AROT_ parameters¶

15 parameters in the AROT_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

AROT_COL_FILT_E¶

Entry Phase Collective Filter

Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.

Units	`Hz`
Range	`0.2` to `0.5`
Increment	`0.01`
User level	Standard

AROT_COL_FILT_G¶

Glide Phase Collective Filter

Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.

Units	`Hz`
Range	`0.03` to `0.15`
Increment	`0.01`
User level	Standard

AROT_ENABLE¶

Enable settings for RSC Setpoint

Allows you to enable (1) or disable (0) the autonomous autorotation capability.

User level

Standard

Values¶

Value	Meaning
`0`	Disabled
`1`	Enabled

AROT_FWD_D¶

Forward Speed Controller D Gain

Provides damping to velocity controller.

Range	`0.00` to `1.00`
Increment	`0.001`
User level	Advanced

AROT_FWD_FF¶

Forward Speed Controller Feed Forward Gain

Produces an output that is proportional to the magnitude of the target.

Range	`0` to `1`
Increment	`0.01`
User level	Advanced

AROT_FWD_FLTD¶

Forward Speed Controller input filter for D term

This filter low pass filter is applied to the input for D terms.

Units	`Hz`
Range	`0` to `100`
User level	Advanced

AROT_FWD_FLTE¶

Forward Speed Controller Error Filter

This filter low pass filter is applied to the input for P and I terms.

Units	`Hz`
Range	`0` to `100`
User level	Advanced

AROT_FWD_I¶

Forward Speed Controller I Gain

Corrects long-term difference in desired velocity to a target acceleration.

Range	`0.02` to `1.00`
Increment	`0.01`
User level	Advanced

AROT_FWD_IMAX¶

Forward Speed Controller I Gain Maximum

Constrains the target acceleration that the I gain will output.

Range	`1.000` to `8.000`
User level	Standard

AROT_FWD_P¶

Forward Speed Controller P Gain

Converts the difference between desired forward speed and actual speed into an acceleration target that is passed to the pitch angle controller.

Range	`1.000` to `8.000`
User level	Standard

AROT_FWD_SP_TARG¶

Target Glide Body Frame Forward Speed

Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.

Units	`m/s`
Range	`8` to `20`
Increment	`0.5`
User level	Standard

AROT_HS_P¶

P gain for head speed controller

Increase value to increase sensitivity of head speed controller during autonomous autorotation.

Range	`0.3` to `1`
Increment	`0.01`
User level	Standard

AROT_HS_SENSOR¶

Main Rotor RPM Sensor

Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.

Units	`s`
Range	`0.5` to `3`
Increment	`0.1`
User level	Standard

AROT_HS_SET_PT¶

Target Head Speed

The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.

Units	`RPM`
Range	`1000` to `2800`
Increment	`1`
User level	Standard

AROT_XY_ACC_MAX¶

Body Frame XY Acceleration Limit

Maximum body frame acceleration allowed in the in speed controller. This limit defines a circular constraint in accel. Minimum used is 0.5 m/s/s.

Units	`m/s/s`
Range	`0.5` to `8.0`
Increment	`0.1`
User level	Standard