APM:Copter参考手册目录5.6.4-ArduCopter Parameters 5
RC dead-zone (RC9_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC9_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC12_ Parameters RC min PWM (RC12_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC12_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC12_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC12_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC12_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC12_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder CAM_ Parameters Camera shutter (trigger) type (CAM_TRIGG_TYPE) how to trigger the camera to take a picture ValueMeaning 0 Servo 1 Relay Duration that shutter is held open (CAM_DURATION) How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds) Range: 0 50 Servo ON PWM value (CAM_SERVO_ON) PWM value to move servo to when shutter is activated Range: 1000 2000 Servo OFF PWM value (CAM_SERVO_OFF) PWM value to move servo to when shutter is deactivated Range: 1000 2000 Camera trigger distance (CAM_TRIGG_DIST) Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in Range: 0 1000 RELAY_ Parameters Relay Pin (RELAY_PIN) Digital pin number for relay control. This is normally 47 for the APM1 relay, 13 for the A9 pin on APM2 and 111 for the high power relay pin on the PX4. COMPASS_ Parameters Compass offsets on the X axis (COMPASS_OFS_X) Offset to be added to the compass x-axis values to compensate for metal in the frame Range: -400 400 Increment: 1 Compass offsets on the Y axis (COMPASS_OFS_Y) Offset to be added to the compass y-axis values to compensate for metal in the frame Range: -400 400 Increment: 1 Compass offsets on the Z axis (COMPASS_OFS_Z) Offset to be added to the compass z-axis values to compensate for metal in the frame Range: -400 400 Increment: 1 Compass declination (COMPASS_DEC) An angle to compensate between the true north and magnetic north Range: -3.142 3.142 Increment: 0.01 Units: Radians Learn compass offsets automatically (COMPASS_LEARN) Note: This parameter is for advanced users Enable or disable the automatic learning of compass offsets ValueMeaning 0 Disabled 1 Enabled Use compass for yaw (COMPASS_USE) Note: This parameter is for advanced users Enable or disable the use of the compass (instead of the GPS) for determining heading ValueMeaning 0 Disabled 1 Enabled Auto Declination (COMPASS_AUTODEC) Note: This parameter is for advanced users Enable or disable the automatic calculation of the declination based on gps location ValueMeaning 0 Disabled 1 Enabled Motor interference compensation type (COMPASS_MOTCT) Set motor interference compensation type to disabled, throttle or current. Do not change manually. ValueMeaning 0 Disabled 1 Use Throttle 2 Use Current Increment: 1 Motor interference compensation for body frame X axis (COMPASS_MOT_X) Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference Range: -1000 1000 Increment: 1 Units: Offset per Amp or at Full Throttle Motor interference compensation for body frame Y axis (COMPASS_MOT_Y) Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference Range: -1000 1000 Increment: 1 Units: Offset per Amp or at Full Throttle Motor interference compensation for body frame Z axis (COMPASS_MOT_Z) Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference Range: -1000 1000 Increment: 1 Units: Offset per Amp or at Full Throttle Compass orientation (COMPASS_ORIENT) The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. NOTE: This orientation is combined with any AHRS_ORIENTATION setting. ValueMeaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw136 24 Pitch90 25 Pitch270 INS_ Parameters IMU Product ID (INS_PRODUCT_ID) Which type of IMU is installed (read-only) Accelerometer scaling of X axis (INS_ACCSCAL_X) Note: This parameter is for advanced users Accelerometer scaling of X axis. Calculated during acceleration calibration routine Range: 0.8 1.2 Accelerometer scaling of Y axis (INS_ACCSCAL_Y) Note: This parameter is for advanced users Accelerometer scaling of Y axis Calculated during acceleration calibration routine Range: 0.8 1.2 Accelerometer scaling of Z axis (INS_ACCSCAL_Z) Note: This parameter is for advanced users Accelerometer scaling of Z axis Calculated during acceleration calibration routine Range: 0.8 1.2 Accelerometer offsets of X axis (INS_ACCOFFS_X) Note: This parameter is for advanced users Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations Range: -300 300 Units: m/s/s Accelerometer offsets of Y axis (INS_ACCOFFS_Y) Note: This parameter is for advanced users Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations Range: -300 300 Units: m/s/s Accelerometer offsets of Z axis (INS_ACCOFFS_Z) Note: This parameter is for advanced users Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations Range: -300 300 Units: m/s/s Gyro offsets of X axis (INS_GYROFFS_X) Note: This parameter is for advanced users Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations Units: rad/s Gyro offsets of Y axis (INS_GYROFFS_Y) Note: This parameter is for advanced users Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations Units: rad/s Gyro offsets of Z axis (INS_GYROFFS_Z) Note: This parameter is for advanced users Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations Units: rad/s MPU6000 filter frequency (INS_MPU6K_FILTER) Note: This parameter is for advanced users Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation ValueMeaning 0 Default 5 5Hz 10 10Hz 20 20Hz 42 42Hz 98 98Hz Units: Hz INAV_ Parameters Horizontal Time Constant (INAV_TC_XY) Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate Range: 0 10 Increment: 0.1 Vertical Time Constant (INAV_TC_Z) Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate Range: 0 10 Increment: 0.1 SR0_ Parameters Horizontal Time Constant (SR0_TC_XY) Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate Range: 0 10 Increment: 0.1 Vertical Time Constant (SR0_TC_Z) Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate Range: 0 10 Increment: 0.1 SR3_ Parameters Horizontal Time Constant (SR3_TC_XY) Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate Range: 0 10 Increment: 0.1 Vertical Time Constant (SR3_TC_Z) Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate Range: 0 10 Increment: 0.1 AHRS_ Parameters AHRS GPS gain (AHRS_GPS_GAIN) This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0. Range: 0.0 1.0 Increment: .01 AHRS use GPS for navigation (AHRS_GPS_USE) Note: This parameter is for advanced users This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won’t be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. ValueMeaning 