APM:Copter参考手册目录5.6.2-ArduCopter Parameters 3
Ground Station Failsafe Enable (ArduCopter:FS_GCS_ENABLE)
Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds
ValueMeaning
| 0 | Disabled |
| 1 | Enabled always RTL |
| 2 | Enabled Continue with Mission in Auto Mode |
Voltage Divider (ArduCopter:VOLT_DIVIDER)
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_DIVIDER). For the 3DR Power brick, this should be set to 10.1. For the PX4 using the PX4IO power supply this should be set to 1.
Current Amps per volt (ArduCopter:AMP_PER_VOLT)
Note: This parameter is for advanced users
Used to convert the voltage on the current sensing pin (BATT_CURR_PIN) to the actual current being consumed in amps (curr pin voltage * INPUT_VOLTS/1024 * AMP_PER_VOLT )
Battery Capacity (ArduCopter:BATT_CAPACITY)
Battery capacity in milliamp-hours (mAh)
Units: mAh
Enable Compass (ArduCopter:MAG_ENABLE)
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
Enable Optical Flow (ArduCopter:FLOW_ENABLE)
Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
Low Voltage (ArduCopter:LOW_VOLT)
Set this to the voltage you want to represent low voltage
Range: 0 20
Increment: 0.1
Enable Super Simple Mode (ArduCopter:SUPER_SIMPLE)
Setting this to Enabled(1) will enable Super Simple Mode. Setting this to Disabled(0) will disable Super Simple Mode
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
RTL Final Altitude (ArduCopter:RTL_ALT_FINAL)
This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
Range: -1 1000
Increment: 1
Units: Centimeters
Battery Voltage sensing pin (ArduCopter:BATT_VOLT_PIN)
Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100.
ValueMeaning
| -1 | Disabled |
| 0 | A0 |
| 1 | A1 |
| 13 | A13 |
| 100 | PX4 |
Battery Current sensing pin (ArduCopter:BATT_CURR_PIN)
Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101.
ValueMeaning
| -1 | Disabled |
| 1 | A1 |
| 2 | A2 |
| 12 | A12 |
| 101 | PX4 |
Receiver RSSI sensing pin (ArduCopter:RSSI_PIN)
This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
ValueMeaning
| -1 | Disabled |
| 0 | A0 |
| 1 | A1 |
| 2 | A2 |
| 13 | A13 |
Yaw behaviour during missions (ArduCopter:WP_YAW_BEHAVIOR)
Note: This parameter is for advanced users
Determines how the autopilot controls the yaw during missions and RTL
ValueMeaning
| 0 | Never change yaw |
| 1 | Face next waypoint |
| 2 | Face next waypoint except RTL |
Waypoint Total (ArduCopter:WP_TOTAL)
Note: This parameter is for advanced users
Total number of commands in the mission stored in the eeprom. Do not update this parameter directly!
Waypoint Index (ArduCopter:WP_INDEX)
Note: This parameter is for advanced users
The index number of the command that is currently being executed. Do not update this parameter directly!
Circle radius (ArduCopter:CIRCLE_RADIUS)
Defines the radius of the circle the vehicle will fly when in Circle flight mode
Range: 1 127
Increment: 1
Units: Meters
Circle rate (ArduCopter:CIRCLE_RATE)
Circle mode’s turn rate in degrees / second. Positive to turn clockwise, negative for counter clockwise
Range: -90 90
Increment: 1
Units: deg/s
RTL loiter time (ArduCopter:RTL_LOIT_TIME)
Time (in milliseconds) to loiter above home before begining final descent
Range: 0 60000
Increment: 1000
Units: ms
Land speed (ArduCopter:LAND_SPEED)
The descent speed for the final stage of landing in cm/s
Range: 20 200
Increment: 10
Units: cm/s
Pilot maximum vertical speed (ArduCopter:PILOT_VELZ_MAX)
The maximum vertical velocity the pilot may request in cm/s
Range: 10 500
Increment: 10
Units: Centimeters/Second
Minimum Throttle (ArduCopter:THR_MIN)
The minimum throttle that will be sent to the motors to keep them spinning
Range: 0 1000
Increment: 1
Units: ms
Maximum Throttle (ArduCopter:THR_MAX)
The maximum throttle that will be sent to the motors
Range: 0 1000
Increment: 1
Units: ms
Throttle Failsafe Enable (ArduCopter:FS_THR_ENABLE)
The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
ValueMeaning
| 0 | Disabled |
| 1 | Enabled always RTL |
| 2 | Enabled Continue with Mission in Auto Mode |
| 3 | Enabled always LAND |
Throttle Failsafe Value (ArduCopter:FS_THR_VALUE)
The PWM level on channel 3 below which throttle sailsafe triggers
Range: 925 1100
Increment: 1
Units: ms
Throttle Trim (ArduCopter:TRIM_THROTTLE)
The autopilot’s estimate of the throttle required to maintain a level hover. Calculated automatically from the pilot’s throttle input while in stabilize mode
Range: 0 1000
Units: ms
Throttle Mid Position (ArduCopter:THR_MID)
The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
Range: 300 700
Increment: 1
Flight Mode 1 (ArduCopter:FLTMODE1)
Flight mode when Channel 5 pwm is <= 1230
