[[searchwing-ardupilot-parameters]]

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searchwing-ardupilot-parameters [2020/02/05 17:44]
kingbbq created 		searchwing-ardupilot-parameters [2020/02/28 14:11]
wf68spef
Line 1: Line 1:
-====== ​parameters ​======+====== ​Ardupilot Parameter Setup ======
  
 +[[https://​ardupilot.org/​plane/​docs/​parameters-Plane-stable-V4.0.3.html|Ardupilot description of the parameters]]
  
-====== Arming ======+[[https://​gitlab.com/​searchwing/​operational/​searchwing-config/​-/​tree/​master/​ardupilot%2Fv4.0.3|Kurdi Settings on gitlab]]
  
 +==== Arming / Safety ====
  
- ===== ARMING_CHECK =====+^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​                      ^ 
 +|BRD_SAFETYENABLE ​  ​|0 ​          ​|Disable the safety switch ​  ​|Safety switch is not accessible, because it is inside the fuselage | 
 +|ARMING_RUDDER ​     |2           |Arm and Disarm with rudder ​ |Default is that you can only arm but not disarm with rudder | 
 +|BRD_SAFETY_MASK ​   |27          |Servo 1,2,4,5 enabled ​      ​|These servos can move also in safe state - NOT REQUIRED??? | 
 +|INS_GYRO_CAL ​      ​|0 ​          ​|Disable Gyro Calibration at startup ​      | This prevents INS calibration at startup| 
 +|ARSPD_TYPE ​        ​|0 ​          |No Airspeed Pitot Tube      | Disable the Pitottube airspeed sensor (we don't have one)| 
 +|COMPASS_USE2 ​      ​|0 ​          ​|Disable PixRacer compass ​   | Disable the PixRacer internal compass | 
 +|COMPASS_USE3 ​      ​|0 ​          ​|Disable PixRacer compass ​   | Disable the PixRacer internal compass | 
 +Is the safety_mask maybe not required because the pixracer is always in safe state? Safe and disarmed is different?
  
 +==== Servo settings ====
  
-===== ARMING_RUDDER =====+^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ 
 +|SERVO1_FUNCTION ​   |4           | Aileron left                | | 
 +|SERVO1_REVERSED ​   |1           | Reverse the servo           | | 
 +|SERVO2_FUNCTION ​   |79          | VTAIL left                  | | 
 +|SERVO2_REVERSED ​   |0           | Normal ​                     | | 
 +|SERVO3_FUNCTION ​   |70          | Throttle ​                   | | 
 +|SERVO3_REVERSED ​   |0           | Reverse the servo           | | 
 +|SERVO4_FUNCTION ​   |80          | VTAIL right                 | | 
 +|SERVO4_REVERSED ​   |1           | Reverse servo               | | 
 +|SERVO5_FUNCTION ​   |4           | Aileron right                | | 
 +|SERVO5_REVERSED ​   |1           | Reversed ​                   | | 
 +^Servo ranges for servo 1,2,4,5 (aileron and vtail) |||| 
 +|SERVOx_MIN ​        ​|1000 ​       | Minimum servo value         | Default is 1100 - too high | 
 +|SERVOx_MAX ​        ​|2000 ​       | Maximum servo value         | Default is 1900 - too low |   
 +|SERVOx_TRIM ​       |1500        | Default value               | Leitwerk mitte |     
 +^Servo ranges for throttle |||| 
 +|SERVO3_MIN ​        ​|900 ​        | Minimum servo value         | CHECK THIS!!! Maybe 950 to be able to arm| 
 +|SERVO3_MAX ​        ​|2000 ​       | Maximum servo value         | Default is 1900 - too low |  
 +|SERVO3_TRIM ​       |900         | Default value               | zero throttle |    ​
  
 +==== Servo/PID Controller ====
  
-    ​Value: 1 - ArmOrDismarm+^Parametername ​     ^Value       ^Description ​                ​^Remark ​ ^ 
 +|MIXING_GAIN ​       |0.75        |Mixing of pitch and rudder to vtail |Default is 0.5 - full pitch will yield only 50 percent of vtail servo output |
  
-==== BRD_SAFETYENABLE ==== 
  
 +===== FrSky Telemetrie =====
  
-    0 - Disable+^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ 
 +|SERIAL4_BAUD ​      ​|57 ​         |57600 Baud |  | 
 +|SERIAL4_PROTOCOL ​  ​|10 ​         |FrSky SPort Passthrough (OpenTX) | Format for the FrSyk Telemetry |
  
-Kein Schalter wird zum Scharfstellen benötigt+Aktiviert die FrSky Telemetrie auf dem FrSky Port des Pixracers
  
