Lua Script parameters¶
320 parameters in the Lua Script family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
AEROM_ALT_ABORT¶
Altitude Abort
Maximum allowable loss in altitude during a trick or sequence from its starting altitude.
Units |
|
AEROM_ANG_ACCEL¶
Angular acceleration limit
Maximum angular acceleration in maneuvers
Units |
|
AEROM_ANG_TC¶
Roll control filtertime constant
This is the time over which we filter the desired roll to smooth it
Units |
|
AEROM_BOX_WIDTH¶
Box Width
Length of aerobatic “box”
Units |
|
AEROM_DEBUG¶
Debug control
This controls the printing of extra debug information on paths
AEROM_ENTRY_RATE¶
The roll rate to use when entering a roll maneuver
This controls how rapidly we roll into a new orientation
Units |
|
AEROM_ERR_COR_D¶
D gain for path error corrections
This controls how rapidly we correct back onto the desired path
AEROM_ERR_COR_P¶
P gain for path error corrections
This controls how rapidly we correct back onto the desired path
AEROM_KE_RUDD¶
KnifeEdge Rudder
Percent of rudder normally uses to sustain knife-edge at trick speed
Units |
|
AEROM_KE_RUDD_LK¶
KnifeEdge Rudder lookahead
Time to look ahead in the path to calculate rudder correction for bank angle
Units |
|
AEROM_LKAHD¶
Lookahead
This is how much time to look ahead in the path for calculating path rates
Units |
|
AEROM_MIS_ANGLE¶
Mission angle
When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used
Units |
|
AEROM_OPTIONS¶
Aerobatic options
Options to control aerobatic behavior
Units |
|
Bitmask¶
Value |
Meaning |
|---|---|
|
UseRTLOnAbort |
|
AddAtToMessages |
|
DualAircraftSynchronised |
AEROM_PATH_SCALE¶
Path Scale
Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.
Range |
|
AEROM_ROL_COR_TC¶
Roll control time constant
This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections
Units |
|
AEROM_SPD_I¶
I gain for speed controller
This controls how rapidly the throttle is raised to compensate for a speed error
Units |
|
AEROM_SPD_P¶
P gain for speed controller
This controls how rapidly the throttle is raised to compensate for a speed error
Units |
|
AEROM_STALL_PIT¶
Stall turn pitch threshold
Pitch threashold for moving to final stage of stall turn
Units |
|
AEROM_STALL_THR¶
Stall turn throttle
Amount of throttle to reduce to for a stall turn
Units |
|
AEROM_THR_BOOST¶
Throttle boost
This is the extra throttle added in schedule elements marked as needing a throttle boost
Units |
|
AEROM_THR_LKAHD¶
The lookahead for throttle control
This controls how far ahead we look in time along the path for the target throttle
Units |
|
AEROM_THR_MIN¶
Minimum Throttle
Lowest throttle used during maneuvers
Units |
|
AEROM_THR_PIT_FF¶
Throttle feed forward from pitch
This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch
Units |
|
AEROM_TIME_COR_P¶
Time constant for correction of our distance along the path
This is the time constant for correcting path position errors
Units |
|
AEROM_TS_I¶
Timesync I gain
This controls how rapidly two aircraft are brought back into time sync
AEROM_TS_P¶
Timesync P gain
This controls how rapidly two aircraft are brought back into time sync
AEROM_TS_RATE¶
Timesync rate of send of NAMED_VALUE_FLOAT data
This sets the rate we send data for time sync between aircraft
Units |
|
AEROM_TS_SPDMAX¶
Timesync speed max
This sets the maximum speed adjustment for time sync between aircraft
Units |
|
AEROM_YAW_ACCEL¶
Yaw acceleration
This is maximum yaw acceleration to use
Units |
|
AHRS_ORIG_ALT¶
AHRS/EKF Origin Altitude
AHRS/EKF origin will be set to this altitude (in meters above sea level) if not already set
Range |
|
User level |
Standard |
AHRS_ORIG_LAT¶
AHRS/EKF Origin Latitude
AHRS/EKF origin will be set to this latitude if not already set
Range |
|
User level |
Standard |
AHRS_ORIG_LON¶
AHRS/EKF Origin Longitude
AHRS/EKF origin will be set to this longitude if not already set
Range |
|
User level |
Standard |
ALAND_ENABLE¶
Auto land enable
enable Auto land script action
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
ALAND_WP_ALT¶
Final approach waypoint alt
Altitude of final approach waypoint created by script
Units |
|
Range |
|
User level |
Standard |
ALAND_WP_DIST¶
Final approach waypoint distance
Distance from landing point (HOME) to final approach waypoint created by script in the opposite direction of initial takeoff
Units |
|
Range |
|
User level |
Standard |
ARM_C_RTL_ALT_M¶
RTL_ALT_M should be a valid value
RTL_ALT_M should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_ESTOP¶
Motors EStopped
Emergency Stop disables arming. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_FENCE¶
Fence not enabled
Fences loaded but no fence enabled. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_FOLL_OFS_DEF¶
Follow Offsets defaulted
Follow offsets should not be left as default (zero) if FOLL_ENABLE = 1. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_FOLL_SYSID¶
FOLL_SYSID must be set
If FOLL_ENABLE = 1, check that FOLL_SYSID has been set. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_FOLL_SYSID_X¶
Vehicle should not follow itself
If FOLL_ENABLE = 1, check that FOLL_SYSID is different to MAV_SYSID. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_MNTX_SYSID¶
Follow and Mount should follow the same vehicle
If FOLL_ENABLE = 1 and MNTx_SYSID_DEFLT is set, check that FOLL_SYSID is equal MNTx. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_AIRSPEED¶
Check AIRSPEED_ parameters
Validate that AIRSPEED_STALL(if set) < MIN < CRUISE < MAX d. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_QRTL_ALT¶
Q_RTL_ALT should be a valid value
Q_RTL_ALT should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_Q_FS_LAND¶
Warn if Q failsafe will land
Notify the user that on failsafe a QuadPlan will land. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_Q_FS_RTL¶
