ATC_ parameters

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

ATC_ACC_P_MAX

Acceleration Max for Pitch

Maximum acceleration in pitch axis

Units	deg/s/s
Range	0 to 1800
Increment	10
User level	Advanced

Values

Value	Meaning
0	Disabled
300	VerySlow
720	Slow
1080	Medium
1620	Fast

ATC_ACC_R_MAX

Acceleration Max for Roll

Maximum acceleration in roll axis

Units	deg/s/s
Range	0 to 1800
Increment	10
User level	Advanced

Values

Value	Meaning
0	Disabled
300	VerySlow
720	Slow
1080	Medium
1620	Fast

ATC_ACC_Y_MAX

Acceleration Max for Yaw

Maximum acceleration in yaw axis

Units	deg/s/s
Range	0 to 720
Increment	10
User level	Advanced

Values

Value	Meaning
0	Disabled
90	VerySlow
180	Slow
360	Medium
540	Fast

ATC_ANGLE_BOOST

Angle Boost

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

ATC_ANGLE_MAX

Angle Max

Maximum lean angle in all flight modes

Units	deg
Range	10.0 to 80.0
Increment	0.1
User level	Standard

ATC_ANG_LIM_TC

Angle Limit (to maintain altitude) Time Constant

Angle Limit (to maintain altitude) Time Constant

Range	0.5 to 10.0
User level	Advanced

ATC_ANG_PIT_P

Pitch axis angle controller P gain

Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

Range	3.000 to 12.000
Increment	0.01
User level	Standard

ATC_ANG_RLL_P

Roll axis angle controller P gain

Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

Range	3.000 to 12.000
Increment	0.01
User level	Standard

ATC_ANG_YAW_P

Yaw axis angle controller P gain

Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

Range	3.000 to 12.000
Increment	0.01
User level	Standard

ATC_HOVR_ROL_TRM

Hover Roll Trim

Trim the hover roll angle to counter tail rotor thrust in a hover

Units	cdeg
Range	0 to 1000
Increment	10
User level	Advanced

ATC_INPUT_TC

Attitude control input time constant

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Units	s
Range	0 to 1
Increment	0.01
User level	Standard

Values

Value	Meaning
0.05	Very Crisp
0.1	Crisp
0.15	Medium
0.2	Soft
0.5	Very Soft

ATC_LAND_P_MULT

Landed pitch gain multiplier

Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis.

Range	0.25 to 1.0
User level	Advanced

ATC_LAND_R_MULT

Landed roll gain multiplier

Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis.

Range	0.25 to 1.0
User level	Advanced

ATC_LAND_Y_MULT

Landed yaw gain multiplier

Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis.

Range	0.25 to 1.0
User level	Advanced

ATC_PIRO_COMP

Piro Comp Enable

Pirouette compensation enabled

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

ATC_RATE_FF_ENAB

Rate Feedforward Enable

Controls whether body-frame rate feedforward is enabled or disabled

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

ATC_RATE_P_MAX

Angular Velocity Max for Pitch

Maximum angular velocity in pitch axis

Units	deg/s
Range	0 to 1080
Increment	1
User level	Advanced

Values

Value	Meaning
0	Disabled
60	Slow
180	Medium
360	Fast

ATC_RATE_R_MAX

Angular Velocity Max for Roll

Maximum angular velocity in roll axis

Units	deg/s
Range	0 to 1080
Increment	1
User level	Advanced

Values

Value	Meaning
0	Disabled
60	Slow
180	Medium
360	Fast

ATC_RATE_WPY_MAX

Yaw target slew rate

Maximum rate the yaw target can be updated in Auto, Guided, Circle, Follow, RTL, SmartRTL, Throw and ZigZag flight modes

Units	deg/s
Range	5 to 180
Increment	1
User level	Advanced

ATC_RATE_Y_MAX

Angular Velocity Max for Yaw

Maximum angular velocity in yaw axis

Units	deg/s
Range	0 to 1080
Increment	1
User level	Advanced

Values

Value	Meaning
0	Disabled
60	Slow
180	Medium
360	Fast

ATC_RAT_PIT_D

Pitch axis rate controller D gain

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

Range	0.0 to 0.03
Increment	0.001
User level	Standard

ATC_RAT_PIT_D_FF

Pitch Derivative FeedForward Gain

FF D Gain which produces an output that is proportional to the rate of change of the target

Range	0 to 0.02
Increment	0.0001
User level	Advanced

ATC_RAT_PIT_FF

Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Range	0.05 to 0.5
Increment	0.001
User level	Standard

ATC_RAT_PIT_FLTD

Pitch axis rate controller derivative frequency in Hz

Pitch axis rate controller derivative frequency in Hz

Units	Hz
Range	0 to 50
Increment	1
User level	Standard

ATC_RAT_PIT_FLTE

Pitch axis rate controller error frequency in Hz

Pitch axis rate controller error frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_PIT_FLTT

Pitch axis rate controller target frequency in Hz

Pitch axis rate controller target frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_PIT_I

