Tricks on Switch. TRIK params hidden until enabled

+

Camera selection when switch is in high position

-

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

-

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

-

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

-

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

-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

Set ANX CAN driver

+

Enable Hobbywing ESC telemetry

-

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

-

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

@@ -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

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

DJIRS2 upside down

+

Check for Generator ARM state before arming

+ + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ @@ -2583,162 +2703,68 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Hobbywing ESC Enable (ESC_HW_ENABLE)

- -

Enable Hobbywing ESC telemetry

- - - -

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

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

ViewPro debug

+

Enable ANX battery support

- - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

Camera selection when switch is in low position

- - - -

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

- -

Camera selection when switch is in middle position

- -

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

Camera selection when switch is in high position

+

Set ANX CAN driver

-

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

-

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

-

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)

-

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.

-

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

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

-

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

- -

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

- - - -

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

- -

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

- - - -

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

- -

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

- - -

ADSB_ Parameters

diff --git a/Plane-4.5/Parameters.md b/Plane-4.5/Parameters.md index 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

- - - -

param reversion RC function (PREV_RC_FUNC)

- -

RCn_OPTION number to used to trigger parameter reversion

- - - -

enable web server (WEB_ENABLE)

- -

enable web server

- - - -

web server TCP port (WEB_BIND_PORT)

- -

web server TCP port

- - - -

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
- -

web server debugging

- - - -

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
- -

web server block size for download

- - - -

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
- -

timeout for inactive connections

- - - -

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
- -

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

- - -

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

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

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

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + +

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

@@ -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

-

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

-

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

-

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

-

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

-

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

-

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+

WinchControl Rate Up (WINCH_RATE_UP)

-

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

+

Maximum rate when retracting line

-

Quicktune options (QUIK_OPTIONS)

+

WinchControl Rate Down (WINCH_RATE_DN)

-

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

+

Maximum rate when releasing line

-

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+

Winch Rate Control RC function (WINCH_RC_FUNC)

-

ExternalNav may be used if innovations are below this threshold

+

RCn_OPTION number to use to control winch rate

-

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+

Deadreckoning Enable (DR_ENABLE)

-

ExternalNav may be used if quality is above this threshold

+

Deadreckoning Enable

-

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

- - - -

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

- -

OpticalFlow may be used if rangefinder distance is below this threshold

- - - -

Deadreckoning Enable (DR_ENABLE)

- -

Deadreckoning Enable

- - - -

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

-

Precland distance cutoff (DIST_CUTOFF)

+

Quicktune axes (QUIK_AXES)

-

The distance from target beyond which the target is ignored

+

axes to tune

-

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.

-

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

-

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.

-

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

-

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

-

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

-

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

-

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

-

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.

+ + +

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.

+ + + +

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

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

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

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

-

Enables Tricks on Switch. TRIK params hidden until enabled

+

Camera selection when switch is in high position

-

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

-

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

-

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

-

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

-

Set ANX CAN driver (BATT_ANX_CANDRV)

+

Hobbywing ESC Enable (ESC_HW_ENABLE)

-

Set ANX CAN driver

+

Enable Hobbywing ESC telemetry

-

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

-

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

@@ -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

-

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

-

DJIRS2 upside down

+

Check for Generator ARM state before arming

+ + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ @@ -1964,162 +2084,68 @@

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

-

Hobbywing ESC Enable (ESC_HW_ENABLE)

- -

Enable Hobbywing ESC telemetry

- - - -

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

- - - -

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+

Enable ANX battery support (BATT_ANX_ENABLE)

-

ViewPro debug

+

Enable ANX battery support

- - -

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

- -

Camera selection when switch is in low position

- - - -

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

- -

Camera selection when switch is in middle position

- -

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+

Set ANX CAN driver (BATT_ANX_CANDRV)

-

Camera selection when switch is in high position

+

Set ANX CAN driver

-

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

-

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

-

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)

-

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.

-

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

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

TOFSENSE-M Thir ID (TOFSENSE_ID3)

-

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

- -

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

- - - -

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

- -

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

- - - -

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

- -

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

- - -

AFS_ Parameters

diff --git a/Rover-4.5/Parameters.md b/Rover-4.5/Parameters.md index 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 - - -