mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.9 KiB
Markdown
72 lines
1.9 KiB
Markdown
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# Parameter Revert
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This script implements a easy parameter reversion system to help with
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manual in-flight tuning. It allows you to do a wide range of manual
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tuning while flying and if you get in trouble (eg. an oscillation)
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then you can use a switch to instantly revert all the parameter
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changes to the values from startup.
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# Parameters
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The script adds 2 parameters to control it's behaviour. The parameters
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are:
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## PREV_ENABLE
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this must be set to 1 to enable the script
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## PREV_RC_FUNC
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The RCz_OPTIONS scripting function binding to be used for this script.
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Default RCz_OPTIONS binding is 300 (scripting1).
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# Operation
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Install the script in the APM/SCRIPTS folder on your microSD (you can
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use mavFTP for that). Then reboot and re-fetch parameters. You will
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find you now have PREV_ENABLE and PREV_RC_FUNC parameters.
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Set PREV_ENABLE to 1 and set PREV_RC_FUNC to an available RC
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option. You would typically use 300 if not used by another
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script. Then set RCn_OPTION for your chosen R/C channel to revert
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parameter to the PREV_RC_FUNC value (eg. 300).
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Now reboot to start the script. To test it try changing one of the
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covered parameter values while on the ground, then trigger the
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reversion with your R/C switch. Then fetch your parameters and you
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will see it has been reverted. You will see a message "Reverted N
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parameters" in the messages tab when this happens.
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# Covered Parameters
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The script covers the following parameters on quadplanes:
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- Q_A_RAT_RLL_*
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- Q_A_RAT_PIT_*
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- Q_A_RAT_YAW_*
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- Q_A_ANG_RLL_P
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- Q_A_ANG_PIT_P
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- Q_A_ANG_YAW_P
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- RLL_RATE_*
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- PTCH_RATE_*
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- YAW_RATE_*
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- Q_P_ACCZ_*
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- Q_P_VELZ_*
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- Q_P_POSZ_*
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- Q_P_VELXY_*
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- Q_P_POSXY_*
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The script covers the following parameters on copters:
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- ATC_RAT_RLL_*
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- ATC_RAT_PIT_*
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- ATC_RAT_YAW_*
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- ATC_ANG_RLL_P
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- ATC_ANG_PIT_P
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- ATC_ANG_YAW_P
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- PSC_ACCZ_*
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- PSC_VELZ_*
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- PSC_POSZ_*
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- PSC_VELXY_*
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- PSC_POSXY_*
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