This is an old revision of the document!
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??? |
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) |
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 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
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
PI Zero Telemetry for image metadata
Metadata consist of GPS / Timestamp
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 |
MAVESP8266 Wifi Telemetry
Parametername | Value | Description | Remark |
---|---|---|---|
SERIAL5_BAUD | 921 | 921600 Baud | |
SERIAL5_PROTOCOL | 2 | MAVLink2 |
Power Module
1 1 BATT_AMP_PERVLT 24.0 9 1 1 BATT_AMP_OFFSET -0.07 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 10.13 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.