| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| FW_ACRO_X_MAX (FLOAT)
| Acro body x max rate
Comment: This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.
| 45 > 720
|
| degrees
|
| FW_ACRO_Y_MAX (FLOAT)
| Acro body y max rate
Comment: This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.
| 45 > 720
|
| degrees
|
| FW_ACRO_Z_MAX (FLOAT)
| Acro body z max rate
Comment: This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.
| 10 > 180
|
| degrees
|
| FW_ARSP_MODE (INT32)
| Airspeed mode
Comment: For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading
Values:
- 0: Normal (use airspeed if available)
- 1: Airspeed disabled
|
|
|
|
| FW_BAT_SCALE_EN (INT32)
| Whether to scale throttle by battery power level
Comment: This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i. e. if cruise speed is at 0. 5 throttle at 100% battery, it will still be 0. 5 at 60% battery.
|
|
|
|
| FW_DTRIM_P_FLPS (FLOAT)
| Pitch trim increment for flaps configuration
Comment: This increment is added to the pitch trim whenever flaps are fully deployed.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_P_VMAX (FLOAT)
| Pitch trim increment at maximum airspeed
Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_P_VMIN (FLOAT)
| Pitch trim increment at minimum airspeed
Comment: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_R_FLPS (FLOAT)
| Roll trim increment for flaps configuration
Comment: This increment is added to TRIM_ROLL whenever flaps are fully deployed.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_R_VMAX (FLOAT)
| Roll trim increment at maximum airspeed
Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_R_VMIN (FLOAT)
| Roll trim increment at minimum airspeed
Comment: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_Y_VMAX (FLOAT)
| Yaw trim increment at maximum airspeed
Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_DTRIM_Y_VMIN (FLOAT)
| Yaw trim increment at minimum airspeed
Comment: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
| -0. 25 > 0. 25 (0. 01)
| 0. 0
|
|
| FW_FLAPERON_SCL (FLOAT)
| Scale factor for flaperons
| 0. 0 > 1. 0 (0. 01)
| 0. 0
| norm
|
| FW_FLAPS_LND_SCL (FLOAT)
| Flaps setting during landing
Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
| 0. 0 > 1. 0 (0. 01)
| 1. 0
| norm
|
| FW_FLAPS_SCL (FLOAT)
| Scale factor for flaps
| 0. 0 > 1. 0 (0. 01)
| 1. 0
| norm
|
| FW_FLAPS_TO_SCL (FLOAT)
| Flaps setting during take-off
Comment: Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
| 0. 0 > 1. 0 (0. 01)
| 0. 0
| norm
|
| FW_MAN_P_MAX (FLOAT)
| Max manual pitch
Comment: Max pitch for manual control in attitude stabilized mode
| 0. 0 > 90. 0 (0. 5)
| 45. 0
| deg
|
| FW_MAN_P_SC (FLOAT)
| Manual pitch scale
Comment: Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| 0. 0 > ? (0. 01)
| 1. 0
| norm
|
| FW_MAN_R_MAX (FLOAT)
| Max manual roll
Comment: Max roll for manual control in attitude stabilized mode
| 0. 0 > 90. 0 (0. 5)
| 45. 0
| deg
|
| FW_MAN_R_SC (FLOAT)
| Manual roll scale
Comment: Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| 0. 0 > 1. 0 (0. 01)
| 1. 0
| norm
|
| FW_MAN_Y_SC (FLOAT)
| Manual yaw scale
Comment: Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
| 0. 0 > ? (0. 01)
| 1. 0
| norm
|
| FW_PR_FF (FLOAT)
| Pitch rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| 0. 0 > 10. 0 (0. 05)
| 0. 5
| %/rad/s
|
| FW_PR_I (FLOAT)
| Pitch rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| 0. 005 > 0. 5 (0. 005)
| 0. 02
| %/rad
|
| FW_PR_IMAX (FLOAT)
| Pitch rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| 0. 0 > 1. 0 (0. 05)
| 0. 4
|
|
| FW_PR_P (FLOAT)
| Pitch rate proportional gain
Comment: This defines how much the elevator input will be commanded depending on the current body angular rate error.
| 0. 005 > 1. 0 (0. 005)
| 0. 08
| %/rad/s
|
| FW_PSP_OFF (FLOAT)
| Pitch setpoint offset
Comment: An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.
| -90. 0 > 90. 0 (0. 5)
| 0. 0
| deg
|
| FW_P_RMAX_NEG (FLOAT)
| Maximum negative / down pitch rate
Comment: This limits the maximum pitch down up angular rate the controller will output (in degrees per second).