0 Disabled 1 Enabled Yaw P (AHRS_YAW_P) This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly. Range: 0.1 0.4 Increment: .01 AHRS RP_P (AHRS_RP_P) This controls how fast the accelerometers correct the attitude Range: 0.1 0.4 Increment: .01 Maximum wind (AHRS_WIND_MAX) This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. Range: 0 127 Increment: 1 Units: m/s AHRS Trim Roll (AHRS_TRIM_X) Note: This parameter is for advanced users Compensates for the roll angle difference between the control board and the frame Range: -10 10 Units: Radians AHRS Trim Pitch (AHRS_TRIM_Y) Note: This parameter is for advanced users Compensates for the pitch angle difference between the control board and the frame Range: -10 10 Units: Radians AHRS Trim Yaw (AHRS_TRIM_Z) Note: This parameter is for advanced users Not Used Range: -10 10 Units: Radians Board Orientation (AHRS_ORIENTATION) Note: This parameter is for advanced users Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle. ValueMeaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw135 24 Pitch90 25 Pitch270 AHRS Velocity Complmentary Filter Beta Coefficient (AHRS_COMP_BETA) Note: This parameter is for advanced users This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less. Range: 0.001 0.5 Increment: .01 AHRS GPS Minimum satellites (AHRS_GPS_MINSATS) Note: This parameter is for advanced users Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers. Range: 0 10 Increment: 1 MNT_ Parameters Mount operation mode (MNT_MODE) Camera or antenna mount operation mode ValueMeaning 0 retract 1 neutral 2 MavLink_targeting 3 RC_targeting 4 GPS_point Mount roll angle when in retracted position (MNT_RETRACT_X) Mount roll angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y) Mount tilt/pitch angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z) Mount yaw/pan angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount roll angle when in neutral position (MNT_NEUTRAL_X) Mount roll angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y) Mount tilt/pitch angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z) Mount pan/yaw angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount roll angle command from groundstation (MNT_CONTROL_X) Mount roll angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle command from groundstation (MNT_CONTROL_Y) Mount tilt/pitch angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount pan/yaw angle command from groundstation (MNT_CONTROL_Z) Mount pan/yaw angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Stabilize mount’s pitch/tilt angle (MNT_STAB_TILT) enable tilt/pitch stabilisation relative to Earth ValueMeaning 0 Disabled 1 Enabled Stabilize mount pan/yaw angle (MNT_STAB_PAN) enable pan/yaw stabilisation relative to Earth ValueMeaning 0 Disabled 1 Enabled roll RC input channel (MNT_RC_IN_ROLL) 0 for none, any other for the RC channel to be used to control roll movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum roll angle (MNT_ANGMIN_ROL) Minimum physical roll angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum roll angle (MNT_ANGMAX_ROL) Maximum physical roll angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees tilt (pitch) RC input channel (MNT_RC_IN_TILT) 0 for none, any other for the RC channel to be used to control tilt (pitch) movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum tilt angle (MNT_ANGMIN_TIL) Minimum physical tilt (pitch) angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum tilt angle (MNT_ANGMAX_TIL) Maximum physical tilt (pitch) angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees pan (yaw) RC input channel (MNT_RC_IN_PAN) 0 for none, any other for the RC channel to be used to control pan (yaw) movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum pan angle (MNT_ANGMIN_PAN) Minimum physical pan (yaw) angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum pan angle (MNT_ANGMAX_PAN) Maximum physical pan (yaw) angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees mount joystick speed (MNT_JSTICK_SPD) 0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second. Range: 0 100 Increment: 1 MNT2_ Parameters Mount operation mode (MNT2_MODE) Camera or antenna mount operation mode ValueMeaning 0 retract 1 neutral 2 MavLink_targeting 3 RC_targeting 4 GPS_point Mount roll angle when in retracted position (MNT2_RETRACT_X) Mount roll angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle when in retracted position (MNT2_RETRACT_Y) Mount tilt/pitch angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount yaw/pan angle when in retracted position (MNT2_RETRACT_Z) Mount yaw/pan angle when in retracted position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount roll angle when in neutral position (MNT2_NEUTRAL_X) Mount roll angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y) Mount tilt/pitch angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z) Mount pan/yaw angle when in neutral position Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount roll angle command from groundstation (MNT2_CONTROL_X) Mount roll angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount tilt/pitch angle command from groundstation (MNT2_CONTROL_Y) Mount tilt/pitch angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Mount pan/yaw angle command from groundstation (MNT2_CONTROL_Z) Mount pan/yaw angle when in MavLink or RC control operation mode Range: -18000 17999 Increment: 1 Units: Centi-Degrees Stabilize mount’s pitch/tilt angle (MNT2_STAB_TILT) enable tilt/pitch stabilisation relative to Earth ValueMeaning 0 Disabled 1 Enabled Stabilize mount pan/yaw angle (MNT2_STAB_PAN) enable pan/yaw stabilisation relative to Earth ValueMeaning 0 Disabled 1 Enabled roll RC input channel (MNT2_RC_IN_ROLL) 0 for none, any other for the RC channel to be used to control roll movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum roll angle (MNT2_ANGMIN_ROL) Minimum physical roll angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum roll angle (MNT2_ANGMAX_ROL) Maximum physical roll angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees tilt (pitch) RC input channel (MNT2_RC_IN_TILT) 0 for none, any other for the RC channel to be used to control tilt (pitch) movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum tilt angle (MNT2_ANGMIN_TIL) Minimum physical tilt (pitch) angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum tilt angle (MNT2_ANGMAX_TIL) Maximum physical tilt (pitch) angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees pan (yaw) RC input channel (MNT2_RC_IN_PAN) 0 for none, any other for the RC channel to be used to control pan (yaw) movements ValueMeaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 Minimum pan angle (MNT2_ANGMIN_PAN) Minimum physical pan (yaw) angular position of mount. Range: -18000 17999 Increment: 1 Units: Centi-Degrees Maximum pan angle (MNT2_ANGMAX_PAN) Maximum physical pan (yaw) angular position of the mount Range: -18000 17999 Increment: 1 Units: Centi-Degrees mount joystick speed (MNT2_JSTICK_SPD) 0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second. Range: 0 100 Increment: 1 GND_ Parameters Absolute Pressure (GND_ABS_PRESS) calibrated ground pressure in Pascals Increment: 1 ground temperature (GND_TEMP) calibrated ground temperature in degrees Celsius Increment: 1 altitude offset (GND_ALT_OFFSET) altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed. Range: -128 127 Increment: 1 Units: meters SCHED_ Parameters Scheduler debug level (SCHED_DEBUG) Note: This parameter is for advanced users Set to non-zero to enable scheduler debug messages ValueMeaning 0 Disabled 1 ShowSlipe 2 ShowOverruns H_ Parameters Servo 1 Position (H_SV1_POS) This is the angular location of swash servo #1. Range: -180 180 Increment: 1 Units: Degrees Servo 2 Position (H_SV2_POS) This is the angular location of swash servo #2. Range: -180 180 Increment: 1 Units: Degrees Servo 3 Position (H_SV3_POS) This is the angular location of swash servo #3. Range: -180 180 Increment: 1 Units: Degrees Maximum Roll Angle (H_ROL_MAX) Note: This parameter is for advanced users This is the maximum allowable roll of the swash plate. Range: 0 18000 Increment: 1 Units: Degrees Maximum Pitch Angle (H_PIT_MAX) Note: This parameter is for advanced users This is the maximum allowable pitch of the swash plate. Range: 0 18000 Increment: 1 Units: Degrees Collective Pitch Minimum (H_COL_MIN) This controls the lowest possible servo position for the swashplate. Range: 1000 2000 Increment: 1 Units: PWM Collective Pitch Maximum (H_COL_MAX) This controls the highest possible servo position for the swashplate. Range: 1000 2000 Increment: 1 Units: PWM Collective Pitch Mid-Point (H_COL_MID) This is the swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades). Range: 1000 2000 Increment: 1 Units: PWM External Gyro Enabled (H_GYR_ENABLE) Setting this to Enabled(1) will enable an external rudder gyro control which means outputting a gain on channel 7 and using a simpler heading control algorithm. Setting this to Disabled(0) will disable the external gyro gain on channel 7 and revert to a more complex yaw control algorithm. ValueMeaning 0 Disabled 1 Enabled Swash Plate Type (H_SWASH_TYPE) Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed “H1″. External Gyro Gain (H_GYR_GAIN) This is the PWM which is passed to the external gyro when external gyro is enabled. Range: 1000 2000 Increment: 1 Units: PWM Manual Servo Mode (H_SV_MAN) Setting this to Enabled(1) will pass radio inputs directly to servos. Setting this to Disabled(0) will enable Arducopter control of servos. This is only meant to be used by the Mission Planner using swash plate set-up. ValueMeaning 0 Disabled 1 Enabled Swashplate Phase Angle Compensation (H_PHANG) Note: This parameter is for advanced users This corrects for phase angle errors of the helicopter main rotor head. For example if pitching the swash forward also induces a roll, that effect can be offset with this parameter. Range: -90 90 Increment: 1 Units: Degrees Collective-Yaw Mixing (H_COLYAW) This is a feed-forward compensation to automatically add rudder input when collective pitch is increased. Range: 0 5 External Motor Governor Setpoint (H_GOV_SETPOINT) This is the PWM which is passed to the external motor governor when external governor is enabled. Range: 1000 2000 Increment: 10 Units: PWM Rotor Speed Control Mode (H_RSC_MODE) This sets which ESC control mode is active. Range: 1 3 RSC Ramp Rate (H_RSC_RATE) This sets the time the RSC takes to ramp up to full speed (Soft Start). Range: 0 6000 Units: Seconds Flybar Mode Selector (H_FLYBAR_MODE) This sets which acro mode is active. (0) is Flybarless (1) is Mechanical Flybar Range: 0 1 Stabilize Throttle Minimum (H_STAB_COL_MIN) This is the minimum collective setpoint in Stabilize Mode Range: 0 50 Increment: 1 Units: 1% Stabilize Throttle Maximum (H_STAB_COL_MAX) This is the maximum collective setpoint in Stabilize Mode Range: 50 100 Increment: 1 Units: 1% MOT_ Parameters Thrust Curve Enable (MOT_TCRV_ENABLE) Controls whether a curve is used to linearize the thrust produced by the motors ValueMeaning 0 Disabled 1 Enable Thrust Curve mid-point percentage (MOT_TCRV_MIDPCT) Set the pwm position that produces half the maximum thrust of the motors Range: 20 80 Thrust Curve max thrust percentage (MOT_TCRV_MAXPCT) Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept. Range: 20 80 RCMAP_ Parameters Roll channel (RCMAP_ROLL) Note: This parameter is for advanced users Roll channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Range: 1 8 Increment: 1 Pitch channel (RCMAP_PITCH) Note: This parameter is for advanced users Pitch channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Range: 1 8 Increment: 1 Throttle channel (RCMAP_THROTTLE) Note: This parameter is for advanced users Throttle channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Range: 1 8 Increment: 1 Yaw channel (RCMAP_YAW) Note: This parameter is for advanced users Yaw channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Range: 1 8 Increment: 1
APM:Copter参考手册目录5.6.3-ArduCopter Parameters 4
Acro Balance Roll (ArduCopter:ACRO_BAL_ROLL) Note: This parameter is for advanced users rate at which roll angle returns to level in acro mode Range: 0 300 Increment: 1 Acro Balance Pitch (ArduCopter:ACRO_BAL_PITCH) Note: This parameter is for advanced users rate at which pitch angle returns to level in acro mode Range: 0 300 Increment: 1 Acro Trainer Enabled (ArduCopter:ACRO_TRAINER) Note: This parameter is for advanced users Set to 1 (Enabled) to make roll return to within 45 degrees of level automatically ValueMeaning 0 Disabled 1 Enabled Copter LED Mode (ArduCopter:LED_MODE) bitmap to control the copter led mode ValueMeaning 0 Disabled 1 Enable 2 GPS On 4 Aux 8 Buzzer 16 Oscillate 32 Nav Blink 64 GPS Nav Blink Roll axis rate controller P gain (ArduCopter:RATE_RLL_P) Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output Range: 0.08 0.20 Increment: 0.005 Roll axis rate controller I gain (ArduCopter:RATE_RLL_I) Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate Range: 0.01 0.5 Increment: 0.01 