TMODE parameters¶
21 parameters in the TMODE family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
TMODE_ACTION1¶
Tmode action 1
This is the action taken when the left action button is pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ACTION2¶
Tmode action 2
This is the action taken when the right action button is pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ACTION3¶
Tmode action 3
This is the action taken when the power button is pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ACTION4¶
Tmode action 4
This is the action taken when the left action button is pressed while the left (Mode) button is held down
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ACTION5¶
Tmode action 5
This is the action taken when the right action is pressed while the left (Mode) button is held down
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ACTION6¶
Tmode action 6
This is the action taken when the power button is pressed while the left (Mode) button is held down
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_ENABLE¶
tmode enable
tmode (or “toy” mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
EnableVersion1 |
|
EnableVersion2 |
TMODE_FLAGS¶
Tmode flags
Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
DisarmOnLowThrottle |
|
ArmOnHighThrottle |
|
UpgradeToLoiter |
|
RTLStickCancel |
TMODE_LEFT¶
Tmode left action
This is the action taken when the left (Mode) button is pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_LEFT_LONG¶
Tmode left long action
This is the action taken when the left (Mode) button is long-pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
|
ModeFlowHold |
TMODE_LOAD_FILT¶
Load test filter
This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc
Range |
|
User level |
Advanced |
TMODE_LOAD_MUL¶
Load test multiplier
This scales the load test output, as a value between 0 and 1
Range |
|
Increment |
|
User level |
Advanced |
TMODE_LOAD_TYPE¶
Load test type
This sets the type of load test
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
ConstantThrust |
|
LogReplay1 |
|
LogReplay2 |
TMODE_MODE1¶
Tmode first mode
This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Stabilize |
|
Acro |
|
AltHold |
|
Auto |
|
Guided |
|
Loiter |
|
RTL |
|
Circle |
|
Land |
|
Drift |
|
Sport |
|
Flip |
|
AutoTune |
|
PosHold |
|
Brake |
|
Throw |
|
Avoid_ADSB |
|
Guided_NoGPS |
|
FlowHold |
TMODE_MODE2¶
Tmode second mode
This is the secondary mode. This mode is assumed to require GPS
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Stabilize |
|
Acro |
|
AltHold |
|
Auto |
|
Guided |
|
Loiter |
|
RTL |
|
Circle |
|
Land |
|
Drift |
|
Sport |
|
Flip |
|
AutoTune |
|
PosHold |
|
Brake |
|
Throw |
|
Avoid_ADSB |
|
Guided_NoGPS |
|
FlowHold |
TMODE_RIGHT¶
Tmode right action
This is the action taken when the right (Return) button is pressed
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
TakePhoto |
|
ToggleVideo |
|
ModeAcro |
|
ModeAltHold |
|
ModeAuto |
|
ModeLoiter |
|
ModeRTL |
|
ModeCircle |
|
ModeLand |
|
ModeDrift |
|
ModeSport |
|
ModeAutoTune |
|
ModePosHold |
|
ModeBrake |
|
ModeThrow |
|
Flip |
|
ModeStabilize |
|
Disarm |
|
ToggleMode |
|
Arm-Land-RTL |
|
ToggleSimpleMode |
|
ToggleSuperSimpleMode |
|
MotorLoadTest |
TMODE_TMAX¶
Max thrust multiplier
This sets the thrust multiplier when voltage is low
Range |
|
Increment |
|
User level |
Advanced |
TMODE_TMIN¶
Min thrust multiplier
This sets the thrust multiplier when voltage is high
Range |
|
Increment |
|
User level |
Advanced |
TMODE_TRIM_AUTO¶
Stick auto trim limit
This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500
Range |
|
User level |
Standard |
TMODE_VMAX¶
Max voltage for output limiting
This is the battery voltage above which thrust min is used
Range |
|
Increment |
|
User level |
Advanced |
TMODE_VMIN¶
Min voltage for output limiting
This is the battery voltage below which no output limiting is done
Range |
|
Increment |
|
User level |
Advanced |