Warn if Q failsafe will QRTL
Notify the user that on failsafe a QuadPlan will QRTL. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_RTL_ALT¶
RTL_ALTITUDE should be a valid value
RTL_ALTITITUDE should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_SCALING¶
SCALING_SPEED valid
Validate that SCALING_SPEED is within 20% of AIRSPEED_CRUISE. If SCALING_SPEED changes the vehicle may need to be retuned. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_P_STALL¶
AIRSPEED_MIN should be 25% above STALL
Validate that AIRSPEED_MIN is at least 25% above AIRSPEED_STALL(if set). 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_RALLY¶
Rally too far
Rally Point more than RALLY_LIMIT_KM kilometers away. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_RTL_CLIMB¶
RTL_CLIMB_MIN should be a valid value
RTL_CLIMB_MIN should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_SYSID¶
MAV_SYSID must be set
Check that MAV_SYSID (or SYDID_THISMAV) has been set. 3 or less to prevent arming. -1 to disable.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Emergency(PreArm) |
|
Alert(PreArm) |
|
Critical(PreArm) |
|
Error(PreArm) |
|
Warning |
|
Notice |
|
Info |
|
Debug |
ARM_V_ALT_LEGAL¶
Legal max altitude
Legal max altitude for UAV/RPAS/drones in your jurisdiction
Units |
|
User level |
Standard |
BATT_ANX_CANDRV¶
Set ANX CAN driver
Set ANX CAN driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
1stCANDriver |
|
2ndCanDriver |
BATT_ANX_ENABLE¶
Enable ANX battery support
Enable ANX battery support
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
BATT_ANX_INDEX¶
ANX CAN battery index
ANX CAN battery index
Range |
|
User level |
Standard |
BATT_ANX_OPTIONS¶
ANX CAN battery options
ANX CAN battery options
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
LogAllFrames |
BATT_IDX¶
Index of assigned battery.
Ensure this battery is configured with `BATT*_MONITOR=29`.
User level |
Standard |
BATT_SOC1_C1¶
Battery estimator coefficient1
Battery estimator coefficient1
Range |
|
User level |
Standard |
BATT_SOC1_C2¶
Battery estimator coefficient2
Battery estimator coefficient2
Range |
|
User level |
Standard |
BATT_SOC1_C3¶
Battery estimator coefficient3
Battery estimator coefficient3
Range |
|
User level |
Standard |
BATT_SOC1_C4¶
Battery estimator coefficient4
Battery estimator coefficient4
Range |
|
User level |
Standard |
BATT_SOC1_IDX¶
Battery estimator index
Battery estimator index
Range |
|
User level |
Standard |
BATT_SOC1_NCELL¶
Battery estimator cell count
Battery estimator cell count
Range |
|
User level |
Standard |
BATT_SOC2_C1¶
Battery estimator coefficient1
Battery estimator coefficient1
Range |
|
User level |
Standard |
BATT_SOC2_C2¶
Battery estimator coefficient2
Battery estimator coefficient2
Range |
|
User level |
Standard |
BATT_SOC2_C3¶
Battery estimator coefficient3
Battery estimator coefficient3
Range |
|
User level |
Standard |
BATT_SOC2_C4¶
Battery estimator coefficient4
Battery estimator coefficient4
Range |
|
User level |
Standard |
BATT_SOC2_IDX¶
Battery estimator index
Battery estimator index
Range |
|
User level |
Standard |
BATT_SOC2_NCELL¶
Battery estimator cell count
Battery estimator cell count
Range |
|
User level |
Standard |
BATT_SOC3_C1¶
Battery estimator coefficient1
Battery estimator coefficient1
Range |
|
User level |
Standard |
BATT_SOC3_C2¶
Battery estimator coefficient2
Battery estimator coefficient2
Range |
|
User level |
Standard |
BATT_SOC3_C3¶
Battery estimator coefficient3
Battery estimator coefficient3
Range |
|
User level |
Standard |
BATT_SOC3_C4¶
Battery estimator coefficient4
Battery estimator coefficient4
Range |
|
User level |
Standard |
BATT_SOC3_IDX¶
Battery estimator index
Battery estimator index
Range |
|
User level |
Standard |
BATT_SOC3_NCELL¶
Battery estimator cell count
Battery estimator cell count
Range |
|
User level |
Standard |
BATT_SOC4_C1¶
Battery estimator coefficient1
Battery estimator coefficient1
Range |
|
User level |
Standard |
BATT_SOC4_C2¶
Battery estimator coefficient2
Battery estimator coefficient2
Range |
|
User level |
Standard |
BATT_SOC4_C3¶
Battery estimator coefficient3
Battery estimator coefficient3
Range |
|
User level |
Standard |
BATT_SOC4_C4¶
Battery estimator coefficient4
Battery estimator coefficient4
Range |
|
User level |
Standard |
BATT_SOC4_IDX¶
Battery estimator index
Battery estimator index
Range |
|
User level |
Standard |
BATT_SOC4_NCELL¶
Battery estimator cell count
Battery estimator cell count
Range |
|
User level |
Standard |
BATT_SOC_COUNT¶
Count of SOC estimators
Number of battery SOC estimators
Range |
|
User level |
Standard |
BTAG_CUR_CYCLES¶
current battery cycles
this is the highest value for battery cycles for all connected batteries
Range |
|
User level |
Advanced |
BTAG_ENABLE¶
enable battery info support
enable battery info support
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
BTAG_MAX_CYCLES¶
max battery cycles
max battery cycles for arming
Range |
|
User level |
Standard |
CAM1_THERM_GAIN¶
Camera1 Thermal Gain
thermal image temperature range
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Leave Unchanged |
|
LowGain (50C to 550C) |
|
HighGain (-20C to 150C) |
CAM1_THERM_PAL¶
Camera1 Thermal Palette
thermal image colour palette
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Leave Unchanged |
|
WhiteHot |
|
Sepia |
|
IronBow |
|
Rainbow |
|
Night |
|
Aurora |
|
RedHot |
|
Jungle |
|
Medical |
|
BlackHot |
|
GloryHot |
CAM1_THERM_RAW¶
Camera1 Thermal Raw Data
save images with raw temperatures
Units |
|
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Leave Unchanged |
|
Disabled (30fps) |
|
Enabled (25 fps) |
CFACT¶
Measurement correction factor
This is multiplicative factor to correct the measured flow. Set to <1 if your sensor measures too high.