-=== BRD_SAFETY_MASK === 
  
 +===== PI Zero Telemetry for image metadata =====
  
-    15 - Channels 1,2,3,4+Metadata consist of  GPS / Timestamp
  
-== SERVO ==+^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ 
 +|SERIAL2_BAUD ​      ​|9 ​          |9600 Baud |reduced to 9600 as otherwise no wifi with MAVESP connection possible | 
 +|SERIAL2_PROTOCOL ​  ​|1 ​          ​|MAVLink1 |Only MAVLink1 works for pymavlink on pi | 
 +|SR2_RAW_SENS ​      ​|0 ​          |0 Hz |no raw data needed | 
 +|SR2_EXT_STAT ​      ​|1 ​          |1 Hz | | 
 +|SR2_RC_CHAN ​       |0           |0 Hz | | 
 +|SR2_RAW_CTRL ​      ​|0 ​          |0 Hz | | 
 +|SR2_POSITION ​      ​|1 ​          |1 Hz | Contains GLOBAL_POSITION_INT,​ LOCAL_POSITION_NED messages | 
 +|SR2_EXTRA1 ​      ​|1 ​          |1 Hz | Contains ATTITUDE message | 
 +|SR2_EXTRA2 ​      ​|0 ​          |0 Hz |  | 
 +|SR2_EXTRA3 ​      ​|1 ​          |1 Hz | Contains SYSTEM_TIME message | 
 +|SR2_PARAMS ​      ​|0 ​          |0 Hz |  | 
 +|SR2_ADSB ​        ​|0 ​          |0 Hz | |
  
  
-### SERVO1 / SERVO2 - Aileron+===== MAVESP8266 Wifi Telemetry =====
  
-    SERVO1_FUNCTION,​4 +^Parametername ​     ^Value ​      ​^Description ​                ​^Remark ​ ^ 
-    ​SERVO1_REVERSED,​1 +|SERIAL5_BAUD ​      ​|921 ​          ​|921600 Baud |  | 
-    ​SERVO2_FUNCTION,​4 +|SERIAL5_PROTOCOL ​  ​|2 ​          ​|MAVLink2 |   |
-    SERVO2_REVERSED,​1+
  
-### SERVO3 / SERVO4 - VTail+===== Power Module =====
  
-    SERVO3_FUNCTION,​80 
-    SERVO3_REVERSED,​1 
-    SERVO4_FUNCTION,​79 
-    SERVO4_REVERSED,​0 
  
-### SERVO5 - Throttle +    ​1 1 BATT_AMP_PERVLT 24.0 9 
- +    1 1 BATT_AMP_OFFSET -0.07 9
-    SERVO5_FUNCTION,​70 +
-    SERVO5_REVERSED,​0 +
- +
-## FrSky Telemetrie +
- +
-    ​1 1 SERIAL4_BAUD 38 6 +
-    1 1 SERIAL4_BAUD 57 6 +
-    1 1 SERIAL4_PROTOCOL 5 2 +
-    1 1 SERIAL4_PROTOCOL 10 2 +
- +
-Aktiviert die FrSky Telemetrie auf dem FrSky Port des Pixracers +
- +
-## Power Module +
- +
-    1 1 BATT_AMP_PERVLT 36.000000000000000000 9+
     1 1 BATT_CURR_PIN 3 2     1 1 BATT_CURR_PIN 3 2
     1 1 BATT_MONITOR 4 2     1 1 BATT_MONITOR 4 2
     1 1 BATT_SERIAL_NUM -1 6     1 1 BATT_SERIAL_NUM -1 6
-    1 1 BATT_VOLT_MULT 10.207025527954101563 9+    1 1 BATT_VOLT_MULT 10.213 9
     1 1 BATT_VOLT_PIN 2 2     1 1 BATT_VOLT_PIN 2 2
     1 1 BATT_WATT_MAX 0 4     1 1 BATT_WATT_MAX 0 4
  
-# Tuning+===== Tuning ​===== 
  
  ​(David,​ Mülli, Simon)  ​(David,​ Mülli, Simon)
Line 84: Line 110:
 If min groundspeed is net met, plane increases throttle If min groundspeed is net met, plane increases throttle
  
-    1 1 NAVL1_DAMPING 0.600000023841857910 9  +    1 1 NAVL1_DAMPING 0.800000023841857910 9  
-    1 1 NAVL1_PERIOD 10.000000000000000000 9+    1 1 NAVL1_PERIOD 17.000000000000000000 9
  
-TBD!+This is the default value for NAVL1 (Beck, 27.2.20)
  
     1 1 PTCH2SRV_RLL 1.299999952316284180 9     1 1 PTCH2SRV_RLL 1.299999952316284180 9
Line 95: Line 121:
     1 1 TECS_CLMB_MAX 6.500000000000000000 9     1 1 TECS_CLMB_MAX 6.500000000000000000 9
     1 1 TECS_SINK_MAX 5.000000000000000000 9     1 1 TECS_SINK_MAX 5.000000000000000000 9
-    1 1 TECS_SPDWEIGHT 1.000000000000000000 9 #TBD! 
- 
-Height is more important than speed 
  
-SPDWEIGHT - Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. 
  
-    1 1 WP_LOITER_RAD 40 4  +    1 1 WP_LOITER_RAD 60 4  
-    1 1 WP_RADIUS 25 4+    1 1 WP_RADIUS 90 4
  
-TBD; should increase precission+WP settings are set to default (Beck, 27.2.20)
  
 # Modes Setup (Special Switches) # Modes Setup (Special Switches)
  
 to be done. to be done.
  • searchwing-ardupilot-parameters.txt
  • Last modified: 2022/05/23 14:30
  • by wf68spef