mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.0 KiB
Markdown
79 lines
2.0 KiB
Markdown
# Parameter Revert
|
|
|
|
This script implements a easy parameter reversion system to help with
|
|
manual in-flight tuning. It allows you to do a wide range of manual
|
|
tuning while flying and if you get in trouble (eg. an oscillation)
|
|
then you can use a switch to instantly revert all the parameter
|
|
changes to the values from startup.
|
|
|
|
# Parameters
|
|
|
|
The script adds 2 parameters to control it's behaviour. The parameters
|
|
are:
|
|
|
|
## PREV_ENABLE
|
|
|
|
this must be set to 1 to enable the script
|
|
|
|
## PREV_RC_FUNC
|
|
|
|
The RCz_OPTIONS scripting function binding to be used for this script.
|
|
Default RCz_OPTIONS binding is 300 (scripting1).
|
|
|
|
# Operation
|
|
|
|
Install the script in the APM/SCRIPTS folder on your microSD (you can
|
|
use mavFTP for that). Then reboot and re-fetch parameters. You will
|
|
find you now have PREV_ENABLE and PREV_RC_FUNC parameters.
|
|
|
|
Set PREV_ENABLE to 1 and set PREV_RC_FUNC to an available RC
|
|
option. You would typically use 300 if not used by another
|
|
script. Then set RCn_OPTION for your chosen R/C channel to revert
|
|
parameter to the PREV_RC_FUNC value (eg. 300).
|
|
|
|
Now reboot to start the script. To test it try changing one of the
|
|
covered parameter values while on the ground, then trigger the
|
|
reversion with your R/C switch. Then fetch your parameters and you
|
|
will see it has been reverted. You will see a message "Reverted N
|
|
parameters" in the messages tab when this happens.
|
|
|
|
# Covered Parameters
|
|
|
|
The script covers the following parameters on quadplanes:
|
|
|
|
- Q_A_RAT_RLL_*
|
|
- Q_A_RAT_PIT_*
|
|
- Q_A_RAT_YAW_*
|
|
- Q_A_ANG_RLL_P
|
|
- Q_A_ANG_PIT_P
|
|
- Q_A_ANG_YAW_P
|
|
- Q_A_RATE_*_MAX
|
|
- Q_P_ACCZ_*
|
|
- Q_P_VELZ_*
|
|
- Q_P_POSZ_*
|
|
- Q_P_VELXY_*
|
|
- Q_P_POSXY_*
|
|
|
|
The script covers the following parameters on copters:
|
|
|
|
- ATC_RAT_RLL_*
|
|
- ATC_RAT_PIT_*
|
|
- ATC_RAT_YAW_*
|
|
- ATC_ANG_RLL_P
|
|
- ATC_ANG_PIT_P
|
|
- ATC_ANG_YAW_P
|
|
- ATC_RATE_*_MAX
|
|
- PSC_ACCZ_*
|
|
- PSC_VELZ_*
|
|
- PSC_POSZ_*
|
|
- PSC_VELXY_*
|
|
- PSC_POSXY_*
|
|
|
|
For fixed wing the following parameters are covered:
|
|
|
|
- RLL_RATE_*
|
|
- PTCH_RATE_*
|
|
- RLL2SRV_TCONST
|
|
- PTCH2SRV_TCONST
|
|
- all TECS parameters
|