User level |
Standard |
CGA_RATIO¶
CoG adjustment ratio
The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).
Range |
|
User level |
Advanced |
DIST_CUTOFF¶
Precland distance cutoff
The distance from target beyond which the target is ignored
Units |
|
Range |
|
User level |
Standard |
DJIR_DEBUG¶
DJIRS2 debug
Enable DJIRS2 debug
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
|
Enabled with attitude reporting |
DJIR_UPSIDEDOWN¶
DJIRS2 upside down
DJIRS2 upside down
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Right side up |
|
Upside down |
DR_ENABLE¶
Deadreckoning Enable
Deadreckoning Enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
DR_ENABLE_DIST¶
Deadreckoning Enable Distance
Distance from home (in meters) beyond which the dead reckoning will be enabled
Units |
|
User level |
Standard |
DR_FLY_ALT_MIN¶
Deadreckoning Altitude Min
Copter will fly at at least this altitude (in meters) above home during deadreckoning
Units |
|
Range |
|
User level |
Standard |
DR_FLY_ANGLE¶
Deadreckoning Lean Angle
lean angle (in degrees) during deadreckoning
Units |
|
Range |
|
User level |
Standard |
DR_FLY_TIMEOUT¶
Deadreckoning flight timeout
Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout
Units |
|
User level |
Standard |
DR_GPS_SACC_MAX¶
Deadreckoning GPS speed accuracy maximum threshold
GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy
Range |
|
User level |
Standard |
DR_GPS_SAT_MIN¶
Deadreckoning GPS satellite count min threshold
GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count
Range |
|
User level |
Standard |
DR_GPS_TRIGG_SEC¶
Deadreckoning GPS check trigger seconds
GPS checks must fail for this many seconds before dead reckoning will be triggered
Units |
|
User level |
Standard |
DR_NEXT_MODE¶
Deadreckoning Next Mode
Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
AltHold |
|
Auto |
|
Guided |
|
Loiter |
|
RTL |
|
Circle |
|
Land |
|
PosHold |
|
Brake |
|
Guided_NoGPS |
|
Smart_RTL |
|
Auto RTL |
EFI_2K_CANDRV¶
NMEA 2000 CAN driver
NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
FirstCAN |
|
SecondCAN |
EFI_2K_ENABLE¶
Enable NMEA 2000 EFI driver
Enable NMEA 2000 EFI driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_2K_OPTIONS¶
NMEA 2000 options
NMEA 2000 driver options
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
EnableLogging |
EFI_DLA64_ENABLE¶
EFI DLA64 enable
Enable EFI DLA64 driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_DLA_ENABLE¶
EFI DLA enable
Enable EFI DLA driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_DLA_LPS¶
EFI DLA fuel scale
EFI DLA litres of fuel per second of injection time
Units |
|
Range |
|
User level |
Standard |
EFI_H6K_CANDRV¶
Halo6000 CAN driver
Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
FirstCAN |
|
SecondCAN |
EFI_H6K_ENABLE¶
Enable Halo6000 EFI driver
Enable Halo6000 EFI driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_H6K_FUELTOT¶
Halo6000 total fuel capacity
The capacity of the tank in litres
Units |
|
User level |
Standard |
EFI_H6K_OPTIONS¶
Halo6000 options
Halo6000 options
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
LogAllCanPackets |
EFI_H6K_START_FN¶
Halo6000 start auxilliary function
The RC auxilliary function number for start/stop of the generator. Zero to disable start function
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
300 |
|
301 |
|
302 |
|
303 |
|
304 |
|
305 |
|
306 |
|
307 |
EFI_H6K_TELEM_RT¶
Halo6000 telemetry rate
The rate that additional generator telemetry is sent
Units |
|
User level |
Standard |
EFI_HFE_CANDRV¶
HFI EFI CAN driver
HFI EFI CAN driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
1stCANDriver |
|
2ndCanDriver |
EFI_HFE_ECU_IDX¶
HFI EFI ECU index
HFI EFI ECU index, 0 for automatic
Range |
|
User level |
Standard |
EFI_HFE_ENABLE¶
Enable HFE EFI driver
Enable HFE EFI driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_HFE_FUEL_DTY¶
HFI EFI fuel density
HFI EFI fuel density in gram per litre
Range |
|
User level |
Standard |
EFI_HFE_OPTIONS¶
HFI EFI options
HFI EFI options
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
EnableCANLogging |
EFI_HFE_RATE_HZ¶
HFI EFI Update rate
HFI EFI Update rate
Range |
|
User level |
Standard |
EFI_HFE_REL_IDX¶
HFI EFI relay index
HFI EFI relay index
Range |
|
User level |
Standard |
EFI_INF_ENABLE¶
EFI INF-Inject enable
Enable EFI INF-Inject driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_INF_IGN_AUX¶
EFI INF-Inject ignition aux function
EFI INF throttle ignition aux function
User level |
Standard |
EFI_INF_OPTIONS¶
EFI INF-Inject options
EFI INF driver options
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
EnableLogging |
EFI_INF_THR_HZ¶
EFI INF-Inject throttle rate
EFI INF throttle output rate
Units |
|
Range |
|
User level |
Standard |
EFI_SP_CANDRV¶
Set SkyPower EFI CAN driver
Set SkyPower EFI CAN driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
1stCANDriver |
|
2ndCanDriver |
EFI_SP_ENABLE¶
Enable SkyPower EFI support
Enable SkyPower EFI support
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_SP_GEN_CTRL¶
SkyPower EFI enable generator control
SkyPower EFI enable generator control
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_SP_GEN_FN¶
SkyPower EFI generator control function
SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
300 |
|
301 |
|
302 |
|
303 |
|
304 |
|
305 |
|
306 |
|
307 |
EFI_SP_LOG_RT¶
SkyPower EFI log rate
SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed
Units |
|
Range |
|
User level |
Advanced |
EFI_SP_MIN_RPM¶
SkyPower EFI minimum RPM
SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped
Range |
|
User level |
Advanced |
EFI_SP_MODEL¶
SkyPower EFI ECU model
SkyPower EFI ECU model
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
SRE_180 |
|
SP_275 |
EFI_SP_RST_TIME¶
SkyPower EFI restart time
SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.
