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Ardupilot Parameter Setup
Arming / Safety
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 | 15 | Servo 1,2,3,4 enabled | These servos can move also in safe state - NOT REQUIRED??? |
Is the safety_mask maybe not required because the pixracer is always in safe state? Safe and disarmed is different?
Servo settings
Parametername | Value | Description | Remark |
---|---|---|---|
SERVO1_FUNCTION | 4 | Aileron right | |
SERVO1_REVERSED | 1 | Reverse the servo | |
SERVO2_FUNCTION | 4 | Aileron left | |
SERVO2_REVERSED | 1 | Reverse the servo | |
SERVO3_FUNCTION | 80 | VTAIL right | |
SERVO3_REVERSED | 1 | Reverse the servo | |
SERVO4_FUNCTION | 79 | VTAIL left | |
SERVO4_REVERSED | 0 | Normal servo | |
SERVO5_FUNCTION | 70 | Throttle | |
SERVO5_REVERSED | 0 | Normal servo | |
Servo ranges for servo 1 to 4 (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 |
Servo ranges for throttle | |||
SERVO5_MIN | 950 | Minimum servo value | CHECK THIS!!! Maybe 950 to be able to arm |
SERVO5_MAX | 2000 | Maximum servo value | Default is 1900 - too low |
Servo/PID Controller
Parametername | Value | Description | Remark |
---|---|---|---|
MIXING_GAIN | 1.0 | Mixing of pitch and rudder to vtail | Default is 0.5 - full pitch will yield only 50 percent of vtail servo output |
FrSky Telemetrie
Parametername | Value | Description | Remark |
---|---|---|---|
SERIAL4_BAUD | 57 | 57600 Baud | |
SERIAL4_PROTOCOL | 10 | FrSky SPort Passthrough (OpenTX) | Format for the FrSyk Telemetry |
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_MONITOR 4 2 1 1 BATT_SERIAL_NUM -1 6 1 1 BATT_VOLT_MULT 10.207025527954101563 9 1 1 BATT_VOLT_PIN 2 2 1 1 BATT_WATT_MAX 0 4
Tuning
(David, Mülli, Simon)
1 1 ARSPD_FBW_MAX 28 4 1 1 ARSPD_FBW_MIN 12 4
Min and max airspeed - default 22 / 9
1 1 LIM_PITCH_MAX 3000 4 1 1 LIM_PITCH_MIN -2000 4
default 2000, -2500
1 1 MIN_GNDSPD_CM 800 6
If min groundspeed is net met, plane increases throttle
1 1 NAVL1_DAMPING 0.600000023841857910 9 1 1 NAVL1_PERIOD 10.000000000000000000 9
TBD!
1 1 PTCH2SRV_RLL 1.299999952316284180 9
This parameter controls how much elevator to add in turns to keep the nose level. Many aircraft require a small change to this parameter from the default of 1.0. (autotune)
1 1 TECS_CLMB_MAX 6.500000000000000000 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_RADIUS 25 4
TBD; should increase precission
# Modes Setup (Special Switches)
to be done.