Roll axis rate controller I gain maximum (ArduCopter:RATE_RLL_IMAX) Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output Range: 0 500 Increment: 10 Units: ms Roll axis rate controller D gain (ArduCopter:RATE_RLL_D) Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate Range: 0.001 0.008 Increment: 0.001 Pitch axis rate controller P gain (ArduCopter:RATE_PIT_P) Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output Range: 0.08 0.20 Increment: 0.005 Pitch axis rate controller I gain (ArduCopter:RATE_PIT_I) Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate Range: 0.01 0.5 Increment: 0.01 Pitch axis rate controller I gain maximum (ArduCopter:RATE_PIT_IMAX) Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output Range: 0 500 Increment: 10 Units: ms Pitch axis rate controller D gain (ArduCopter:RATE_PIT_D) Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate Range: 0.001 0.008 Increment: 0.001 Yaw axis rate controller P gain (ArduCopter:RATE_YAW_P) Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output Range: 0.150 0.250 Increment: 0.005 Yaw axis rate controller I gain (ArduCopter:RATE_YAW_I) Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate Range: 0.010 0.020 Increment: 0.01 Yaw axis rate controller I gain maximum (ArduCopter:RATE_YAW_IMAX) Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output Range: 0 500 Increment: 10 Units: ms Yaw axis rate controller D gain (ArduCopter:RATE_YAW_D) Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate Range: 0.000 0.001 Increment: 0.001 Loiter latitude rate controller P gain (ArduCopter:LOITER_LAT_P) Loiter latitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the latitude direction Range: 0.1 6.0 Increment: 0.1 Loiter latitude rate controller I gain (ArduCopter:LOITER_LAT_I) Loiter latitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the latitude direction Range: 0.02 1.00 Increment: 0.01 Loiter rate controller I gain maximum (ArduCopter:LOITER_LAT_IMAX) Loiter rate controller I gain maximum. Constrains the lean angle that the I gain will output Range: 0 4500 Increment: 10 Units: Centi-Degrees Loiter latitude rate controller D gain (ArduCopter:LOITER_LAT_D) Loiter latitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed Range: 0.0 0.6 Increment: 0.01 Loiter longitude rate controller P gain (ArduCopter:LOITER_LON_P) Loiter longitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the longitude direction Range: 0.1 6.0 Increment: 0.1 Loiter longitude rate controller I gain (ArduCopter:LOITER_LON_I) Loiter longitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the longitude direction Range: 0.02 1.00 Increment: 0.01 Loiter longitude rate controller I gain maximum (ArduCopter:LOITER_LON_IMAX) Loiter longitude rate controller I gain maximum. Constrains the lean angle that the I gain will output Range: 0 4500 Increment: 10 Units: Centi-Degrees Loiter longituderate controller D gain (ArduCopter:LOITER_LON_D) Loiter longitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed Range: 0.0 0.6 Increment: 0.01 Throttle rate controller P gain (ArduCopter:THR_RATE_P) Throttle rate 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 Range: 1.000 8.000 Throttle rate controller I gain (ArduCopter:THR_RATE_I) Throttle rate controller I gain. Corrects long-term difference in desired vertical speed and actual speed Range: 0.000 0.100 Throttle rate controller I gain maximum (ArduCopter:THR_RATE_IMAX) Throttle rate controller I gain maximum. Constrains the desired acceleration that the I gain will generate Range: 0 500 Units: cm/s/s Throttle rate controller D gain (ArduCopter:THR_RATE_D) Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed Range: 0.000 0.400 Throttle acceleration controller P gain (ArduCopter:THR_ACCEL_P) Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output Range: 0.500 1.500 Throttle acceleration controller I gain (ArduCopter:THR_ACCEL_I) Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration Range: 0.000 3.000 Throttle acceleration controller I gain maximum (ArduCopter:THR_ACCEL_IMAX) Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate Range: 0 500 Units: ms Throttle acceleration controller D gain (ArduCopter:THR_ACCEL_D) Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration Range: 0.000 0.400 Optical Flow based loiter controller roll axis P gain (ArduCopter:OF_RLL_P) Optical Flow based loiter controller roll axis P gain. Converts the position error from the target point to a roll angle Range: 2.000 3.000 Optical Flow based loiter controller roll axis I gain (ArduCopter:OF_RLL_I) Optical Flow based loiter controller roll axis I gain. Corrects long-term position error by more persistently rolling left or right Range: 0.250 0.750 Optical Flow based loiter controller roll axis I gain maximum (ArduCopter:OF_RLL_IMAX) Optical Flow based loiter controller roll axis I gain maximum. Constrains the maximum roll angle that the I term will generate Range: 0 4500 Units: Centi-Degrees Optical Flow based loiter controller roll axis D gain (ArduCopter:OF_RLL_D) Optical Flow based loiter controller roll axis D gain. Compensates for short-term change in speed in the roll direction Range: 0.100 0.140 Optical Flow based loiter controller pitch axis P gain (ArduCopter:OF_PIT_P) Optical Flow based loiter controller pitch axis P gain. Converts the position error from the target point to a pitch angle Range: 2.000 3.000 Optical Flow based loiter controller pitch axis I gain (ArduCopter:OF_PIT_I) Optical Flow based loiter controller pitch axis I gain. Corrects long-term position error by more persistently pitching left or right Range: 0.250 0.750 Optical Flow based loiter controller pitch axis I gain maximum (ArduCopter:OF_PIT_IMAX) Optical Flow based loiter controller pitch axis I gain maximum. Constrains the maximum pitch angle that the I term will generate Range: 0 4500 Units: Centi-Degrees Optical Flow based loiter controller pitch axis D gain (ArduCopter:OF_PIT_D) Optical Flow based loiter controller pitch axis D gain. Compensates for short-term change in speed in the pitch direction Range: 0.100 0.140 Roll axis stabilize controller P gain (ArduCopter:STB_RLL_P) Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate Range: 3.000 6.000 Roll axis stabilize controller I gain (ArduCopter:STB_RLL_I) Roll axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired roll angle and actual angle Range: 0.000 0.100 Roll axis stabilize controller I gain maximum (ArduCopter:STB_RLL_IMAX) Roll axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum roll rate that the I term will generate