Units |
|
Range |
|
User level |
Standard |
EFI_SP_START_FN¶
SkyPower EFI start function
SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
300 |
|
301 |
|
302 |
|
303 |
|
304 |
|
305 |
|
306 |
|
307 |
EFI_SP_ST_DISARM¶
SkyPower EFI allow start disarmed
SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_SP_THR_FN¶
SkyPower EFI throttle function
SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
HeliRSC |
|
FixedWing |
EFI_SP_THR_RATE¶
SkyPower EFI throttle rate
SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine
Units |
|
Range |
|
User level |
Advanced |
EFI_SP_TLM_RT¶
SkyPower EFI telemetry rate
SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS
Units |
|
Range |
|
User level |
Advanced |
EFI_SP_UPDATE_HZ¶
SkyPower EFI update rate
SkyPower EFI update rate
Units |
|
Range |
|
User level |
Advanced |
EFI_SVF_ARMCHECK¶
Generator SVFFI arming check
Check for Generator ARM state before arming
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
EFI_SVF_ENABLE¶
Generator SVFFI enable
Enable SVFFI generator support
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
ENABLE¶
Enable this script
When set to 0 this script will not run. When set to 1 this script will run.
Range |
|
User level |
Standard |
ESC_HW_ENABLE¶
Hobbywing ESC Enable
Enable Hobbywing ESC telemetry
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
ESC_HW_OFS¶
Hobbywing ESC motor offset
Motor number offset of first ESC
Range |
|
User level |
Standard |
ESC_HW_POLES¶
Hobbywing ESC motor poles
Number of motor poles for eRPM scaling
Range |
|
User level |
Standard |
ESRC_EXTN_QUAL¶
EKF Source ExternalNav Quality Threshold
ExternalNav may be used if quality is above this threshold
Units |
|
Range |
|
User level |
Standard |
ESRC_EXTN_THRESH¶
EKF Source ExternalNav Innovation Threshold
ExternalNav may be used if innovations are below this threshold
Range |
|
User level |
Standard |
ESRC_FLOW_QUAL¶
EKF Source OpticalFlow Quality Threshold
OpticalFlow may be used if quality is above this threshold
Units |
|
Range |
|
User level |
Standard |
ESRC_FLOW_THRESH¶
EKF Source OpticalFlow Innovation Threshold
OpticalFlow may be used if innovations are below this threshold
Range |
|
User level |
Standard |
ESRC_RNGFND_MAX¶
EKF Source Rangefinder Max
OpticalFlow may be used if rangefinder distance is below this threshold
Units |
|
Range |
|
User level |
Standard |
FOLLP_ACT_FN¶
Plane Follow Scripting ActivationFunction
Setting an RC channel’s _OPTION to this value will use it for Plane Follow enable/disable
Range |
|
FOLLP_ALT¶
Plane Follow Scripting Altitude Override
When non zero, this altitude value (in FOLL_ALT_TYPE frame) overrides the value sent by the target vehicle
Units |
|
Range |
|
FOLLP_DIST_CLOSE¶
Plane Follow Scripting Close Distance
When closer than this distance assume we track by heading
Units |
|
Range |
|
FOLLP_D_D¶
Plane Follow Scripting distance D gain
D gain for the speed PID controller distance component
Range |
|
FOLLP_D_I¶
Plane Follow Scripting distance I gain
I gain for the speed PID distance component
Range |
|
FOLLP_D_P¶
Plane Follow Scripting distance P gain
P gain for the speed PID controller distance component
Range |
|
FOLLP_EXIT_MODE¶
Plane Follow exit mode
Mode to switch to when follow mode is exited normally
User level |
Standard |
FOLLP_FAIL_MODE¶
Plane Follow lost target mode
Mode to switch to if the target is lost (no signal or > FOLL_DIST_MAX).
User level |
Standard |
FOLLP_LkAHD¶
Plane Follow Lookahead seconds
Time to “lookahead” when calculating distance errors
Units |
|
FOLLP_OVRSHT_DEG¶
Plane Follow Scripting Overshoot Angle
If the target is greater than this many degrees left or right, assume an overshoot
Units |
|
Range |
|
FOLLP_REFRESH¶
Plane Follow refresh rate
refresh rate for Plane Follow updates
Units |
|
Range |
|
FOLLP_SIM_TLF_FN¶
Plane Follow Simulate Telemetry fail function
Set this switch to simulate losing telemetry from the other vehicle
Range |
|
FOLLP_TIMEOUT¶
Plane Follow Telemetry Timeout
How long to try reaquire a target if telemetry from the lead vehicle is lost.
