| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| MNT_DO_STAB (INT32)
| Stabilize the mount (set to true for servo gimbal, false for passthrough). Does not affect MAVLINK_ROI input
|
|
|
|
| MNT_MAN_PITCH (INT32)
| Auxiliary channel to control pitch (in AUX input or manual mode)
Values:
- 0: Disable
- 1: AUX1
- 2: AUX2
- 3: AUX3
- 4: AUX4
- 5: AUX5
| 0 > 5
|
|
|
| MNT_MAN_ROLL (INT32)
| Auxiliary channel to control roll (in AUX input or manual mode)
Values:
- 0: Disable
- 1: AUX1
- 2: AUX2
- 3: AUX3
- 4: AUX4
- 5: AUX5
| 0 > 5
|
|
|
| MNT_MAN_YAW (INT32)
| Auxiliary channel to control yaw (in AUX input or manual mode)
Values:
- 0: Disable
- 1: AUX1
- 2: AUX2
- 3: AUX3
- 4: AUX4
- 5: AUX5
| 0 > 5
|
|
|
| MNT_MAV_COMPID (INT32)
| Mavlink Component ID of the mount
Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID.
|
|
|
|
| MNT_MAV_SYSID (INT32)
| Mavlink System ID of the mount
Comment: If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID.
|
|
|
|
| MNT_MODE_IN (INT32)
| Mount input mode
Comment: RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.
Values:
- -1: DISABLED
- 0: AUTO
- 1: RC
- 2: MAVLINK_ROI
- 3: MAVLINK_DO_MOUNT
Reboot required: true
| -1 > 3
| -1
|
|
| MNT_MODE_OUT (INT32)
| Mount output mode
Comment: AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)
Values:
| 0 > 1
|
|
|
| MNT_OB_LOCK_MODE (FLOAT)
| Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode)
| -1. 0 > 1. 0
| 0. 0
|
|
| MNT_OB_NORM_MODE (FLOAT)
| Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode)
| -1. 0 > 1. 0
| -1. 0
|
|
| MNT_OFF_PITCH (FLOAT)
| Offset for pitch channel output in degrees
| -360. 0 > 360. 0
| 0. 0
|
|
| MNT_OFF_ROLL (FLOAT)
| Offset for roll channel output in degrees
| -360. 0 > 360. 0
| 0. 0
|
|
| MNT_OFF_YAW (FLOAT)
| Offset for yaw channel output in degrees
| -360. 0 > 360. 0
| 0. 0
|
|
| MNT_RANGE_PITCH (FLOAT)
| Range of pitch channel output in degrees (only in AUX output mode)
| 1. 0 > 720. 0
| 360. 0
|
|
| MNT_RANGE_ROLL (FLOAT)
| Range of roll channel output in degrees (only in AUX output mode)
| 1. 0 > 720. 0
| 360. 0
|
|
| MNT_RANGE_YAW (FLOAT)
| Range of yaw channel output in degrees (only in AUX output mode)
| 1. 0 > 720. 0
| 360. 0
|
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| MC_ACRO_EXPO (FLOAT)
| Acro mode Expo factor for Roll and Pitch
Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
| 0 > 1
| 0. 69
|
|
| MC_ACRO_EXPO_Y (FLOAT)
| Acro mode Expo factor for Yaw
Comment: Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
| 0 > 1
| 0. 69
|
|
| MC_ACRO_P_MAX (FLOAT)
| Max acro pitch rate default: 2 turns per second
| 0. 0 > 1800. 0 (5)
| 720. 0
| deg/s
|
| MC_ACRO_R_MAX (FLOAT)
| Max acro roll rate default: 2 turns per second
| 0. 0 > 1800. 0 (5)
| 720. 0
| deg/s
|
| MC_ACRO_SUPEXPO (FLOAT)
| Acro mode SuperExpo factor for Roll and Pitch
Comment: SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0. 7 resonable shape enhancement for intuitive stick feel 0. 95 very strong bent input curve only near maxima have effect
| 0 > 0. 95
| 0. 7
|
|
| MC_ACRO_SUPEXPOY (FLOAT)
| Acro mode SuperExpo factor for Yaw
Comment: SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0. 7 resonable shape enhancement for intuitive stick feel 0. 95 very strong bent input curve only near maxima have effect
| 0 > 0. 95
| 0. 7
|
|
| MC_ACRO_Y_MAX (FLOAT)
| Max acro yaw rate default 1. 5 turns per second
| 0. 0 > 1800. 0 (5)
| 540. 0
| deg/s
|
| MC_AIRMODE (INT32)
| Multicopter air-mode
Comment: The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i. e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.