Range: 0 4500 Units: Centi-Degrees/Sec Pitch axis stabilize controller P gain (ArduCopter:STB_PIT_P) Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate Range: 3.000 6.000 Pitch axis stabilize controller I gain (ArduCopter:STB_PIT_I) Pitch axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired pitch angle and actual angle Range: 0.000 0.100 Pitch axis stabilize controller I gain maximum (ArduCopter:STB_PIT_IMAX) Pitch axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum pitch rate that the I term will generate Range: 0 4500 Units: Centi-Degrees/Sec Yaw axis stabilize controller P gain (ArduCopter:STB_YAW_P) Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate Range: 3.000 6.000 Yaw axis stabilize controller I gain (ArduCopter:STB_YAW_I) Yaw axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired yaw angle and actual angle Range: 0.000 0.100 Yaw axis stabilize controller I gain maximum (ArduCopter:STB_YAW_IMAX) Yaw axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum yaw rate that the I term will generate Range: 0 4500 Units: Centi-Degrees/Sec Altitude controller P gain (ArduCopter:THR_ALT_P) Altitude 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 Range: 1.000 3.000 Altitude controller I gain (ArduCopter:THR_ALT_I) Altitude controller I gain. Corrects for longer-term difference in desired altitude and actual altitude Range: 0.000 0.100 Altitude controller I gain maximum (ArduCopter:THR_ALT_IMAX) Altitude controller I gain maximum. Constrains the maximum climb rate rate that the I term will generate Range: 0 500 Units: cm/s Loiter latitude position controller P gain (ArduCopter:HLD_LAT_P) Loiter latitude 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 Range: 0.100 0.300 Loiter latitude position controller I gain (ArduCopter:HLD_LAT_I) Loiter latitude position controller I gain. Corrects for longer-term distance (in latitude) to the target location Range: 0.000 0.100 Loiter latitude position controller I gain maximum (ArduCopter:HLD_LAT_IMAX) Loiter latitude position controller I gain maximum. Constrains the maximum desired speed that the I term will generate Range: 0 3000 Units: cm/s Loiter longitude position controller P gain (ArduCopter:HLD_LON_P) Loiter longitude position controller P gain. Converts the distance (in the longitude direction) to the target location into a desired speed which is then passed to the loiter longitude rate controller Range: 0.100 0.300 Loiter longitude position controller I gain (ArduCopter:HLD_LON_I) Loiter longitude position controller I gain. Corrects for longer-term distance (in longitude direction) to the target location Range: 0.000 0.100 Loiter longitudeposition controller I gain maximum (ArduCopter:HLD_LON_IMAX) Loiter longitudeposition controller I gain maximum. Constrains the maximum desired speed that the I term will generate Range: 0 3000 Units: cm/s Library Parameters HS1_ Parameters RC min PWM (HS1_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (HS1_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (HS1_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (HS1_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (HS1_DZ) Note: This parameter is for advanced users dead zone around trim. HS2_ Parameters RC min PWM (HS2_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (HS2_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (HS2_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (HS2_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (HS2_DZ) Note: This parameter is for advanced users dead zone around trim. HS3_ Parameters RC min PWM (HS3_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (HS3_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (HS3_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (HS3_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (HS3_DZ) Note: This parameter is for advanced users dead zone around trim. HS4_ Parameters RC min PWM (HS4_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (HS4_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (HS4_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (HS4_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (HS4_DZ) Note: This parameter is for advanced users dead zone around trim. RC1_ Parameters RC min PWM (RC1_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC1_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC1_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC1_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC1_DZ) Note: This parameter is for advanced users dead zone around trim. RC2_ Parameters RC min PWM (RC2_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC2_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC2_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC2_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC2_DZ) Note: This parameter is for advanced users dead zone around trim. RC3_ Parameters RC min PWM (RC3_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC3_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC3_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC3_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC3_DZ) Note: This parameter is for advanced users dead zone around trim. RC4_ Parameters RC min PWM (RC4_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC4_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC4_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC4_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC4_DZ) Note: This parameter is for advanced users dead zone around trim. RC5_ Parameters RC min PWM (RC5_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC5_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC5_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC5_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC5_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC5_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC6_ Parameters RC min PWM (RC6_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC6_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC6_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC6_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC6_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC6_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC7_ Parameters RC min PWM (RC7_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC7_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC7_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC7_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC7_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC7_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC8_ Parameters RC min PWM (RC8_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC8_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC8_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC8_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC8_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC8_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC10_ Parameters RC min PWM (RC10_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC10_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC10_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC10_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC10_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC10_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC11_ Parameters RC min PWM (RC11_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC11_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC11_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC11_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal RC dead-zone (RC11_DZ) Note: This parameter is for advanced users dead zone around trim. Servo out function (RC11_FUNCTION) Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function ValueMeaning 0 Disabled 1 Manual 2 Flap 3 Flap_auto 4 Aileron 5 flaperon 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoiler1 17 DifferentialSpoiler2 18 AileronWithInput 19 Elevator 20 ElevatorWithInput 21 Rudder RC9_ Parameters RC min PWM (RC9_MIN) Note: This parameter is for advanced users RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC trim PWM (RC9_TRIM) Note: This parameter is for advanced users RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC max PWM (RC9_MAX) Note: This parameter is for advanced users RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. Range: 800 2200 Increment: 1 Units: ms RC reverse (RC9_REV) Note: This parameter is for advanced users Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel. ValueMeaning -1 Reversed 1 Normal
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
APM:Copter参考手册目录5.6.1-ArduCopter Parameters 2
ArduCopter Parameters Eeprom format version number (ArduCopter:SYSID_SW_MREV) Note: This parameter is for advanced users This value is incremented when changes are made to the eeprom format Software Type (ArduCopter:SYSID_SW_TYPE) Note: This parameter is for advanced users This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter) Mavlink version (ArduCopter:SYSID_THISMAV) Note: This parameter is for advanced users Allows reconising the mavlink version My ground station number (ArduCopter:SYSID_MYGCS) Note: This parameter is for advanced users Allows restricting radio overrides to only come from my ground station Telemetry Baud Rate (ArduCopter:SERIAL3_BAUD) The baud rate used on the telemetry port ValueMeaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 Telemetry startup delay (ArduCopter:TELEM_DELAY) The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up Range: 0 10 Increment: 1 Units: seconds RTL Altitude (ArduCopter:RTL_ALT) The minimum altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. Range: 0 8000 Increment: 1 Units: Centimeters Enable Sonar (ArduCopter:SONAR_ENABLE) Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar ValueMeaning 0 Disabled 1 Enabled Sonar type (ArduCopter:SONAR_TYPE) Used to adjust scaling to match the sonar used (only Maxbotix sonars are supported at this time) ValueMeaning 0 XL-EZ0 / XL-EZ4 1 LV-EZ0 2 XLL-EZ0 3 HRLV Sonar gain (ArduCopter:SONAR_GAIN) Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter Range: 0.01 0.5 Increment: 0.01 Battery monitoring (ArduCopter:BATT_MONITOR) Controls enabling monitoring of the battery’s voltage and current ValueMeaning 0 Disabled 3 Voltage Only 4 Voltage and Current Battery Failsafe Enable (ArduCopter:FS_BATT_ENABLE) Controls whether failsafe will be invoked when battery voltage or current runs low ValueMeaning 0 Disabled 1 Enabled GPS Failsafe Enable (ArduCopter:FS_GPS_ENABLE) Controls whether failsafe will be invoked when gps signal is lost ValueMeaning 0 Disabled 1 Enabled
APM:Copter参考手册目录5.6-ArduCopter Parameters
Complete Parameter List This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your APM to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. 0.0.1 Complete Parameter List1 ArduCopter Parameters1.1 Eeprom format version number (ArduCopter:SYSID_SW_MREV)1.2 Software Type (ArduCopter:SYSID_SW_TYPE)1.3 Mavlink version (ArduCopter:SYSID_THISMAV)1.4 My ground station number (ArduCopter:SYSID_MYGCS)1.5 Telemetry Baud Rate (ArduCopter:SERIAL3_BAUD)1.6 Telemetry startup delay (ArduCopter:TELEM_DELAY)1.7 RTL Altitude (ArduCopter:RTL_ALT)1.8 Enable Sonar (ArduCopter:SONAR_ENABLE)1.9 Sonar type (ArduCopter:SONAR_TYPE)1.10 Sonar gain (ArduCopter:SONAR_GAIN)1.11 Battery monitoring (ArduCopter:BATT_MONITOR)1.12 Battery Failsafe Enable (ArduCopter:FS_BATT_ENABLE)1.13 GPS Failsafe Enable (ArduCopter:FS_GPS_ENABLE)1.14 Ground Station Failsafe Enable (ArduCopter:FS_GCS_ENABLE)1.15 Voltage Divider (ArduCopter:VOLT_DIVIDER)1.16 Current Amps per volt (ArduCopter:AMP_PER_VOLT)1.17 Battery Capacity (ArduCopter:BATT_CAPACITY)1.18 Enable Compass (ArduCopter:MAG_ENABLE)1.19 Enable Optical Flow (ArduCopter:FLOW_ENABLE)1.20 Low Voltage (ArduCopter:LOW_VOLT)1.21 Enable Super Simple Mode (ArduCopter:SUPER_SIMPLE)1.22 RTL Final Altitude (ArduCopter:RTL_ALT_FINAL)1.23 Battery Voltage sensing pin (ArduCopter:BATT_VOLT_PIN)1.24 Battery Current sensing pin (ArduCopter:BATT_CURR_PIN)1.25 Receiver RSSI sensing pin (ArduCopter:RSSI_PIN)1.26 Yaw behaviour during missions (ArduCopter:WP_YAW_BEHAVIOR)1.27 Waypoint Total (ArduCopter:WP_TOTAL)1.28 Waypoint Index (ArduCopter:WP_INDEX)1.29 Circle radius (ArduCopter:CIRCLE_RADIUS)1.30 Circle rate (ArduCopter:CIRCLE_RATE)1.31 RTL loiter time (ArduCopter:RTL_LOIT_TIME)1.32 Land speed (ArduCopter:LAND_SPEED)1.33 Pilot maximum vertical speed (ArduCopter:PILOT_VELZ_MAX)1.34 Minimum Throttle (ArduCopter:THR_MIN)1.35 Maximum Throttle (ArduCopter:THR_MAX)1.36 Throttle Failsafe Enable (ArduCopter:FS_THR_ENABLE)1.37 Throttle Failsafe Value (ArduCopter:FS_THR_VALUE)1.38 Throttle Trim (ArduCopter:TRIM_THROTTLE)1.39 Throttle Mid Position (ArduCopter:THR_MID)1.40 Flight Mode 1 (ArduCopter:FLTMODE1)1.41 Flight Mode 2 (ArduCopter:FLTMODE2)1.42 Flight Mode 3 (ArduCopter:FLTMODE3)1.43 Flight Mode 4 (ArduCopter:FLTMODE4)1.44 Flight Mode 5 (ArduCopter:FLTMODE5)1.45 Flight Mode 6 (ArduCopter:FLTMODE6)1.46 Simple mode bitmask (ArduCopter:SIMPLE)1.47 Log bitmask (ArduCopter:LOG_BITMASK)1.48 Toy Yaw Rate (ArduCopter:TOY_RATE)1.49 