Units |
|
Range |
|
FOLLP_TURN_DEG¶
Plane Follow Scripting Turn Angle
If the target is greater than this many degrees left or right, assume it’s turning
Units |
|
Range |
|
FOLLP_V_D¶
Plane Follow Scripting speed D gain
D gain for the speed PID controller velocity component
Range |
|
FOLLP_V_I¶
Plane Follow Scripting speed I gain
I gain for the speed PID controller velocity component
Range |
|
FOLLP_V_P¶
Plane Follow Scripting speed P gain
P gain for the speed PID controller velocity component
Range |
|
FOLLP_WIDE_TURNS¶
Plane Follow Scripting Wide Turns
Use wide turns when following a turning target. Alternative is “cutting the corner”
Range |
|
FOLLP_XT_D¶
Plane Follow crosstrack PID controller D term
D term for the crosstrack/heading PID controller
Range |
|
FOLLP_XT_I¶
Plane Follow crosstrack PID controller I term
I term for the crosstrack/heading PID controller
Range |
|
FOLLP_XT_I_MAX¶
Plane Follow crosstrack PID controller maximum integral
maximum I applied the crosstrack/heading PID controller
Units |
|
Range |
|
FOLLP_XT_MAX¶
Plane Follow crosstrack PID controller maximum correction
maximum correction retured by the crosstrack/heading PID controller
Units |
|
Range |
|
FOLLP_XT_P¶
Plane Follow crosstrack PID controller P term
P term for the crosstrack/heading PID controller
Range |
|
FOLT_ENABLE¶
Follow Target Send Enable
Follow Target Send Enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
FOLT_MAV_CHAN¶
Follow Target Send MAVLink Channel
MAVLink channel to which FOLLOW_TARGET should be sent
Range |
|
User level |
Standard |
LTE_BAND¶
LTE band selection
This allows selection of LTE band. A value of -1 means no band setting change is made. A value of 0 sets all bands. Otherwise the specified band is set.
Range |
|
User level |
Standard |
LTE_BAUD¶
Serial Baud Rate
Baud rate for the serial port to the LTE modem when connected. Initial power on baudrate is in LTE_IBAUD
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
19200 |
|
38400 |
|
57600 |
|
115200 |
|
230400 |
|
460800 |
|
921600 |
|
3686400 |
LTE_ENABLE¶
LTE Enable
Enable or disable the LTE modem driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
LTE_IBAUD¶
LTE initial baudrate
This is the initial baud rate on power on for the modem. This is set in the modem with the AT+IREX=baud command
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
19200 |
|
38400 |
|
57600 |
|
115200 |
|
230400 |
|
460800 |
|
921600 |
|
3686400 |
LTE_MCCMNC¶
LTE operator selection
This allows selection of network operator
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
NoChange |
|
Default |
|
AU-Telstra |
|
AU-Optus |
|
AU-Vodafone |
LTE_OPTIONS¶
LTE options
Options to control the LTE modem driver. If VerboseSignalInfoGCS is set then additional NAMED_VALUE_FLOAT values are sent with verbose signal information
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
LogAllData |
|
VerboseSignalInfoGCS |
|
DisableMultiplexing |
|
DisableSignalQueries |
|
UseTCP |
LTE_PROTOCOL¶
LTE protocol
The protocol that we will use in communication with the LTE modem. If this is PPP then the LTE_SERVER parameters are not used and instead a PPP connection will be established and you should use the NET_ parameters to enable network ports. If this is MAVLink2 then the LTE_SERVER parameters are used to create a TCP or UDP connection to a single server.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
MavLink2 |
|
PPP |
LTE_SCRPORT¶
Scripting Serial Port
Scripting Serial port to use for the LTE modem. This is the index of the SCR_SDEV ports that are set to 2 for “MAVLink2”
Range |
|
User level |
Standard |
LTE_SERPORT¶
Serial Port
Serial port to use for the LTE modem. This is the index of the SERIALn_ ports that are set to 28 for “scripting”
Range |
|
User level |
Standard |
LTE_SERVER_IP0¶
Server IP 0
First octet of the server IP address to connect to
Range |
|
User level |
Standard |
LTE_SERVER_IP1¶
Server IP 1
Second octet of the server IP address to connect to
Range |
|
User level |
Standard |
LTE_SERVER_IP2¶
Server IP 2
Third octet of the server IP address to connect to
Range |
|
User level |
Standard |
LTE_SERVER_IP3¶
Server IP 3
Fourth octet of the server IP address to connect to
Range |
|
User level |
Standard |
LTE_SERVER_PORT¶
Server Port
IPv4 Port of the server to connect to
Range |
|
User level |
Standard |
LTE_TIMEOUT¶
Timeout
Timeout in seconds for the LTE connection. If no data is received for this time, the connection will be reset. A value of zero disables the timeout
Units |
|
Range |
|
User level |
Standard |
LTE_TX_RATE¶
Max transmit rate
Maximum data transmit rate to the modem in bytes/second. Use zero for unlimited
User level |
Standard |
MODE¶
Sensor operating mode
0: The sensor will save the fuel consumption across power resets. 1: The sensor will reset the power consumption.
User level |
Standard |
PARAM_LOCK_ENAB¶
Param Lockdown enable
Param Lockdown enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
PLND_ALT_CUTOFF¶
Precland altitude cutoff
The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
Units |
|
Range |
|
User level |
Standard |
POI_DIST_MAX¶
Mount POI distance max
POI’s max distance (in meters) from the vehicle
Range |
|
User level |
Standard |
PORT¶
Scripting serial port number
Which Scripting serial port the sensor is connected at.
Range |
|
User level |
Standard |
PREV_ENABLE¶
parameter reversion enable
Enable parameter reversion system
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
PREV_RC_FUNC¶
param reversion RC function
RCn_OPTION number to used to trigger parameter reversion
User level |
Standard |
QUIK_ANGLE_MAX¶
maximum angle error for tune abort
If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error “Tuning: attitude error ABORTING” and you think it is a false positive then you can either raise this parameter or you can try increasing the QUIK_DOUBLE_TIME to do the tune more slowly. A value of zero disables this check.
Units |
|
User level |
Standard |
QUIK_AUTO_FILTER¶
Quicktune auto filter enable
When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
QUIK_AUTO_SAVE¶
Quicktune auto save
Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
Units |
|
User level |
Standard |
QUIK_AXES¶
Quicktune axes
axes to tune
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Roll |
|
Pitch |
|
Yaw |
QUIK_DOUBLE_TIME¶
Quicktune doubling time
Time to double a tuning parameter. Raise this for a slower tune.
