WVANE_ parameters

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

WVANE_ANG_MIN

Weathervaning min angle

The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.

Units	deg
Range	0 to 10
Increment	0.1
User level	Standard

WVANE_ENABLE

Enable

Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.

User level

Standard

Values

Value	Meaning
-1	Only use during takeoffs or landing see weathervane takeoff and land override parameters
0	Disabled
1	Nose into wind
2	Nose or tail into wind
3	Side into wind
4	tail into wind

WVANE_GAIN

Weathervaning gain

This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.

Range	0.5 to 4
Increment	0.1
User level	Standard

WVANE_HGT_MIN

Weathervaning min height

Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning.

Units	m
Range	0 to 50
Increment	1
User level	Standard

WVANE_LAND

Landing override

Override the weather vaning behaviour when in landing

User level

Standard

Values

Value	Meaning
-1	No override
0	Disabled
1	Nose into wind
2	Nose or tail into wind
3	Side into wind
4	tail into wind

WVANE_OPTIONS

Weathervaning options

Options impacting weathervaning behaviour

User level

Standard

Bitmask

Value	Meaning
0	Use pitch when nose or tail-in for faster weathervaning

WVANE_SPD_MAX

Weathervaning max ground speed

Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.

Units	m/s
Range	0 to 50
Increment	0.1
User level	Standard

WVANE_TAKEOFF

Takeoff override

Override the weather vaning behaviour when in takeoffs

User level

Standard

Values

Value	Meaning
-1	No override
0	Disabled
1	Nose into wind
2	Nose or tail into wind
3	Side into wind
4	tail into wind

WVANE_VELZ_MAX

Weathervaning max vertical speed

The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.

Units	m/s
Range	0 to 5
Increment	0.1
User level	Standard