FOLL parameters¶

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

FOLL_ACCEL_D¶

Acceleration limit for the vertical kinematic input shaping

Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity

Units	`m/s/s`
Range	`0` to `2.5`
User level	Advanced

FOLL_ACCEL_H¶

Angular acceleration limit for the heading kinematic input shaping

Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity

Units	`deg/s/s`
Range	`0` to `90`
User level	Advanced

FOLL_ACCEL_NE¶

Acceleration limit for the horizontal kinematic input shaping

Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity

Units	`m/s/s`
Range	`0` to `5`
User level	Advanced

FOLL_ALT_TYPE¶

Follow altitude type

Follow altitude type

User level

Standard

Values¶

Value	Meaning
`0`	absolute
`1`	relative
`3`	terrain

FOLL_DIST_MAX¶

Follow distance maximum

Follow distance maximum. If exceeded, the follow estimate will be considered invalid. If zero there is no maximum.

Units	`m`
Range	`0` to `1000`
User level	Standard

FOLL_ENABLE¶

Follow enable/disable

Enabled/disable following a target

User level

Standard

Values¶

Value	Meaning
`0`	Disabled
`1`	Enabled

FOLL_JERK_D¶

Jerk limit for the vertical kinematic input shaping

Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration

Units	`m/s/s/s`
Range	`0` to `5`
User level	Advanced

FOLL_JERK_H¶

Angular jerk limit for the heading kinematic input shaping

Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration

Units	`deg/s/s/s`
Range	`0` to `360`
User level	Advanced

FOLL_JERK_NE¶

Jerk limit for the horizontal kinematic input shaping

Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration

Units	`m/s/s/s`
Range	`0` to `20`
User level	Advanced

FOLL_OFS_TYPE¶

Follow offset type

Follow offset type

User level

Standard

Values¶

Value	Meaning
`0`	North-East-Down
`1`	Relative to lead vehicle heading

FOLL_OFS_X¶

Follow offsets in meters north/forward

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

Units	`m`
Range	`-100` to `100`
Increment	`1`
User level	Standard

FOLL_OFS_Y¶

Follow offsets in meters east/right

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

Units	`m`
Range	`-100` to `100`
Increment	`1`
User level	Standard

FOLL_OFS_Z¶

Follow offsets in meters down

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

Units	`m`
Range	`-100` to `100`
Increment	`1`
User level	Standard

FOLL_OPTIONS¶

Follow options

Follow options bitmask

User level

Standard

Values¶

Value	Meaning
`0`	None
`1`	Mount Follows lead vehicle on mode enter

FOLL_POS_P¶

Follow position error P gain

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Range	`0.01` to `1.00`
Increment	`0.01`
User level	Standard

FOLL_SYSID¶

Follow target’s mavlink system id

Follow target’s mavlink system id

Range	`0` to `255`
User level	Standard

FOLL_TIMEOUT¶

Follow timeout

Follow position update from lead - timeout after x seconds

Units	`s`
User level	Standard

FOLL_YAW_BEHAVE¶

Follow yaw behaviour

Follow yaw behaviour

User level

Standard

Values¶

Value	Meaning
`0`	None
`1`	Face Lead Vehicle
`2`	Same as Lead vehicle
`3`	Direction of Flight