Units |
|
Range |
|
User level |
Standard |
QUIK_ENABLE¶
Quicktune enable
Enable quicktune system
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
QUIK_GAIN_MARGIN¶
Quicktune gain margin
Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
Units |
|
Range |
|
User level |
Standard |
QUIK_MAX_REDUCE¶
Quicktune maximum gain reduction
This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
Units |
|
Range |
|
User level |
Standard |
QUIK_OPTIONS¶
Quicktune options
Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
UseTwoPositionSwitch |
QUIK_OSC_SMAX¶
Quicktune oscillation rate threshold
Threshold for oscillation detection. A lower value will lead to a more conservative tune.
Range |
|
User level |
Standard |
QUIK_RC_FUNC¶
Quicktune RC function
RCn_OPTION number to use to control tuning stop/start/save
User level |
Standard |
QUIK_RP_PI_RATIO¶
Quicktune roll/pitch PI ratio
Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
Range |
|
User level |
Standard |
QUIK_YAW_D_MAX¶
Quicktune Yaw D max
Maximum value for yaw D gain
Range |
|
User level |
Standard |
QUIK_YAW_P_MAX¶
Quicktune Yaw P max
Maximum value for yaw P gain
Range |
|
User level |
Standard |
QUIK_Y_PI_RATIO¶
Quicktune Yaw PI ratio
Ratio between P and I gains for yaw. Raise this to get a lower I gain
Range |
|
User level |
Standard |
RCK_DEBUG¶
Display Rockblock debugging text
Sends Rockblock debug text to GCS via statustexts
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RCK_ENABLE¶
Enable Message transmission
Enables the Rockblock sending and recieving
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RCK_FORCEHL¶
Force enable High Latency mode
Automatically enables High Latency mode if not already enabled
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
|
Enabled on telemetry loss |
RCK_PERIOD¶
Update rate
When in High Latency mode, send Rockblock updates every N seconds
Units |
|
Range |
|
User level |
Standard |
RCK_TIMEOUT¶
GCS timeout to start sendin Rockblock messages
If RCK_FORCEHL=2, this is the number of seconds of GCS timeout until High Latency mode is auto-enabled
Units |
|
Range |
|
User level |
Standard |
RK9_BOOTED¶
Rockblock booted feedback
SERVOn GPIO channel that reads the Rockblock booted state. This connects to I_BTD on the Rockblock header. Requires SERVON_FUNCTION=-1
Range |
|
User level |
Standard |
RK9_DEBUG¶
Display Rockblock debugging text
Sends Rockblock debug text to GCS via statustexts
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RK9_ENABLE¶
Enable Message transmission
Enables the Rockblock sending and recieving
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RK9_FORCEHL¶
Force enable High Latency mode
Automatically enables High Latency mode if not already enabled
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
|
Enabled on telemetry loss |
RK9_PERIOD¶
Update rate
When in High Latency mode, send Rockblock updates every N seconds
Units |
|
Range |
|
User level |
Standard |
RK9_RELAY¶
Rockblock Power Relay
RELAYn output to control Rockblock power. This connects to I_EN on the Rockblock header.
Range |
|
User level |
Standard |
RK9_SCRPORT¶
Rockblock Scripting Serial Port
Scripting Serial port number to which the Rockblock is connected for HL2 messages This is the index of the SCR_SDEV ports that are set to 2 for “MavlinkHL”
Range |
|
User level |
Standard |
RK9_SERPORT¶
Rockblock Serial Port
Serial port number to which the Rockblock is connected.This is the index of the SERIALn_ ports that are set to 28 for “scripting”
Range |
|
User level |
Standard |
RK9_TIMEOUT¶
GCS timeout to start sendin Rockblock messages
If RK9_FORCEHL=2, this is the number of seconds of GCS timeout until High Latency mode is auto-enabled
Units |
|
Range |
|
User level |
Standard |
RTUN_AUTO_FILTER¶
Rover Quicktune auto filter enable
When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RTUN_AUTO_SAVE¶
Rover Quicktune auto save
Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
Units |
|
User level |
Standard |
RTUN_AXES¶
Rover Quicktune axes
axes to tune
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Steering |
|
Speed |
RTUN_ENABLE¶
Rover Quicktune enable
Enable quicktune system
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
RTUN_RC_FUNC¶
Rover Quicktune RC function
RCn_OPTION number to use to control tuning stop/start/save
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Scripting1 |
|
Scripting2 |
|
Scripting3 |
|
Scripting4 |
|
Scripting5 |
|
Scripting6 |
|
Scripting7 |
|
Scripting8 |
RTUN_SPD_FFRATIO¶
Rover Quicktune Speed FeedForward (equivalent) ratio
Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value
Range |
|
User level |
Standard |
RTUN_SPD_I_RATIO¶
Rover Quicktune Speed FF to I ratio
Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged
Range |
|
User level |
Standard |
RTUN_SPD_P_RATIO¶
Rover Quicktune Speed FF to P ratio
Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged
Range |
|
User level |
Standard |
RTUN_SPEED_MIN¶
Rover Quicktune minimum speed for tuning
The mimimum speed in m/s required for tuning to start
Units |
|
Range |
|
User level |
Standard |
RTUN_STR_FFRATIO¶
Rover Quicktune Steering Rate FeedForward ratio
Ratio between measured response and FF gain. Raise this to get a higher FF gain
Range |
|
User level |
Standard |
RTUN_STR_I_RATIO¶
Rover Quicktune Steering FF to I ratio
Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged
Range |
|
User level |
Standard |
RTUN_STR_P_RATIO¶
Rover Quicktune Steering FF to P ratio
Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged
Range |
|
User level |
Standard |
SHIP_AUTO_OFS¶
Ship automatic offset trigger
Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Trigger |
SHIP_ENABLE¶
Ship landing enable
Enable ship landing system
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
SHIP_LAND_ANGLE¶
Ship landing angle
Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
Units |
|
Range |
|
User level |
Standard |
SLUP_DEBUG¶
Slung Payload debug output
Slung payload debug output, set to 1 to enable debug
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
SLUP_DIST_MAX¶
Slung Payload horizontal distance max
Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress
Range |
|
User level |
Standard |
SLUP_ENABLE¶
Slung Payload enable
Slung Payload enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
SLUP_RESTOFS_TC¶
Slung Payload resting offset estimate filter time constant
payload’s position estimator’s time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response
Range |
|
User level |
Standard |
SLUP_SYSID¶
Slung Payload mavlink system id
Slung Payload mavlink system id. 0 to use any/all system ids
Range |
|
User level |
Standard |
SLUP_VEL_P¶
Slung Payload Velocity P gain
Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload
Range |
|
User level |
Standard |
SLUP_WP_POS_P¶
Slung Payload return to WP position P gain
WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint
Range |
|
User level |
Standard |
TA_ACT_FN¶
Activation Function for Terrain Avoidance
Setting an RC channel’s _OPTION to this value will use it for Terrain Avoidance enable/disable
Range |
|
TA_ALT_MAX¶
ceiling for pitching/quading
This is a limit on how high the terrain avoidane will take the vehicle. It acts a failsafe to prevent vertical flyaways.
