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CI authored and CI committed Mar 14, 2024
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23,341 changes: 0 additions & 23,341 deletions Copter-4.0/apm.pdef.json
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202 changes: 101 additions & 101 deletions Copter-4.4/Parameters.html
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Expand Up @@ -1403,9 +1403,9 @@ <h2>Quicktune maximum gain reduction (QUIK_MAX_REDUCE)</h2>
</ul>


<h2>Deadreckoning Enable (DR_ENABLE)</h2>
<h2>Rover Quicktune enable (RTUN_ENABLE)</h2>

<p>Deadreckoning Enable</p>
<p>Enable quicktune system</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
Expand All @@ -1414,81 +1414,94 @@ <h2>Deadreckoning Enable (DR_ENABLE)</h2>
</ul>


<h2>Deadreckoning Enable Distance (DR_ENABLE_DIST)</h2>
<h2>Rover Quicktune axes (RTUN_AXES)</h2>

<p>Distance from home (in meters) beyond which the dead reckoning will be enabled</p>
<p>axes to tune</p>
<ul>
<li>Units: meters</li>
<li>Bitmask: 0:Steering,1:Speed</li>
</ul>


<h2>Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)</h2>
<h2>Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)</h2>

<p>GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy</p>
<p>Ratio between measured response and FF gain. Raise this to get a higher FF gain</p>
<ul>
<li>Range: 0 10</li>
<li>Range: 0 1.0</li>
</ul>


<h2>Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)</h2>
<h2>Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)</h2>

<p>GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count</p>
<p>Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged</p>
<ul>
<li>Range: 0 30</li>
<li>Range: 0 2.0</li>
</ul>


<h2>Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)</h2>
<h2>Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)</h2>

<p>GPS checks must fail for this many seconds before dead reckoning will be triggered</p>
<p>Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged</p>
<ul>
<li>Units: seconds</li>
<li>Range: 0 2.0</li>
</ul>


<h2>Deadreckoning Lean Angle (DR_FLY_ANGLE)</h2>
<h2>Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)</h2>

<p>lean angle (in degrees) during deadreckoning</p>
<p>Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value</p>
<ul>
<li>Units: degrees</li>
<li>Range: 0 45</li>
<li>Range: 0 1.0</li>
</ul>


<h2>Deadreckoning Altitude Min (DR_FLY_ALT_MIN)</h2>
<h2>Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)</h2>

<p>Copter will fly at at least this altitude (in meters) above home during deadreckoning</p>
<p>Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged</p>
<ul>
<li>Units: meters</li>
<li>Range: 0 1000</li>
<li>Range: 0 2.0</li>
</ul>


<h2>Deadreckoning flight timeout (DR_FLY_TIMEOUT)</h2>
<h2>Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)</h2>

<p>Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout</p>
<p>Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged</p>
<ul>
<li>Range: 0 2.0</li>
</ul>


<h2>Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)</h2>

<p>When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
<tr><td>1</td><td>Enabled</td></tr>
</table>
</ul>


<h2>Rover Quicktune auto save (RTUN_AUTO_SAVE)</h2>

<p>Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune</p>
<ul>
<li>Units: seconds</li>
</ul>


<h2>Deadreckoning Next Mode (DR_NEXT_MODE)</h2>
<h2>Rover Quicktune RC function (RTUN_RC_FUNC)</h2>

<p>Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered</p>
<p>RCn_OPTION number to use to control tuning stop/start/save</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>2</td><td>AltHold</td></tr>
<tr><td>3</td><td>Auto</td></tr>
<tr><td>4</td><td>Guided</td></tr>
<tr><td>5</td><td>Loiter</td></tr>
<tr><td>6</td><td>RTL</td></tr>
<tr><td>7</td><td>Circle</td></tr>
<tr><td>9</td><td>Land</td></tr>
<tr><td>16</td><td>PosHold</td></tr>
<tr><td>17</td><td>Brake</td></tr>
<tr><td>20</td><td>Guided_NoGPS</td></tr>
<tr><td>21</td><td>Smart_RTL</td></tr>
<tr><td>27</td><td>Auto RTL</td></tr>
<tr><td>300</td><td>Scripting1</td></tr>
<tr><td>301</td><td>Scripting2</td></tr>
<tr><td>302</td><td>Scripting3</td></tr>
<tr><td>303</td><td>Scripting4</td></tr>
<tr><td>304</td><td>Scripting5</td></tr>
<tr><td>305</td><td>Scripting6</td></tr>
<tr><td>306</td><td>Scripting7</td></tr>
<tr><td>307</td><td>Scripting8</td></tr>
</table>
</ul>

Expand Down Expand Up @@ -1524,9 +1537,9 @@ <h2>Ship automatic offset trigger (SHIP_AUTO_OFS)</h2>
</ul>


<h2>Rover Quicktune enable (RTUN_ENABLE)</h2>
<h2>Deadreckoning Enable (DR_ENABLE)</h2>

<p>Enable quicktune system</p>
<p>Deadreckoning Enable</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
Expand All @@ -1535,94 +1548,104 @@ <h2>Rover Quicktune enable (RTUN_ENABLE)</h2>
</ul>


<h2>Rover Quicktune axes (RTUN_AXES)</h2>
<h2>Deadreckoning Enable Distance (DR_ENABLE_DIST)</h2>