Pitch axis rate controller I gain

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

Range	0.0 to 0.6
Increment	0.01
User level	Standard

ATC_RAT_PIT_ILMI

Pitch axis rate controller I-term leak minimum

Point below which I-term will not leak down

Range	0 to 1
User level	Advanced

ATC_RAT_PIT_IMAX

Pitch axis rate controller I gain maximum

Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output

Range	0 to 1
Increment	0.01
User level	Standard

ATC_RAT_PIT_NEF

Pitch Error notch filter index

Pitch Error notch filter index

Range	1 to 8
User level	Advanced

ATC_RAT_PIT_NTF

Pitch Target notch filter index

Pitch Target notch filter index

Range	1 to 8
User level	Advanced

ATC_RAT_PIT_P

Pitch axis rate controller P gain

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate

Range	0.0 to 0.35
Increment	0.005
User level	Standard

ATC_RAT_PIT_PDMX

Pitch axis rate controller PD sum maximum

Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Range	0 to 1
Increment	0.01

ATC_RAT_PIT_SMAX

Pitch slew rate limit

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Range	0 to 200
Increment	0.5
User level	Advanced

ATC_RAT_RLL_D

Roll axis rate controller D gain

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

Range	0.0 to 0.03
Increment	0.001
User level	Standard

ATC_RAT_RLL_D_FF

Roll Derivative FeedForward Gain

FF D Gain which produces an output that is proportional to the rate of change of the target

Range	0 to 0.02
Increment	0.0001
User level	Advanced

ATC_RAT_RLL_FF

Roll axis rate controller feed forward

Roll axis rate controller feed forward

Range	0.05 to 0.5
Increment	0.001
User level	Standard

ATC_RAT_RLL_FLTD

Roll axis rate controller derivative frequency in Hz

Roll axis rate controller derivative frequency in Hz

Units	Hz
Range	0 to 50
Increment	1
User level	Standard

ATC_RAT_RLL_FLTE

Roll axis rate controller error frequency in Hz

Roll axis rate controller error frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_RLL_FLTT

Roll axis rate controller target frequency in Hz

Roll axis rate controller target frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_RLL_I

Roll axis rate controller I gain

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Range	0.0 to 0.6
Increment	0.01
User level	Standard

ATC_RAT_RLL_ILMI

Roll axis rate controller I-term leak minimum

Point below which I-term will not leak down

Range	0 to 1
User level	Advanced

ATC_RAT_RLL_IMAX

Roll axis rate controller I gain maximum

Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output

Range	0 to 1
Increment	0.01
User level	Standard

ATC_RAT_RLL_NEF

Roll Error notch filter index

Roll Error notch filter index

Range	1 to 8
User level	Advanced

ATC_RAT_RLL_NTF

Roll Target notch filter index

Roll Target notch filter index

Range	1 to 8
User level	Advanced

ATC_RAT_RLL_P

Roll axis rate controller P gain

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

Range	0.0 to 0.35
Increment	0.005
User level	Standard

ATC_RAT_RLL_PDMX

Roll axis rate controller PD sum maximum

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Range	0 to 1
Increment	0.01

ATC_RAT_RLL_SMAX

Roll slew rate limit

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Range	0 to 200
Increment	0.5
User level	Advanced

ATC_RAT_YAW_D

Yaw axis rate controller D gain

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Range	0.000 to 0.02
Increment	0.001
User level	Standard

ATC_RAT_YAW_D_FF

Yaw Derivative FeedForward Gain

FF D Gain which produces an output that is proportional to the rate of change of the target

Range	0 to 0.02
Increment	0.0001
User level	Advanced

ATC_RAT_YAW_FF

Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Range	0 to 0.5
Increment	0.001
User level	Standard

ATC_RAT_YAW_FLTD

Yaw axis rate controller derivative frequency in Hz

Yaw axis rate controller derivative frequency in Hz

Units	Hz
Range	0 to 50
Increment	1
User level	Standard

ATC_RAT_YAW_FLTE

Yaw axis rate controller error frequency in Hz

Yaw axis rate controller error frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_YAW_FLTT

Yaw axis rate controller target frequency in Hz

Yaw axis rate controller target frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

ATC_RAT_YAW_I

Yaw axis rate controller I gain

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Range	0.01 to 0.2
Increment	0.01
User level	Standard

ATC_RAT_YAW_ILMI

Yaw axis rate controller I-term leak minimum

Point below which I-term will not leak down

Range	0 to 1
User level	Advanced

ATC_RAT_YAW_IMAX

Yaw axis rate controller I gain maximum

Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output

Range	0 to 1
Increment	0.01
User level	Standard

ATC_RAT_YAW_NEF

Yaw Error notch filter index

Yaw Error notch filter index

Range	1 to 8
User level	Advanced

ATC_RAT_YAW_NTF

Yaw Target notch filter index

Yaw Target notch filter index

Units	Hz
Range	1 to 8
User level	Advanced

ATC_RAT_YAW_P

Yaw axis rate controller P gain

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

Range	0.180 to 0.60
Increment	0.005
User level	Standard

ATC_RAT_YAW_PDMX

Yaw axis rate controller PD sum maximum

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Range	0 to 1
Increment	0.01

ATC_RAT_YAW_SMAX

Yaw slew rate limit

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Range	0 to 200
Increment	0.5
User level	Advanced

ATC_THR_G_BOOST

Throttle-gain boost

Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.

Range	0 to 1
User level	Advanced

ATC_THR_MIX_MAN

Throttle Mix Manual

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

Range	0.1 to 0.9
User level	Advanced

ATC_THR_MIX_MAX

Throttle Mix Maximum

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

Range	0.5 to 0.9
User level	Advanced

ATC_THR_MIX_MIN

Throttle Mix Minimum

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

Range	0.1 to 0.25
User level	Advanced