Units |
|
Range |
|
TA_CMTC_ENABLE¶
CMTC Enable
Whether to enable Can’t Make That Climb while running Terrain Avoidance
Range |
|
TA_CMTC_HGT¶
CMTC Height
The minimum Height above terrain to maintain when following an AUTO mission or RTL. If zero(0) use TA_PTCH_DOW_MIN.
Units |
|
TA_CMTC_RAD¶
CMTC loiter radius
Use this radius for the loiter when trying to gain altitude. If not set or <=0 use WP_LOITER_RAD
Units |
|
TA_GSP_AIRBRAKE¶
Groudspeed Airbrake limt
This is the limit for triggering airbrake to slow groundspeed as a difference between the airspeed and groundspeed. -1 for disabled.
Units |
|
Range |
|
TA_GSP_MAX¶
Maximum Groundspeed
This is a limit on how fast in groundspeeed terrain avoidance will take the vehicle. This is to allow for reliable sensor readings. -1 for disabled.
Units |
|
Range |
|
TA_HOME_DIST¶
safe distance around home
Terrain avoidance will not be applied if the vehicle is less than this distance from home
Units |
|
TA_PTCH_DWN_MIN¶
down distance minimum for Pitching
If the downward distance is less than this value then start Pitching up to gain altitude.
Units |
|
TA_PTCH_FWD_MIN¶
forward distance minimum for Pitching
If the farwardward distance is less than this value then start Pitching up to gain altitude.
Units |
|
TA_PTCH_GSP_MIN¶
minimum ground speed for Pitching
Minimum Groundspeed (not airspeed) to be flying for Pitching to be used.
Units |
|
TA_PTCH_TIMEOUT¶
timeout Pitching
Minimum down or forward distance must be triggered for more than this many seconds to start Pitching
Units |
|
TA_QUAD_DWN_MIN¶
Downward distance minimum Quading
If the downward distance is less than this value then start Quading up to gain altitude.
Units |
|
TA_QUAD_FWD_MIN¶
minimum forward distance for Quading
If the farwardward distance is less than this value then start Quading up to gain altitude.
Units |
|
TA_UPDATE_RATE¶
Frequency to process avoidance
Avoidance processing rate
Units |
|
TERR_BRK_ALT¶
terrain brake altitude
terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.
Units |
|
Range |
|
User level |
Standard |
TERR_BRK_ENABLE¶
terrain brake enable
terrain brake enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
TERR_BRK_HDIST¶
terrain brake home distance
terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate
Units |
|
Range |
|
User level |
Standard |
TERR_BRK_SPD¶
terrain brake speed threshold
terrain brake speed threshold. Don’t trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.
Units |
|
Range |
|
User level |
Standard |
THR_KILL_CHAN¶
output channel to change on throttle kill
output channel to change on throttle kill, a value of zero disables the feature
Range |
|
User level |
Standard |
THR_KILL_DEF¶
throttle kill default value
throttle kill default value. The default auxilliary function position on boot
Range |
|
User level |
Standard |
THR_KILL_FUNC¶
AUX function to kill engine
AUX function to kill engine. This can be activated either with a RCn_OPTION and a R/C switch or with a ground station auxilliary function
Range |
|
User level |
Standard |
THR_KILL_PWM¶
PWM on kill active
PWM on kill active
Range |
|
User level |
Standard |
THR_KILL_VAL¶
auxilliary value to kill throttle
auxilliary value to kill throttle. Set to 2 to kill the throttle when the auxilliary is high. Set to 0 to kill when auxilliary is low
Range |
|
User level |
Standard |
TOFSENSE_ID1¶
TOFSENSE-M First ID
First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software
Range |
|
User level |
Standard |
TOFSENSE_ID2¶
TOFSENSE-M Second ID
Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software
Range |
|
User level |
Standard |
TOFSENSE_ID3¶
TOFSENSE-M Thir ID
Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software
Range |
|
User level |
Standard |
TOFSENSE_INST1¶
TOFSENSE-M First Instance
First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
Range |
|
User level |
Standard |
TOFSENSE_INST2¶
TOFSENSE-M Second Instance
Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
Range |
|
User level |
Standard |
TOFSENSE_INST3¶
TOFSENSE-M Third Instance
Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
Range |
|
User level |
Standard |
TOFSENSE_MODE¶
TOFSENSE-M mode to be used
TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
8x8 mode |
|
4x4 mode |
TOFSENSE_NO¶
TOFSENSE-M Connected
Number of TOFSENSE-M CAN sensors connected
Range |
|
User level |
Standard |
TOFSENSE_PRX¶
TOFSENSE-M to be used as Proximity sensor
Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Set as Rangefinder |
|
Set as Proximity sensor |
TOFSENSE_S1_BR¶
TOFSENSE-M serial port baudrate
Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
User level |
Standard |
TOFSENSE_S1_PRX¶
TOFSENSE-M to be used as Proximity sensor
Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Set as Rangefinder |
