WP_ parameters

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

WP_ACC

Waypoint Acceleration

Horizontal acceleration in m/s/s used during missions

Units	m/s/s
Range	0.50 to 5.00
Increment	0.10
User level	Standard

WP_ACC_CNR

Waypoint Cornering Acceleration

Maximum cornering acceleration in m/s/s used during missions. If zero uses 2x accel value.

Units	m/s/s
Range	0 to 5.00
Increment	0.10
User level	Standard

WP_ACC_Z

Waypoint Vertical Acceleration

Vertical acceleration in m/s/s used during missions

Units	m/s/s
Range	0.50 to 5.00
Increment	0.10
User level	Standard

WP_JERK

Waypoint Jerk

Defines the horizontal jerk in m/s/s used during missions

Units	m/s/s/s
Range	1 to 20
User level	Standard

WP_RADIUS_M

Waypoint Radius

Distance from a waypoint, that when crossed indicates the wp has been reached.

Units	m
Range	0.05 to 10.00
Increment	0.01
User level	Standard

WP_RFND_USE

Waypoint missions use rangefinder for terrain following

This controls if waypoint missions use rangefinder for terrain following

User level

Advanced

Values

Value	Meaning
0	Disable
1	Enable

WP_SPD

Waypoint Horizontal Speed Target

Speed in m/s which the aircraft will attempt to maintain horizontally during a WP mission

Units	m/s
Range	0.10 to 20.00
Increment	0.10
User level	Standard

WP_SPD_DN

Waypoint Descent Speed Target

Speed in m/s which the aircraft will attempt to maintain while descending during a WP mission

Units	m/s
Range	0.10 to 10.00
Increment	0.10
User level	Standard

WP_SPD_UP

Waypoint Climb Speed Target

Speed in m/s which the aircraft will attempt to maintain while climbing during a WP mission

Units	m/s
Range	0.10 to 10.00
Increment	0.10
User level	Standard

WP_TER_MARGIN

Waypoint Terrain following altitude margin

Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)

Units	m
Range	0.1 to 100
User level	Advanced