ESC Calibration (ArduCopter:ESC)1.50 Channel 6 Tuning (ArduCopter:TUNE)1.51 Tuning minimum (ArduCopter:TUNE_LOW)1.52 Tuning maximum (ArduCopter:TUNE_HIGH)1.53 Frame Orientation (+, X or V) (ArduCopter:FRAME)1.54 >Channel 7 option (ArduCopter:CH7_OPT)1.55 Channel 8 option (ArduCopter:CH8_OPT)1.56 Arming check (ArduCopter:ARMING_CHECK)1.57 Rate Pitch Feed Forward (ArduCopter:RATE_PIT_FF)1.58 Rate Roll Feed Forward (ArduCopter:RATE_RLL_FF)1.59 Rate Yaw Feed Forward (ArduCopter:RATE_YAW_FF)1.60 ESC Update Speed (ArduCopter:RC_SPEED)1.61 Acro P gain (ArduCopter:ACRO_P)1.62 Acro Axis (ArduCopter:AXIS_ENABLE)1.63 Acro Balance Roll (ArduCopter:ACRO_BAL_ROLL)1.64 Acro Balance Pitch (ArduCopter:ACRO_BAL_PITCH)1.65 Acro Trainer Enabled (ArduCopter:ACRO_TRAINER)1.66 Copter LED Mode (ArduCopter:LED_MODE)1.67 Roll axis rate controller P gain (ArduCopter:RATE_RLL_P)1.68 Roll axis rate controller I gain (ArduCopter:RATE_RLL_I)1.69 Roll axis rate controller I gain maximum (ArduCopter:RATE_RLL_IMAX)1.70 Roll axis rate controller D gain (ArduCopter:RATE_RLL_D)1.71 Pitch axis rate controller P gain (ArduCopter:RATE_PIT_P)1.72 Pitch axis rate controller I gain (ArduCopter:RATE_PIT_I)1.73 Pitch axis rate controller I gain maximum (ArduCopter:RATE_PIT_IMAX)1.74 Pitch axis rate controller D gain (ArduCopter:RATE_PIT_D)1.75 Yaw axis rate controller P gain (ArduCopter:RATE_YAW_P)1.76 Yaw axis rate controller I gain (ArduCopter:RATE_YAW_I)1.77 Yaw axis rate controller I gain maximum (ArduCopter:RATE_YAW_IMAX)1.78 Yaw axis rate controller D gain (ArduCopter:RATE_YAW_D)1.79 Loiter latitude rate controller P gain (ArduCopter:LOITER_LAT_P)1.80 Loiter latitude rate controller I gain (ArduCopter:LOITER_LAT_I)1.81 Loiter rate controller I gain maximum (ArduCopter:LOITER_LAT_IMAX)1.82 Loiter latitude rate controller D gain (ArduCopter:LOITER_LAT_D)1.83 Loiter longitude rate controller P gain (ArduCopter:LOITER_LON_P)1.84 Loiter longitude rate controller I gain (ArduCopter:LOITER_LON_I)1.85 Loiter longitude rate controller I gain maximum (ArduCopter:LOITER_LON_IMAX)1.86 Loiter longituderate controller D gain (ArduCopter:LOITER_LON_D)1.87 Throttle rate controller P gain (ArduCopter:THR_RATE_P)1.88 Throttle rate controller I gain (ArduCopter:THR_RATE_I)1.89 Throttle rate controller I gain maximum (ArduCopter:THR_RATE_IMAX)1.90 Throttle rate controller D gain (ArduCopter:THR_RATE_D)1.91 Throttle acceleration controller P gain (ArduCopter:THR_ACCEL_P)1.92 Throttle acceleration controller I gain (ArduCopter:THR_ACCEL_I)1.93 Throttle acceleration controller I gain maximum (ArduCopter:THR_ACCEL_IMAX)1.94 Throttle acceleration controller D gain (ArduCopter:THR_ACCEL_D)1.95 Optical Flow based loiter controller roll axis P gain (ArduCopter:OF_RLL_P)1.96 Optical Flow based loiter controller roll axis I gain (ArduCopter:OF_RLL_I)1.97 Optical Flow based loiter controller roll axis I gain maximum (ArduCopter:OF_RLL_IMAX)1.98 Optical Flow based loiter controller roll axis D gain (ArduCopter:OF_RLL_D)1.99 Optical Flow based loiter controller pitch axis P gain (ArduCopter:OF_PIT_P)1.100 Optical Flow based loiter controller pitch axis I gain (ArduCopter:OF_PIT_I)1.101 Optical Flow based loiter controller pitch axis I gain maximum (ArduCopter:OF_PIT_IMAX)1.102 Optical Flow based loiter controller pitch axis D gain (ArduCopter:OF_PIT_D)1.103 Roll axis stabilize controller P gain (ArduCopter:STB_RLL_P)1.104 Roll axis stabilize controller I gain (ArduCopter:STB_RLL_I)1.105 Roll axis stabilize controller I gain maximum (ArduCopter:STB_RLL_IMAX)1.106 Pitch axis stabilize controller P gain (ArduCopter:STB_PIT_P)1.107 Pitch axis stabilize controller I gain (ArduCopter:STB_PIT_I)1.108 Pitch axis stabilize controller I gain maximum (ArduCopter:STB_PIT_IMAX)1.109 Yaw axis stabilize controller P gain (ArduCopter:STB_YAW_P)1.110 Yaw axis stabilize controller I gain (ArduCopter:STB_YAW_I)1.111 Yaw axis stabilize controller I gain maximum (ArduCopter:STB_YAW_IMAX)1.112 Altitude controller P gain (ArduCopter:THR_ALT_P)1.113 Altitude controller I gain (ArduCopter:THR_ALT_I)1.114 Altitude controller I gain maximum (ArduCopter:THR_ALT_IMAX)1.115 Loiter latitude position controller P gain (ArduCopter:HLD_LAT_P)1.116 Loiter latitude position controller I gain (ArduCopter:HLD_LAT_I)1.117 Loiter latitude position controller I gain maximum (ArduCopter:HLD_LAT_IMAX)1.118 Loiter longitude position controller P gain (ArduCopter:HLD_LON_P)1.119 Loiter longitude position controller I gain (ArduCopter:HLD_LON_I)1.120 Loiter longitudeposition controller I gain maximum (ArduCopter:HLD_LON_IMAX)2 Library Parameters3 HS1_ Parameters3.1 RC min PWM (HS1_MIN)3.2 RC trim PWM (HS1_TRIM)3.3 RC max PWM (HS1_MAX)3.4 RC reverse (HS1_REV)3.5 RC dead-zone (HS1_DZ)4 HS2_ Parameters4.1 RC min PWM (HS2_MIN)4.2 RC trim PWM (HS2_TRIM)4.3 RC max PWM (HS2_MAX)4.4 RC reverse (HS2_REV)4.5 RC dead-zone (HS2_DZ)5 HS3_ Parameters5.1 RC min PWM (HS3_MIN)5.2 RC trim PWM (HS3_TRIM)5.3 RC max PWM (HS3_MAX)5.4 RC reverse (HS3_REV)5.5 RC dead-zone (HS3_DZ)6 HS4_ Parameters6.1 RC min PWM (HS4_MIN)6.2 RC trim PWM (HS4_TRIM)6.3 RC max PWM (HS4_MAX)6.4 RC reverse (HS4_REV)6.5 RC dead-zone (HS4_DZ)7 RC1_ Parameters7.1 RC min PWM (RC1_MIN)7.2 RC trim PWM (RC1_TRIM)7.3 RC max PWM (RC1_MAX)7.4 RC reverse (RC1_REV)7.5 RC dead-zone (RC1_DZ)8 RC2_ Parameters8.1 RC min PWM (RC2_MIN)8.2 RC trim PWM (RC2_TRIM)8.3 RC max PWM (RC2_MAX)8.4 RC reverse (RC2_REV)8.5 RC dead-zone (RC2_DZ)9 RC3_ Parameters9.1 RC min PWM (RC3_MIN)9.2 RC trim PWM (RC3_TRIM)9.3 RC max PWM (RC3_MAX)9.4 RC reverse (RC3_REV)9.5 RC dead-zone (RC3_DZ)10 RC4_ Parameters10.1 RC min PWM (RC4_MIN)10.2 RC trim PWM (RC4_TRIM)10.3 RC max PWM (RC4_MAX)10.4 RC reverse (RC4_REV)10.5 RC dead-zone (RC4_DZ)11 RC5_ Parameters11.1 RC min PWM (RC5_MIN)11.2 RC trim PWM (RC5_TRIM)11.3 RC max PWM (RC5_MAX)11.4 RC reverse (RC5_REV)11.5 RC dead-zone (RC5_DZ)11.6 Servo out function (RC5_FUNCTION)12 RC6_ Parameters12.1 RC min PWM (RC6_MIN)12.2 RC trim PWM (RC6_TRIM)12.3 RC max PWM (RC6_MAX)12.4 RC reverse (RC6_REV)12.5 RC dead-zone (RC6_DZ)12.6 Servo out function (RC6_FUNCTION)13 RC7_ Parameters13.1 RC min PWM (RC7_MIN)13.2 RC trim PWM (RC7_TRIM)13.3 RC max PWM (RC7_MAX)13.4 RC reverse (RC7_REV)13.5 RC dead-zone (RC7_DZ)13.6 Servo out function (RC7_FUNCTION)14 RC8_ Parameters14.1 RC min PWM (RC8_MIN)14.2 RC trim PWM (RC8_TRIM)14.3 RC max PWM (RC8_MAX)14.4 RC reverse (RC8_REV)14.5 RC dead-zone (RC8_DZ)14.6 Servo out function (RC8_FUNCTION)15 RC10_ Parameters15.1 RC min PWM (RC10_MIN)15.2 RC trim PWM (RC10_TRIM)15.3 RC max PWM (RC10_MAX)15.4 RC reverse (RC10_REV)15.5 RC dead-zone (RC10_DZ)15.6 Servo out function (RC10_FUNCTION)16 RC11_ Parameters16.1 RC min PWM (RC11_MIN)16.2 RC trim PWM (RC11_TRIM)16.3 RC max PWM (RC11_MAX)16.4 RC reverse (RC11_REV)16.5 RC dead-zone (RC11_DZ)16.6 Servo out function (RC11_FUNCTION)17 RC9_ Parameters17.1 RC min PWM (RC9_MIN)17.2 RC trim PWM (RC9_TRIM)17.3 RC max PWM (RC9_MAX)17.4 RC reverse (RC9_REV)17.5 RC dead-zone (RC9_DZ)17.6 Servo out function (RC9_FUNCTION)18 RC12_ Parameters18.1 RC min PWM (RC12_MIN)18.2 RC trim PWM (RC12_TRIM)18.3 RC max PWM (RC12_MAX)18.4 RC reverse (RC12_REV)18.5 RC dead-zone (RC12_DZ)18.6 Servo out function (RC12_FUNCTION)19 CAM_ Parameters19.1 Camera shutter (trigger) type (CAM_TRIGG_TYPE)19.2 Duration that shutter is held open (CAM_DURATION)19.3 Servo ON PWM value (CAM_SERVO_ON)19.4 Servo OFF PWM value (CAM_SERVO_OFF)19.5 Camera trigger distance (CAM_TRIGG_DIST)20 RELAY_ Parameters20.1 Relay Pin (RELAY_PIN)21 COMPASS_ Parameters21.1 Compass offsets on the X axis (COMPASS_OFS_X)21.2 Compass offsets on the Y axis (COMPASS_OFS_Y)21.3 Compass offsets on the Z axis (COMPASS_OFS_Z)21.4 Compass declination (COMPASS_DEC)21.5 Learn compass offsets automatically (COMPASS_LEARN)21.6 Use compass for yaw (COMPASS_USE)21.7 Auto Declination (COMPASS_AUTODEC)21.8 Motor interference compensation type (COMPASS_MOTCT)21.9 Motor interference compensation for body frame X axis (COMPASS_MOT_X)21.10 Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)21.11 Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)21.12 Compass orientation (COMPASS_ORIENT)22 INS_ Parameters22.1 IMU Product ID (INS_PRODUCT_ID)22.2 Accelerometer scaling of X axis (INS_ACCSCAL_X)22.3 Accelerometer scaling of Y axis (INS_ACCSCAL_Y)22.4 Accelerometer scaling of Z axis (INS_ACCSCAL_Z)22.5 Accelerometer offsets of X axis (INS_ACCOFFS_X)22.6 Accelerometer offsets of Y axis (INS_ACCOFFS_Y)22.7 Accelerometer offsets of Z axis (INS_ACCOFFS_Z)22.8 Gyro offsets of X axis (INS_GYROFFS_X)22.9 Gyro offsets of Y axis (INS_GYROFFS_Y)22.10 Gyro offsets of Z axis (INS_GYROFFS_Z)22.11 MPU6000 filter frequency (INS_MPU6K_FILTER)23 INAV_ Parameters23.1 Horizontal Time Constant (INAV_TC_XY)23.2 Vertical Time Constant (INAV_TC_Z)24 SR0_ Parameters24.1 Horizontal Time Constant (SR0_TC_XY)24.2 Vertical Time Constant (SR0_TC_Z)25 SR3_ Parameters25.1 Horizontal Time Constant (SR3_TC_XY)25.2 Vertical Time Constant (SR3_TC_Z)26 AHRS_ Parameters26.1 AHRS GPS gain (AHRS_GPS_GAIN)26.2 AHRS use GPS for navigation (AHRS_GPS_USE)26.3 Yaw P (AHRS_YAW_P)26.4 AHRS RP_P (AHRS_RP_P)26.5 Maximum wind (AHRS_WIND_MAX)26.6 AHRS Trim Roll (AHRS_TRIM_X)26.7 AHRS Trim Pitch (AHRS_TRIM_Y)26.8 AHRS Trim Yaw (AHRS_TRIM_Z)26.9 Board Orientation (AHRS_ORIENTATION)26.10 AHRS Velocity Complmentary Filter Beta Coefficient (AHRS_COMP_BETA)26.11 AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)27 MNT_ Parameters27.1 Mount operation mode (MNT_MODE)27.2 Mount roll angle when in retracted position (MNT_RETRACT_X)27.3 Mount tilt/pitch angle when in retracted position (MNT_RETRACT_Y)27.4 Mount yaw/pan angle when in retracted position (MNT_RETRACT_Z)27.5 Mount roll angle when in neutral position (MNT_NEUTRAL_X)27.6 Mount tilt/pitch angle when in neutral position (MNT_NEUTRAL_Y)27.7 Mount pan/yaw angle when in neutral position (MNT_NEUTRAL_Z)27.8 Mount roll angle command from groundstation (MNT_CONTROL_X)27.9 Mount tilt/pitch angle command from groundstation (MNT_CONTROL_Y)27.10 Mount pan/yaw angle command from groundstation (MNT_CONTROL_Z)27.11 Stabilize mount’s pitch/tilt angle (MNT_STAB_TILT)27.12 Stabilize mount pan/yaw angle (MNT_STAB_PAN)27.13 roll RC input channel (MNT_RC_IN_ROLL)27.14 Minimum roll angle (MNT_ANGMIN_ROL)27.15 Maximum roll angle (MNT_ANGMAX_ROL)27.16 tilt (pitch) RC input channel (MNT_RC_IN_TILT)27.17 Minimum tilt angle (MNT_ANGMIN_TIL)27.18 Maximum tilt angle (MNT_ANGMAX_TIL)27.19 pan (yaw) RC input channel (MNT_RC_IN_PAN)27.20 Minimum pan angle (MNT_ANGMIN_PAN)27.21 Maximum pan angle (MNT_ANGMAX_PAN)27.22 mount joystick speed (MNT_JSTICK_SPD)28 MNT2_ Parameters28.1 Mount operation mode (MNT2_MODE)28.2 Mount roll angle when in retracted position (MNT2_RETRACT_X)28.3 Mount tilt/pitch angle when in retracted position (MNT2_RETRACT_Y)28.4 Mount yaw/pan angle when in retracted position (MNT2_RETRACT_Z)28.5 Mount roll angle when in neutral position (MNT2_NEUTRAL_X)28.6 Mount tilt/pitch angle when in neutral position (MNT2_NEUTRAL_Y)28.7 Mount pan/yaw angle when in neutral position (MNT2_NEUTRAL_Z)28.8 Mount roll angle command from groundstation (MNT2_CONTROL_X)28.9 Mount tilt/pitch angle command from groundstation (MNT2_CONTROL_Y)28.10 Mount pan/yaw angle command from groundstation (MNT2_CONTROL_Z)28.11 Stabilize mount’s pitch/tilt angle (MNT2_STAB_TILT)28.12 Stabilize mount pan/yaw angle (MNT2_STAB_PAN)28.13 roll RC input channel (MNT2_RC_IN_ROLL)28.14 Minimum roll angle (MNT2_ANGMIN_ROL)28.15 Maximum roll angle (MNT2_ANGMAX_ROL)28.16 tilt (pitch) RC input channel (MNT2_RC_IN_TILT)28.17 Minimum tilt angle (MNT2_ANGMIN_TIL)28.18 Maximum tilt angle (MNT2_ANGMAX_TIL)28.19 pan (yaw) RC input channel (MNT2_RC_IN_PAN)28.20 Minimum pan angle (MNT2_ANGMIN_PAN)28.21 Maximum pan angle (MNT2_ANGMAX_PAN)28.22 mount joystick speed (MNT2_JSTICK_SPD)29 GND_ Parameters29.1 Absolute Pressure (GND_ABS_PRESS)29.2 ground temperature (GND_TEMP)29.3 altitude offset (GND_ALT_OFFSET)30 SCHED_ Parameters30.1 Scheduler debug level (SCHED_DEBUG)31 H_ Parameters31.1 Servo 1 Position (H_SV1_POS)31.2 Servo 2 Position (H_SV2_POS)31.3 Servo 3 Position (H_SV3_POS)31.4 Maximum Roll Angle (H_ROL_MAX)31.5 Maximum Pitch Angle (H_PIT_MAX)31.6 Collective Pitch Minimum (H_COL_MIN)31.7 Collective Pitch Maximum (H_COL_MAX)31.8 Collective Pitch Mid-Point (H_COL_MID)31.9 External Gyro Enabled (H_GYR_ENABLE)31.10 Swash Plate Type (H_SWASH_TYPE)31.11 External Gyro Gain (H_GYR_GAIN)31.12 Manual Servo Mode (H_SV_MAN)31.13 Swashplate Phase Angle Compensation (H_PHANG)31.14 Collective-Yaw Mixing (H_COLYAW)31.15 External Motor Governor Setpoint (H_GOV_SETPOINT)31.16 Rotor Speed Control Mode (H_RSC_MODE)31.17 RSC Ramp Rate (H_RSC_RATE)31.18 Flybar Mode Selector (H_FLYBAR_MODE)31.19 Stabilize Throttle Minimum (H_STAB_COL_MIN)31.20 Stabilize Throttle Maximum (H_STAB_COL_MAX)32 MOT_ Parameters32.1 Thrust Curve Enable (MOT_TCRV_ENABLE)32.2 Thrust Curve mid-point percentage (MOT_TCRV_MIDPCT)32.3 Thrust Curve max thrust percentage (MOT_TCRV_MAXPCT)33 RCMAP_ Parameters33.1 Roll channel (RCMAP_ROLL)33.2 Pitch channel (RCMAP_PITCH)33.3 Throttle channel (RCMAP_THROTTLE)33.4 Yaw channel (RCMAP_YAW)