H_ parameters¶
49 parameters in the H_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
H_COL2YAW¶
Collective-Yaw Mixing
Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
Range |
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Increment |
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User level |
Standard |
H_COL2_MAX¶
Swash 2 Maximum Collective Pitch
Highest possible servo position in PWM microseconds for swashplate 2
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL2_MIN¶
Swash 2 Minimum Collective Pitch
Lowest possible servo position in PWM microseconds for swashplate 2
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_ANG_MAX¶
Collective Blade Pitch Angle Maximum
Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_ANG_MIN¶
Collective Blade Pitch Angle Minimum
Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_HOVER¶
Collective Hover Value
Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX
Range |
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User level |
Advanced |
H_COL_LAND_MIN¶
Collective Blade Pitch Minimum when Landed
Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_MAX¶
Maximum Collective Pitch
Highest possible servo position in PWM microseconds for the swashplate
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_MIN¶
Minimum Collective Pitch
Lowest possible servo position in PWM microseconds for the swashplate
Units |
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Range |
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Increment |
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User level |
Standard |
H_COL_ZERO_THRST¶
Collective Blade Pitch at Zero Thrust
Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.
Units |
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Range |
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Increment |
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User level |
Standard |
H_CYC_MAX¶
Maximum Cyclic Pitch Angle
Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.
Range |
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Increment |
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User level |
Standard |
H_DCP_SCALER¶
Differential-Collective-Pitch Scaler
Scaling factor applied to the differential-collective-pitch
Range |
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User level |
Standard |
H_DCP_TRIM¶
Differential Collective Pitch Trim
Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.
Range |
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Increment |
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User level |
Standard |
H_DCP_YAW¶
Differential-Collective-Pitch Yaw Mixing
Feed-forward compensation to automatically add yaw input when differential collective pitch is applied. Disabled for intermeshing mode.
Range |
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Increment |
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User level |
Standard |
H_DDFP_BAT_IDX¶
DDFP Tail Rotor Battery compensation index
Which battery monitor should be used for doing compensation
Range |
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User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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First battery |
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Second battery |
H_DDFP_BAT_V_MAX¶
Battery voltage compensation maximum voltage
Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Units |
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Range |
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User level |
Standard |
H_DDFP_BAT_V_MIN¶
Battery voltage compensation minimum voltage
Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Units |
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Range |
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User level |
Standard |
H_DDFP_SPIN_MAX¶
DDFP Tail Rotor Motor Spin maximum
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
Range |
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User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Low |
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Default |
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High |
H_DDFP_SPIN_MIN¶
DDFP Tail Rotor Motor Spin minimum
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.
Range |
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User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Low |
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Default |
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High |
H_DDFP_THST_EXPO¶
DDFP Tail Rotor Thrust Curve Expo
Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Range |
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User level |
Standard |
H_DUAL_MODE¶
Dual Mode
Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Longitudinal |
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Transverse |
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Intermeshing/Coaxial |
H_FLYBAR_MODE¶
Flybar Mode Selector
Flybar present or not. Affects attitude controller used during ACRO flight mode
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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NoFlybar |
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Flybar |
H_GYR_GAIN¶
External Gyro Gain
PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro
Units |
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Range |
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Increment |
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User level |
Standard |
H_GYR_GAIN_ACRO¶
ACRO External Gyro Gain
PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN
Units |
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Range |
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Increment |
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User level |
Standard |
H_HOVER_LEARN¶
Hover Value Learning
Enable/Disable automatic learning of hover collective
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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Learn |
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Learn and Save |
H_OPTIONS¶
Heli_Options
Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won’t let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Use Leaky I |
H_SV_MAN¶
Manual Servo Mode
Manual servo override for swash set-up. Must be 0 (Disabled) for flight!
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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Passthrough |
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Max collective |
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Zero thrust collective |
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Min collective |
H_SV_TEST¶
Boot-up Servo Test Cycles
Number of cycles to run servo test on boot-up
Range |
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Increment |
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User level |
Standard |
H_SW2_COL_DIR¶
Swash 2 Collective Direction
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Normal |
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Reversed |
H_SW2_H3_ENABLE¶
Swash 2 H3 Generic Enable
Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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Enabled |
H_SW2_H3_PHANG¶
Swash 2 H3 Generic Phase Angle Comp
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Units |
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Range |
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Increment |
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User level |
Advanced |
H_SW2_H3_SV1_POS¶
Swash 2 H3 Generic Servo 1 Position
Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW2_H3_SV2_POS¶
Swash 2 H3 Generic Servo 2 Position
Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW2_H3_SV3_POS¶
Swash 2 H3 Generic Servo 3 Position
Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW2_LIN_SVO¶
Linearize Swash 2 Servos
This linearizes the swashplate 2 servo’s mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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Enabled |
H_SW2_TYPE¶
Swash 2 Type
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don’t use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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H3 Generic |
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H1 non-CPPM |
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H3_140 |
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H3_120 |
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H4_90 |
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H4_45 |
H_SW_COL_DIR¶
Swash 1 Collective Direction
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
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Normal |
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Reversed |
H_SW_H3_ENABLE¶
Swash 1 H3 Generic Enable
Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
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Enabled |
H_SW_H3_PHANG¶
Swash 1 H3 Generic Phase Angle Comp
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Units |
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Range |
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Increment |
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User level |
Advanced |
H_SW_H3_SV1_POS¶
Swash 1 H3 Generic Servo 1 Position
Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW_H3_SV2_POS¶
Swash 1 H3 Generic Servo 2 Position
Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW_H3_SV3_POS¶
Swash 1 H3 Generic Servo 3 Position
Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg
Units |
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Range |
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User level |
Advanced |
H_SW_LIN_SVO¶
Linearize Swash 1 Servos
This linearizes the swashplate 1 servo’s mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
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Enabled |
H_SW_TYPE¶
Swash 1 Type
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don’t use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
H3 Generic |
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H1 non-CPPM |
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H3_140 |
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H3_120 |
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H4_90 |
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H4_45 |
H_TAIL_SPEED¶
DDVP Tail ESC speed
Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup.
Units |
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Range |
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Increment |
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User level |
Standard |
H_TAIL_TYPE¶
Tail Type
Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Servo only |
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Servo with ExtGyro |
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DirectDrive VarPitch |
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DirectDrive FixedPitch CW |
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DirectDrive FixedPitch CCW |
H_YAW_REV_EXPO¶
Yaw reverser expo
For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.
Range |
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Increment |
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User level |
Standard |
H_YAW_SCALER¶
Scaler for yaw mixing
Scaler for mixing yaw into roll or pitch.
Range |
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Increment |
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User level |
Standard |
H_YAW_TRIM¶
Tail Rotor Trim
Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works for DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I-term to zero when in a steady hover. In this case, move trim in the direction of the I-term found in PIDY.I log message (e.g. negative I means you want negative trim).
Range |
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User level |
Standard |