|
Set as Proximity sensor |
TOFSENSE_S1_SP¶
TOFSENSE-M serial port config
UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
Range |
|
User level |
Standard |
TRIK_ACT_FN¶
Trik Action Scripting Function
Setting an RC channel’s _OPTION to this value will use it for trick action (abort,announce,execute)
Range |
|
TRIK_COUNT¶
Trik Count
Number of tricks which can be selected over the range of the trik selection RC channel
Range |
|
TRIK_ENABLE¶
Tricks on Switch Enable
Enables Tricks on Switch. TRIK params hidden until enabled
TRIK_SEL_FN¶
Trik Selection Scripting Function
Setting an RC channel’s _OPTION to this value will use it for trick selection
Range |
|
TRQL_DEBUG¶
Torqeedo TorqLink Debug Level
Torqeedo TorqLink Debug Level
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Low |
|
Medium |
|
High |
TRQL_ENABLE¶
Torqeedo TorqLink Enable
Torqeedo TorqLink Enable
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
UM_CANDRV¶
Set CAN driver
Set CAN driver
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
1stCANDriver |
|
2ndCanDriver |
UM_OPTIONS¶
Optional settings
Optional settings
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
LogAllFrames |
|
ParseTelemetry |
|
SendPosAsNamedValueFloat |
UM_RATE_HZ¶
Update rate for UltraMotion servos
Update rate for UltraMotion servos
Units |
|
Range |
|
User level |
Standard |
UM_SERVO_MASK¶
Mask of UltraMotion servos
Mask of UltraMotion servos
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
SERVO1 |
|
SERVO2 |
|
SERVO3 |
|
SERVO4 |
|
SERVO5 |
|
SERVO6 |
|
SERVO7 |
|
SERVO8 |
|
SERVO9 |
|
SERVO10 |
|
SERVO11 |
|
SERVO12 |
VID1_BITRATE¶
Camera1 Video Stream Bitrate
Video stream bitrate
Range |
|
User level |
Standard |
VID1_CAMMODEL¶
Camera1 Video Stream Camera Model
Video stream camera model
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Unknown |
|
Siyi A8 |
|
Siyi ZR10 |
|
Siyi ZR30 |
|
Siyi ZT30 Zoom |
|
Siyi ZT30 Wide |
|
Siyi ZT30 IR |
|
Siyi ZT6 RGB |
|
Siyi ZT6 IR |
|
Herelink WifiAP |
|
Herelink USB-tethering |
|
Topotek 1080p |
|
Topotek 480p |
|
Viewpro |
VID1_ENCODING¶
Camera1 Video Stream Encoding
Video stream encoding
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Unknown |
|
H264 |
|
H265 |
VID1_FLAG¶
Camera1 Video Stream Flags
Video stream flags
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Running |
|
Thermal |
|
Thermal Range Enabled |
VID1_FRAME_RATE¶
Camera1 Video Stream Frame Rate
Video stream frame rate
Range |
|
User level |
Standard |
VID1_HFOV¶
Camera1 Video Stream Horizontal FOV
Video stream horizontal FOV
Range |
|
User level |
Standard |
VID1_HRES¶
Camera1 Video Stream Horizontal Resolution
Video stream horizontal resolution
Range |
|
User level |
Standard |
VID1_ID¶
Camera1 Video Stream Id
Video stream id
Range |
|
User level |
Standard |
VID1_IPADDR0¶
Camera1 Video Stream IP Address 0
Video stream IP Address first octet
Range |
|
User level |
Standard |
VID1_IPADDR1¶
Camera1 Video Stream IP Address 1
Video stream IP Address second octet
Range |
|
User level |
Standard |
VID1_IPADDR2¶
Camera1 Video Stream IP Address 2
Video stream IP Address third octet
Range |
|
User level |
Standard |
VID1_IPADDR3¶
Camera1 Video Stream IP Address 3
Video stream IP Address fourth octet
Range |
|
User level |
Standard |
VID1_IPPORT¶
Camera1 Video Stream IP Address Port
Video stream IP Address Port
Range |
|
User level |
Standard |
VID1_TYPE¶
Camera1 Video Stream Type
Video stream type
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
RTSP |
|
RTPUDP |
|
TCP_MPEG |
|
MPEG_TS |
VID1_VRES¶
Camera1 Video Stream Vertical Resolution
Video stream vertical resolution
Range |
|
User level |
Standard |
WEB_BIND_PORT¶
web server TCP port
web server TCP port
Range |
|
User level |
Standard |
WEB_BLOCK_SIZE¶
web server block size
web server block size for download
Range |
|
User level |
Advanced |
WEB_DEBUG¶
web server debugging
web server debugging
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
WEB_ENABLE¶
enable web server
enable web server
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
WEB_SENDFILE_MIN¶
web server minimum file size for sendfile
sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
Range |
|
User level |
Advanced |
WEB_TIMEOUT¶
web server timeout
timeout for inactive connections
Units |
|
Range |
|
User level |
Advanced |
WINCH_RATE_DN¶
WinchControl Rate Down
Maximum rate when releasing line
Range |
|
User level |
Standard |
WINCH_RATE_UP¶
WinchControl Rate Up
Maximum rate when retracting line
Range |
|
User level |
Standard |
WINCH_RC_FUNC¶
Winch Rate Control RC function
RCn_OPTION number to use to control winch rate
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Scripting1 |
|
Scripting2 |
|
Scripting3 |
|
Scripting4 |
|
Scripting5 |
|
Scripting6 |
|
Scripting7 |
|
Scripting8 |