PSC parameters¶

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

PSC_ANGLE_MAX¶

Position Control Angle Max

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

Units	`deg`
Range	`0` to `45`
Increment	`1`
User level	Advanced

PSC_D_ACC_D¶

Acceleration (vertical) controller D gain

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration. If upgrading from 4.6 this is _ACCZ_D * 0.1.

Range	`0.000` to `0.100`
Increment	`0.001`
User level	Standard

PSC_D_ACC_D_FF¶

Accel (vertical) Derivative FeedForward Gain

FF D Gain which produces an output that is proportional to the rate of change of the target. If upgrading from 4.6 this is _ACCZ_P * 0.1.

Range	`0.000` to `0.050`
Increment	`0.001`
User level	Advanced

PSC_D_ACC_FF¶

Acceleration (vertical) controller feed forward

Acceleration (vertical) controller feed forward. If upgrading from 4.6 this is _ACCZ_FF * 0.1.

Range	`0.000` to `0.100`
Increment	`0.001`
User level	Standard

PSC_D_ACC_FLTD¶

Acceleration (vertical) controller derivative frequency in Hz

Acceleration (vertical) controller derivative frequency in Hz. Previously _ACCZ_FLTD.

Units	`Hz`
Range	`1` to `100`
Increment	`1`
User level	Standard

PSC_D_ACC_FLTE¶

Acceleration (vertical) controller error frequency in Hz

Acceleration (vertical) controller error frequency in Hz. Previously _ACCZ_FLTE.

Units	`Hz`
Range	`1` to `100`
Increment	`1`
User level	Standard

PSC_D_ACC_FLTT¶

Acceleration (vertical) controller target frequency in Hz

Acceleration (vertical) controller target frequency in Hz. Previously _ACCZ_FLTT.

Units	`Hz`
Range	`1` to `50`
Increment	`1`
User level	Standard

PSC_D_ACC_I¶

Acceleration (vertical) controller I gain

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration. If upgrading from 4.6 this is _ACCZ_I * 0.1.

Range	`0.000` to `0.500`
Increment	`0.001`
User level	Standard

PSC_D_ACC_IMAX¶

Acceleration (vertical) controller I gain maximum

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate. If upgrading from 4.6 this is _ACCZ_IMAX * 0.001.

Units	`d%`
Range	`0.0` to `1.0`
Increment	`0.01`
User level	Standard

PSC_D_ACC_NEF¶

Accel (vertical) Error notch filter index

Accel (vertical) Error notch filter index. If upgrading from 4.6 this is Previously _ACCZ_NEF.

Range	`1` to `8`
User level	Advanced

PSC_D_ACC_NTF¶

Accel (vertical) Target notch filter index

Accel (vertical) Target notch filter index. If upgrading from 4.6 this is Previously _ACCZ_NTF.

Range	`1` to `8`
User level	Advanced

PSC_D_ACC_P¶

Acceleration (vertical) controller P gain

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output. If upgrading from 4.6 this is _ACCZ_P * 0.1.

Range	`0.010` to `0.250`
Increment	`0.001`
User level	Standard

PSC_D_ACC_PDMX¶

Acceleration (vertical) controller PD sum maximum

Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output. If upgrading from 4.6 this is _ACCZ_P * 0.1.

Units	`d%`
Range	`0.00` to `1.00`
Increment	`0.01`

PSC_D_ACC_SMAX¶

Accel (vertical) 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 `100`
Increment	`0.1`
User level	Advanced

PSC_D_POS_P¶

Position (vertical) controller P gain

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller. Previously _POSZ_P.

Range	`0.50` to `4.00`
Increment	`0.01`
User level	Standard

PSC_D_VEL_D¶

Velocity (vertical) controller D gain

Velocity (vertical) controller D gain. Corrects short-term changes in velocity. Previously _VELZ_D.

Range	`0.00` to `2.00`
Increment	`0.01`
User level	Advanced

PSC_D_VEL_FF¶

Velocity (vertical) controller Feed Forward gain

Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target. Previously _VELZ_FF.

Range	`0.00` to `2.00`
Increment	`0.01`
User level	Advanced

PSC_D_VEL_FLTD¶

Velocity (vertical) input filter for D term

Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms. Previously _VELZ_FLTD.

Units	`Hz`
Range	`0` to `100`
Increment	`1.0`
User level	Advanced

PSC_D_VEL_FLTE¶

Velocity (vertical) error filter

Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms. Previously _VELZ_FLTE.

Units	`Hz`
Range	`0` to `100`
Increment	`1.0`
User level	Advanced

PSC_D_VEL_I¶

Velocity (vertical) controller I gain

Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration. Previously _VELZ_I.

Range	`0.00` to `10.0`
Increment	`0.1`
User level	Advanced

PSC_D_VEL_IMAX¶

Velocity (vertical) controller I gain maximum

Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output. If upgrading from 4.6 this is _VELZ_IMAX * 0.01.

Range	`1.000` to `10.000`
Increment	`0.1`
User level	Standard

PSC_D_VEL_P¶

Velocity (vertical) controller P gain

Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller. Previously _VELZ_P.

Range	`1.0` to `10.0`
Increment	`0.1`
User level	Standard

PSC_JERK_D¶

Jerk limit for the vertical kinematic input shaping

Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Units	`m/s/s/s`
Range	`1` to `50`
Increment	`1`
User level	Advanced

PSC_JERK_NE¶

Jerk limit for the horizontal kinematic input shaping

Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Units	`m/s/s/s`
Range	`1` to `50`
Increment	`1`
User level	Advanced

PSC_NE_POS_P¶

Position (horizontal) controller P gain

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller. Previously _POSXY_P.

Range	`0.50` to `4.00`
Increment	`0.01`
User level	Standard

PSC_NE_VEL_D¶

Velocity (horizontal) D gain

Velocity (horizontal) D gain. Corrects short-term changes in velocity. Previously _VELXY_D.

Range	`0.00` to `1.00`
Increment	`0.01`
User level	Advanced

PSC_NE_VEL_FF¶

Velocity (horizontal) feed forward gain

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration. Previously _VELXY_FF.

Range	`0.10` to `10.00`
Increment	`0.01`
User level	Advanced

PSC_NE_VEL_FLTD¶

Velocity (horizontal) input filter

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term. Previously _VELXY_FLTD.

Units	`Hz`
Range	`0` to `100`
Increment	`1`
User level	Advanced

PSC_NE_VEL_FLTE¶

Velocity (horizontal) input filter

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms. Previously _VELXY_FLTE.

Units	`Hz`
Range	`0` to `100`
Increment	`1`
User level	Advanced

PSC_NE_VEL_I¶

Velocity (horizontal) I gain

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration. Previously _VELXY_I.

Range	`0.10` to `10.00`
Increment	`0.01`
User level	Advanced

PSC_NE_VEL_IMAX¶

Velocity (horizontal) integrator maximum

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output. If upgrading from 4.6 this is _VELXY_IMAX * 0.01.

Units	`m/s/s`
Range	`0` to `10`
Increment	`1`
User level	Advanced

PSC_NE_VEL_P¶

Velocity (horizontal) P gain

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration. Previously _VELXY_P.

Range	`0.10` to `10.00`
Increment	`0.01`
User level	Advanced