Values:
- 0: Disabled
- 1: Roll/Pitch
- 2: Roll/Pitch/Yaw
|
|
|
|
| MC_BAT_SCALE_EN (INT32)
| Battery power level scaler
Comment: 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.
|
|
|
|
| MC_DTERM_CUTOFF (FLOAT)
| Cutoff frequency for the low pass filter on the D-term in the rate controller
Comment: The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.
| 0 > 1000 (10)
| 30.
| Hz
|
| MC_PITCHRATE_D (FLOAT)
| Pitch rate D gain
Comment: Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| 0. 0 > ? (0. 0005)
| 0. 003
|
|
| MC_PITCHRATE_FF (FLOAT)
| Pitch rate feedforward
Comment: Improves tracking performance.
| 0. 0 > ?
| 0. 0
|
|
| MC_PITCHRATE_I (FLOAT)
| Pitch rate I gain
Comment: Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| 0. 0 > ? (0. 01)
| 0. 05
|
|
| MC_PITCHRATE_MAX (FLOAT)
| Max pitch rate
Comment: Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
| 0. 0 > 1800. 0 (5)
| 220. 0
| deg/s
|
| MC_PITCHRATE_P (FLOAT)
| Pitch rate P gain
Comment: Pitch rate proportional gain, i. e. control output for angular speed error 1 rad/s.
| 0. 0 > 0. 6 (0. 01)
| 0. 15
|
|
| MC_PITCH_P (FLOAT)
| Pitch P gain
Comment: Pitch proportional gain, i. e. desired angular speed in rad/s for error 1 rad.
| 0. 0 > 12 (0. 1)
| 6. 5
| 1/s
|
| MC_PR_INT_LIM (FLOAT)
| Pitch rate integrator limit
Comment: Pitch rate 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.
| 0. 0 > ? (0. 01)
| 0. 30
|
|
| MC_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
|
|
| MC_ROLLRATE_D (FLOAT)
| Roll rate D gain
Comment: Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| 0. 0 > 0. 01 (0. 0005)
| 0. 003
|
|
| MC_ROLLRATE_FF (FLOAT)
| Roll rate feedforward
Comment: Improves tracking performance.
| 0. 0 > ?
| 0. 0
|
|
| MC_ROLLRATE_I (FLOAT)
| Roll rate I gain
Comment: Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| 0. 0 > ? (0. 01)
| 0. 05
|
|
| MC_ROLLRATE_MAX (FLOAT)
| Max roll rate
Comment: Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
| 0. 0 > 1800. 0 (5)
| 220. 0
| deg/s
|
| MC_ROLLRATE_P (FLOAT)
| Roll rate P gain
Comment: Roll rate proportional gain, i. e. control output for angular speed error 1 rad/s.
| 0. 0 > 0. 5 (0. 01)
| 0. 15
|
|
| MC_ROLL_P (FLOAT)
| Roll P gain
Comment: Roll proportional gain, i. e. desired angular speed in rad/s for error 1 rad.
| 0. 0 > 12 (0. 1)
| 6. 5
| 1/s
|
| MC_RR_INT_LIM (FLOAT)
| Roll rate integrator limit
Comment: Roll rate 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.
| 0. 0 > ? (0. 01)
| 0. 30
|
|
| MC_TPA_BREAK_D (FLOAT)
| TPA D Breakpoint
Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain
| 0. 0 > 1. 0 (0. 1)
| 1. 0
|
|
| MC_TPA_BREAK_I (FLOAT)
| TPA I Breakpoint
Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain
| 0. 0 > 1. 0 (0. 1)
| 1. 0
|
|
| MC_TPA_BREAK_P (FLOAT)
| TPA P Breakpoint
Comment: Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain
| 0. 0 > 1. 0 (0. 1)
| 1. 0
|
|
| MC_TPA_RATE_D (FLOAT)
| TPA Rate D
Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1. 0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1. 0 - breakpoint))
| 0. 0 > 1. 0 (0. 05)
| 0. 0
|
|
| MC_TPA_RATE_I (FLOAT)
| TPA Rate I
Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1. 0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1. 0 - breakpoint))
| 0. 0 > 1. 0 (0. 05)
| 0. 0
|
|
| MC_TPA_RATE_P (FLOAT)
| TPA Rate P
Comment: Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1. 0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1. 0 - breakpoint))
| 0. 0 > 1. 0 (0. 05)
| 0. 0
|
|
| MC_YAWRATE_D (FLOAT)
| Yaw rate D gain
Comment: Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
| 0. 0 > ? (0. 01)
| 0. 0
|
|
| MC_YAWRATE_FF (FLOAT)
| Yaw rate feedforward
Comment: Improves tracking performance.
| 0. 0 > ? (0. 01)
| 0. 0
|
|
| MC_YAWRATE_I (FLOAT)
| Yaw rate I gain
Comment: Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
| 0. 0 > ? (0. 01)
| 0. 1
|
|
| MC_YAWRATE_MAX (FLOAT)
| Max yaw rate
| 0. 0 > 1800. 0 (5)
| 200. 0
| deg/s
|
| MC_YAWRATE_P (FLOAT)
| Yaw rate P gain
Comment: Yaw rate proportional gain, i. e. control output for angular speed error 1 rad/s.
| 0. 0 > 0. 6 (0. 01)
| 0. 2
|
|
| MC_YAWRAUTO_MAX (FLOAT)
| Max yaw rate in auto mode
Comment: Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
| 0. 0 > 360. 0 (5)
| 45. 0
| deg/s
|
| MC_YAW_P (FLOAT)
| Yaw P gain
Comment: Yaw proportional gain, i. e. desired angular speed in rad/s for error 1 rad.
| 0. 0 > 5 (0. 1)
| 2. 8
| 1/s
|
| MC_YR_INT_LIM (FLOAT)
| Yaw rate integrator limit
Comment: Yaw rate 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.
| 0. 0 > ? (0. 01)
| 0. 30
|
|