<p>axes to tune</p>
<p>Distance from home (in meters) beyond which the dead reckoning will be enabled</p>
<ul>
<li>Bitmask: 0:Steering,1:Speed</li>
<li>Units: meters</li>
</ul>


<h2>Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)</h2>
<h2>Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)</h2>

<p>Ratio between measured response and FF gain. Raise this to get a higher FF gain</p>
<p>GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy</p>
<ul>
<li>Range: 0 1.0</li>
<li>Range: 0 10</li>
</ul>


<h2>Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)</h2>
<h2>Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)</h2>

<p>Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged</p>
<p>GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count</p>
<ul>
<li>Range: 0 2.0</li>
<li>Range: 0 30</li>
</ul>


<h2>Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)</h2>
<h2>Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)</h2>

<p>Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged</p>
<p>GPS checks must fail for this many seconds before dead reckoning will be triggered</p>
<ul>
<li>Range: 0 2.0</li>
<li>Units: seconds</li>
</ul>


<h2>Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)</h2>
<h2>Deadreckoning Lean Angle (DR_FLY_ANGLE)</h2>

<p>Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value</p>
<p>lean angle (in degrees) during deadreckoning</p>
<ul>
<li>Range: 0 1.0</li>
<li>Units: degrees</li>
<li>Range: 0 45</li>
</ul>


<h2>Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)</h2>
<h2>Deadreckoning Altitude Min (DR_FLY_ALT_MIN)</h2>

<p>Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged</p>
<p>Copter will fly at at least this altitude (in meters) above home during deadreckoning</p>
<ul>
<li>Range: 0 2.0</li>
<li>Units: meters</li>
<li>Range: 0 1000</li>
</ul>


<h2>Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)</h2>
<h2>Deadreckoning flight timeout (DR_FLY_TIMEOUT)</h2>

<p>Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged</p>
<p>Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout</p>
<ul>
<li>Range: 0 2.0</li>
<li>Units: seconds</li>
</ul>


<h2>Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)</h2>
<h2>Deadreckoning Next Mode (DR_NEXT_MODE)</h2>

<p>When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER</p>
<p>Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
<tr><td>1</td><td>Enabled</td></tr>
<tr><td>2</td><td>AltHold</td></tr>
<tr><td>3</td><td>Auto</td></tr>
<tr><td>4</td><td>Guided</td></tr>
<tr><td>5</td><td>Loiter</td></tr>
<tr><td>6</td><td>RTL</td></tr>
<tr><td>7</td><td>Circle</td></tr>
<tr><td>9</td><td>Land</td></tr>
<tr><td>16</td><td>PosHold</td></tr>
<tr><td>17</td><td>Brake</td></tr>
<tr><td>20</td><td>Guided_NoGPS</td></tr>
<tr><td>21</td><td>Smart_RTL</td></tr>
<tr><td>27</td><td>Auto RTL</td></tr>
</table>
</ul>


<h2>Rover Quicktune auto save (RTUN_AUTO_SAVE)</h2>
<h2>DJIRS2 debug (DJIR_DEBUG)</h2><em>Note: This parameter is for advanced users</em><br>

<p>Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune</p>
<p>Enable DJIRS2 debug</p>
<ul>
<li>Units: seconds</li>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
<tr><td>1</td><td>Enabled</td></tr>
<tr><td>2</td><td>Enabled with attitude reporting</td></tr>
</table>
</ul>


<h2>Rover Quicktune RC function (RTUN_RC_FUNC)</h2>
<h2>DJIRS2 upside down (DJIR_UPSIDEDOWN)</h2>

<p>RCn_OPTION number to use to control tuning stop/start/save</p>
<p>DJIRS2 upside down</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>300</td><td>Scripting1</td></tr>
<tr><td>301</td><td>Scripting2</td></tr>
<tr><td>302</td><td>Scripting3</td></tr>
<tr><td>303</td><td>Scripting4</td></tr>
<tr><td>304</td><td>Scripting5</td></tr>
<tr><td>305</td><td>Scripting6</td></tr>
<tr><td>306</td><td>Scripting7</td></tr>
<tr><td>307</td><td>Scripting8</td></tr>
<tr><td>0</td><td>Right side up</td></tr>
<tr><td>1</td><td>Upside down</td></tr>
</table>
</ul>

Expand Down Expand Up @@ -1753,29 +1776,6 @@ <h2>SkyPower EFI allow start disarmed (EFI_SP_ST_DISARM)</h2>
</ul>


<h2>DJIRS2 debug (DJIR_DEBUG)</h2><em>Note: This parameter is for advanced users</em><br>

<p>Enable DJIRS2 debug</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Disabled</td></tr>
<tr><td>1</td><td>Enabled</td></tr>
<tr><td>2</td><td>Enabled with attitude reporting</td></tr>
</table>
</ul>


<h2>DJIRS2 upside down (DJIR_UPSIDEDOWN)</h2>

<p>DJIRS2 upside down</p>
<ul>
<table><th>Value</th><th>Meaning</th>
<tr><td>0</td><td>Right side up</td></tr>
<tr><td>1</td><td>Upside down</td></tr>
</table>
</ul>


<h1>ADSB_ Parameters</h1>


Expand Down

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