<short_desc>Body X axis angular velocity D gain</short_desc>
<long_desc>Body X axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<short_desc>Body X axis angular velocity integrator limit</short_desc>
<long_desc>Body X axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.</long_desc>
<short_desc>Body X axis angular velocity controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_X_K * (AVC_X_P * error + AVC_X_I * error_integral + AVC_X_D * error_derivative) Set AVC_X_P=1 to implement a PID in the ideal form. Set AVC_X_K=1 to implement a PID in the parallel form.</long_desc>
<short_desc>Body Y axis angular velocity D gain</short_desc>
<long_desc>Body Y axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<short_desc>Body Y axis angular velocity integrator limit</short_desc>
<long_desc>Body Y axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.</long_desc>
<short_desc>Body Y axis angular velocity controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_Y_K * (AVC_Y_P * error + AVC_Y_I * error_integral + AVC_Y_D * error_derivative) Set AVC_Y_P=1 to implement a PID in the ideal form. Set AVC_Y_K=1 to implement a PID in the parallel form.</long_desc>
<short_desc>Body Z axis angular velocity D gain</short_desc>
<long_desc>Body Z axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<short_desc>Body Z axis angular velocity integrator limit</short_desc>
<long_desc>Body Z axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</long_desc>
<short_desc>Body Z axis angular velocity controller gain</short_desc>
<long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_Z_K * (AVC_Z_P * error + AVC_Z_I * error_integral + AVC_Z_D * error_derivative) Set AVC_Z_P=1 to implement a PID in the ideal form. Set AVC_Z_K=1 to implement a PID in the parallel form.</long_desc>
<min>0.0</min>
<max>5.0</max>
<decimal>4</decimal>
<increment>0.0005</increment>
</parameter>
<parametername="AVC_Z_P"default="7."type="FLOAT">
<short_desc>Body Z axis angular velocity P gain</short_desc>
<long_desc>Body Z axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<short_desc>Acceleration compensation based on GPS
@ -1404,6 +1551,340 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
@@ -1404,6 +1551,340 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<short_desc>Battery power level scaler</short_desc>
<long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
<short_desc>Thrust coefficient of rotor 0</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT0_MIN and CA_ACT0_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 0</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 1</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT1_MIN and CA_ACT1_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 1</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust, Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 2</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT2_MIN and CA_ACT2_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 2</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 3</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT3_MIN and CA_ACT3_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 3</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 4</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT4_MIN and CA_ACT4_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 4</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 5</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT5_MIN and CA_ACT5_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 5</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 6</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT6_MIN and CA_ACT6_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 6</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
<short_desc>Thrust coefficient of rotor 7</short_desc>
<long_desc>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT7_MIN and CA_ACT7_MAX) is the output signal sent to the motor controller.</long_desc>
<short_desc>Moment coefficient of rotor 7</short_desc>
<long_desc>The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</long_desc>
@ -12402,6 +12883,50 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
@@ -12402,6 +12883,50 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
PX4BuildBot
4 years ago