| 0. 0 > 90. 0 (0. 5)
| 60. 0
| deg/s
|
| FW_P_RMAX_POS (FLOAT)
| Maximum positive / up pitch rate
Comment: This limits the maximum pitch up angular rate the controller will output (in degrees per second).
| 0. 0 > 90. 0 (0. 5)
| 60. 0
| deg/s
|
| FW_P_TC (FLOAT)
| Attitude pitch time constant
Comment: This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
| 0. 2 > 1. 0 (0. 05)
| 0. 4
| s
|
| FW_RATT_TH (FLOAT)
| Threshold for Rattitude mode
Comment: Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints
| 0. 0 > 1. 0 (0. 01)
| 0. 8
|
|
| FW_RLL_TO_YAW_FF (FLOAT)
| Roll control to yaw control feedforward gain
Comment: This gain can be used to counteract the " adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ... ) to counteract this effect.
| 0. 0 > ? (0. 01)
| 0. 0
|
|
| FW_RR_FF (FLOAT)
| Roll rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.
| 0. 0 > 10. 0 (0. 05)
| 0. 5
| %/rad/s
|
| FW_RR_I (FLOAT)
| Roll rate integrator Gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| 0. 005 > 0. 2 (0. 005)
| 0. 01
| %/rad
|
| FW_RR_IMAX (FLOAT)
| Roll integrator anti-windup
Comment: The portion of the integrator part in the control surface deflection is limited to this value.
| 0. 0 > 1. 0 (0. 05)
| 0. 2
|
|
| FW_RR_P (FLOAT)
| Roll rate proportional Gain
Comment: This defines how much the aileron input will be commanded depending on the current body angular rate error.
| 0. 005 > 1. 0 (0. 005)
| 0. 05
| %/rad/s
|
| FW_RSP_OFF (FLOAT)
| Roll setpoint offset
Comment: An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.
| -90. 0 > 90. 0 (0. 5)
| 0. 0
| deg
|
| FW_R_RMAX (FLOAT)
| Maximum roll rate
Comment: This limits the maximum roll rate the controller will output (in degrees per second).
| 0. 0 > 90. 0 (0. 5)
| 70. 0
| deg/s
|
| FW_R_TC (FLOAT)
| Attitude Roll Time Constant
Comment: This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
| 0. 4 > 1. 0 (0. 05)
| 0. 4
| s
|
| FW_WR_FF (FLOAT)
| Wheel steering rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| 0. 0 > 10. 0 (0. 05)
| 0. 2
| %/rad/s
|
| FW_WR_I (FLOAT)
| Wheel steering rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| 0. 005 > 0. 5 (0. 005)
| 0. 1
| %/rad
|
| FW_WR_IMAX (FLOAT)
| Wheel steering rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| 0. 0 > 1. 0 (0. 05)
| 1. 0
|
|
| FW_WR_P (FLOAT)
| Wheel steering rate proportional gain
Comment: This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
| 0. 005 > 1. 0 (0. 005)
| 0. 5
| %/rad/s
|
| FW_W_EN (INT32)
| Enable wheel steering controller
|
|
|
|
| FW_W_RMAX (FLOAT)
| Maximum wheel steering rate
Comment: This limits the maximum wheel steering rate the controller will output (in degrees per second).
| 0. 0 > 90. 0 (0. 5)
| 30. 0
| deg/s
|
| FW_YR_FF (FLOAT)
| Yaw rate feed forward
Comment: Direct feed forward from rate setpoint to control surface output
| 0. 0 > 10. 0 (0. 05)
| 0. 3
| %/rad/s
|
| FW_YR_I (FLOAT)
| Yaw rate integrator gain
Comment: This gain defines how much control response will result out of a steady state error. It trims any constant error.
| 0. 0 > 50. 0 (0. 5)
| 0. 01
| %/rad
|
| FW_YR_IMAX (FLOAT)
| Yaw rate integrator limit
Comment: The portion of the integrator part in the control surface deflection is limited to this value
| 0. 0 > 1. 0 (0. 05)
| 0. 2
|
|
| FW_YR_P (FLOAT)
| Yaw rate proportional gain
Comment: This defines how much the rudder input will be commanded depending on the current body angular rate error.
| 0. 005 > 1. 0 (0. 005)
| 0. 05
| %/rad/s
|
| FW_Y_RMAX (FLOAT)
| Maximum yaw rate
Comment: This limits the maximum yaw rate the controller will output (in degrees per second).
| 0. 0 > 90. 0 (0. 5)
| 50. 0
| deg/s
|