ValueMeaning
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 9 | Land |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Flight Mode 2 (ArduCopter:FLTMODE2)
Flight mode when Channel 5 pwm is >1230, <= 1360
ValueMeaning
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 9 | Land |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Flight Mode 3 (ArduCopter:FLTMODE3)
Flight mode when Channel 5 pwm is >1360, <= 1490
ValueMeaning
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 9 | Land |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Flight Mode 4 (ArduCopter:FLTMODE4)
Flight mode when Channel 5 pwm is >1490, <= 1620
ValueMeaningtr>9Land
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Flight Mode 5 (ArduCopter:FLTMODE5)
Flight mode when Channel 5 pwm is >1620, <= 1749
ValueMeaning
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 9 | Land |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Flight Mode 6 (ArduCopter:FLTMODE6)
Flight mode when Channel 5 pwm is >=1750
ValueMeaning
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 8 | Position |
| 9 | Land |
| 10 | OF_Loiter |
| 11 | ToyA |
| 12 | ToyM |
Simple mode bitmask (ArduCopter:SIMPLE)
Note: This parameter is for advanced users
Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
Log bitmask (ArduCopter:LOG_BITMASK)
Note: This parameter is for advanced users
2 byte bitmap of log types to enable
ValueMeaning
| 0 | Disabled |
| 830 | Default |
| 958 | Default+IMU |
| 1854 | Default+Motors |
| 17214 | Default+INav |
Toy Yaw Rate (ArduCopter:TOY_RATE)
Note: This parameter is for advanced users
Controls yaw rate in Toy mode. Higher values will cause a slower yaw rate. Do not set to zero!
Range: 1 10
ESC Calibration (ArduCopter:ESC)
Note: This parameter is for advanced users
Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
ValueMeaning
| 0 | Normal Start-up |
| 1 | Start-up in ESC Calibration mode |
Channel 6 Tuning (ArduCopter:TUNE)
Controls which parameters (normally PID gains) are being tuned with transmitter’s channel 6 knob
ValueMeaning
| 0 | None |
| 1 | Stab Roll/Pitch kP |
| 4 | Rate Roll/Pitch kP |
| 5 | Rate Roll/Pitch kI |
| 21 | Rate Roll/Pitch kD |
| 3 | Stab Yaw kP |
| 6 | Rate Yaw kP |
| 26 | Rate Yaw kD |
| 14 | Altitude Hold kP |
| 7 | Throttle Rate kP |
| 37 | Throttle Rate kD |
| 34 | Throttle Accel kP |
| 35 | Throttle Accel kI |
| 36 | Throttle Accel kD |
| 12 | Loiter Pos kP |
| 22 | Loiter Rate kP |
| 28 | Loiter Rate kI |
| 23 | Loiter Rate kD |
| 10 | WP Speed |
| 25 | Acro kP |
| 9 | Relay On/Off |
| 13 | Heli Ext Gyro |
| 17 | OF Loiter kP |
| 18 | OF Loiter kI |
| 19 | OF Loiter kD |
| 30 | AHRS Yaw kP |
| 31 | AHRS kP |
| 32 | INAV_TC |
| 38 | Declination |
| 39 | Circle Rate |
Tuning minimum (ArduCopter:TUNE_LOW)
The minimum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob
Range: 0 32767
Tuning maximum (ArduCopter:TUNE_HIGH)
The maximum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob
Range: 0 32767
Frame Orientation (+, X or V) (ArduCopter:FRAME)
Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
ValueMeaning
Channel 7 option (ArduCopter:CH7_OPT)
Select which function if performed when CH7 is above 1800 pwm
ValueMeaning
| 0 | Do Nothing |
| 2 | Flip |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 8 | Multi Mode |
| 9 | Camera Trigger |
| 10 | Sonar |
| 11 | Fence |
| 12 | ResetToArmedYaw |
Channel 8 option (ArduCopter:CH8_OPT)
Select which function if performed when CH8 is above 1800 pwm
ValueMeaning
| 0 | Do Nothing |
| 2 | Flip |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 8 | Multi Mode |
| 9 | Camera Trigger |
| 10 | Sonar |
| 11 | Fence |
| 12 | ResetToArmedYaw |
Arming check (ArduCopter:ARMING_CHECK)
Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer and compass
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |
Rate Pitch Feed Forward (ArduCopter:RATE_PIT_FF)
Rate Pitch Feed Forward (for TradHeli Only)
Range: 0 10
Rate Roll Feed Forward (ArduCopter:RATE_RLL_FF)
Rate Roll Feed Forward (for TradHeli Only)
Range: 0 10
Rate Yaw Feed Forward (ArduCopter:RATE_YAW_FF)
Rate Yaw Feed Forward (for TradHeli Only)
Range: 0 10
ESC Update Speed (ArduCopter:RC_SPEED)
Note: This parameter is for advanced users
This is the speed in Hertz that your ESCs will receive updates
Range: 50 490
Increment: 1
Units: Hz
Acro P gain (ArduCopter:ACRO_P)
Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode. Higher values mean faster rate of rotation.
Range: 1 10
Acro Axis (ArduCopter:AXIS_ENABLE)
Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)
ValueMeaning
| 0 | Disabled |
| 1 | Enabled |