CC2_ parameters

42 parameters in the CC2_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

CC2_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
User level	Standard

CC2_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
User level	Standard

CC2_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
User level	Standard

CC2_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 0.05
Increment	0.001
User level	Standard

CC2_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

CC2_RAT_PIT_FF

Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Range	0 to 0.5
Increment	0.001
User level	Standard

CC2_RAT_PIT_FLTD

Pitch axis rate controller derivative frequency in Hz

Pitch axis rate controller derivative frequency in Hz

Units	Hz
Range	5 to 100
Increment	1
User level	Standard

CC2_RAT_PIT_FLTE

Pitch axis rate controller error frequency in Hz

Pitch axis rate controller error frequency in Hz

Units	Hz
Range	0 to 100
Increment	1
User level	Standard

CC2_RAT_PIT_FLTT

Pitch axis rate controller target frequency in Hz

Pitch axis rate controller target frequency in Hz

Units	Hz
Range	5 to 100
Increment	1
User level	Standard

CC2_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	0.01 to 2.0
Increment	0.01
User level	Standard

CC2_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

CC2_RAT_PIT_NEF

Pitch Error notch filter index

Pitch Error notch filter index

Range	1 to 8
User level	Advanced

CC2_RAT_PIT_NTF

Pitch Target notch filter index

Pitch Target notch filter index

Range	1 to 8
User level	Advanced

CC2_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	0.01 to 0.50
Increment	0.005
User level	Standard

CC2_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
User level	Advanced

CC2_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

CC2_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 0.05
Increment	0.001
User level	Standard

CC2_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

CC2_RAT_RLL_FF

Roll axis rate controller feed forward

Roll axis rate controller feed forward

Range	0 to 0.5
Increment	0.001
User level	Standard

CC2_RAT_RLL_FLTD

Roll axis rate controller derivative frequency in Hz

Roll axis rate controller derivative frequency in Hz

Units	Hz
Range	5 to 100
Increment	1
User level	Standard

CC2_RAT_RLL_FLTE

Roll axis rate controller error frequency in Hz

Roll axis rate controller error frequency in Hz

Units	Hz
Range	0 to 100
Increment	1
User level	Standard

CC2_RAT_RLL_FLTT

Roll axis rate controller target frequency in Hz

Roll axis rate controller target frequency in Hz

Units	Hz
Range	5 to 100
Increment	1
User level	Standard

CC2_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	0.01 to 2.0
Increment	0.01
User level	Standard

CC2_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

CC2_RAT_RLL_NEF

Roll Error notch filter index

Roll Error notch filter index

Range	1 to 8
User level	Advanced

CC2_RAT_RLL_NTF

Roll Target notch filter index

Roll Target notch filter index

Range	1 to 8
User level	Advanced

CC2_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	0.01 to 0.5
Increment	0.005
User level	Standard

CC2_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
User level	Advanced

CC2_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

CC2_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

CC2_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

CC2_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

CC2_RAT_YAW_FLTD

Yaw axis rate controller derivative frequency in Hz

Yaw axis rate controller derivative frequency in Hz

Units	Hz
Range	5 to 50
Increment	1
User level	Standard

CC2_RAT_YAW_FLTE

Yaw axis rate controller error frequency in Hz

Yaw axis rate controller error frequency in Hz

Units	Hz
Range	0 to 20
Increment	1
User level	Standard

CC2_RAT_YAW_FLTT

Yaw axis rate controller target frequency in Hz

Yaw axis rate controller target frequency in Hz

Units	Hz
Range	1 to 50
Increment	1
User level	Standard

CC2_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	0.010 to 1.0
Increment	0.01
User level	Standard

CC2_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

CC2_RAT_YAW_NEF

Yaw Error notch filter index

Yaw Error notch filter index

Range	1 to 8
User level	Advanced

CC2_RAT_YAW_NTF

Yaw Target notch filter index

Yaw Target notch filter index

Range	1 to 8
User level	Advanced

CC2_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	0.10 to 2.50
Increment	0.005
User level	Standard

CC2_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
User level	Advanced

CC2_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