| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| GND_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.
|
|
|
|
| GND_GSPD_SP_TRIM (FLOAT)
| Groundspeed speed trim
Comment: This allows to scale the turning radius depending on the speed.
| 0. 0 > ? (0. 1)
| 1. 0
| norm
|
| GND_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
|
| GND_SPEED_D (FLOAT)
| Speed proportional gain
Comment: This is the derivative gain for the speed closed loop controller
| 0. 00 > 50. 0 (0. 005)
| 0. 0
| %m/s
|
| GND_SPEED_I (FLOAT)
| Speed Integral gain
Comment: This is the integral gain for the speed closed loop controller
| 0. 00 > 50. 0 (0. 005)
| 0. 1
| %m/s
|
| GND_SPEED_IMAX (FLOAT)
| Speed integral maximum value
Comment: This is the maxim value the integral can reach to prevent wind-up.
| 0. 005 > 50. 0 (0. 005)
| 1. 0
| %m/s
|
| GND_SPEED_P (FLOAT)
| Speed proportional gain
Comment: This is the proportional gain for the speed closed loop controller
| 0. 005 > 50. 0 (0. 005)
| 2. 0
| %m/s
|
| GND_SPEED_THR_SC (FLOAT)
| Speed to throttle scaler
Comment: This is a gain to map the speed control output to the throttle linearly.
| 0. 005 > 50. 0 (0. 005)
| 1. 0
| %m/s
|
| GND_SP_CTRL_MODE (INT32)
| Control mode for speed
Comment: This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
Values:
- 0: open loop control
- 1: close the loop with gps speed
| 0 > 1
|
|
|
| GND_WR_D (FLOAT)
| Wheel steering rate integrator gain
| 0. 00 > 30 (0. 005)
| 0. 00
| %/rad
|
| GND_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. 0
| %/rad/s
|
| GND_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. 00 > 0. 5 (0. 005)
| 0. 00
| %/rad
|
| GND_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)
| 0. 0
|
|
| GND_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)
| 1. 0
| %/rad/s
|
| GND_WR_TC (FLOAT)
| Attitude Wheel Time Constant
Comment: This defines the latency between a steering 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
|
| GND_W_RMAX (FLOAT)
| Maximum wheel steering rate
Comment: This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
| 0. 0 > 90. 0 (0. 5)
| 90. 0
| deg/s
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| GND_L1_DAMPING (FLOAT)
| L1 damping
Comment: Damping factor for L1 control.
| 0. 6 > 0. 9 (0. 05)
| 0. 75
|
|
| GND_L1_DIST (FLOAT)
| L1 distance
Comment: This is the waypoint radius
| 0. 0 > 100. 0 (0. 1)
| 5. 0
| m
|
| GND_L1_PERIOD (FLOAT)
| L1 period
Comment: This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation.
| 0. 0 > 50. 0 (0. 5)
| 10. 0
| m
|
| GND_THR_CRUISE (FLOAT)
| Cruise throttle
Comment: This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode
| 0. 0 > 1. 0 (0. 01)
| 0. 1
| norm
|
| GND_THR_IDLE (FLOAT)
| Idle throttle
Comment: This is the minimum throttle while on the ground, it should be 0 for a rover
| 0. 0 > 0. 4 (0. 01)
| 0. 0
| norm
|
| GND_THR_MAX (FLOAT)
| Throttle limit max
Comment: This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
| 0. 0 > 1. 0 (0. 01)
| 0. 3
| norm
|
| GND_THR_MIN (FLOAT)
| Throttle limit min
Comment: This is the minimum throttle % that can be used by the controller. Set to 0 for rover
| 0. 0 > 1. 0 (0. 01)
| 0. 0
| norm
|
