This controls just how much the procedure noise on the wind states is amplified when attaining or dropping altitude to take into consideration changes in wind speed and direction with altitude.
This state method sound controls expansion of your gyro delta angle bias condition error estimate. Rising it tends to make price gyro bias estimation speedier and noisier.
Multiplied by The present throttle and extra for the compass’s z-axis values to compensate for motor interference (Offset for each Amp or at Comprehensive Throttle)
OBC people should really established this to comply with their D2 basic safety circumstance. A worth of -one will necessarily mean that barometer failure will lead to rapid termination.
In case you setup a price You can't help on APM2 after which can’t hook up with your board you must load a firmware from a special car or truck type. That will reset all of your parameters to defaults.
Yaw axis angle controller P gain. Converts the mistake concerning the desired yaw angle and genuine angle to a wished-for yaw charge
Accelerometer3 offsets of Y axis. That is set up utilizing the acceleration calibration or degree functions
Failure to do so may end up in noisy navigation velocity measurements resulting from vibration and IMU gyro noise. In case the IMU can't be moved and here velocity sounds is a dilemma, a area closer to your IMU can be used as your body frame origin.
This sets The proportion selection of standard deviations placed on the range beacon measurement innovation consistency check. Decreasing it can make it extra possible that great measurements will probably be turned down. Escalating it makes it far more probably that undesirable measurements are going to be recognized.
X situation of the next GPS antenna in entire body frame. Good X is forward of your origin. Use antenna phase centroid area if supplied by the maker.
If more than one compass is accessible this selects which compass is the first. Ordinarily 0=External, 1=Inner. If no External compass is connected this parameter is disregarded
Checks just before arming motor. This is the bitmask of checks that will be executed just before letting arming. The default isn't any checks, enabling arming at any time. It is possible to pick out whatsoever checks you favor by including collectively the values of each check kind to established this parameter.
This sound controls the growth with the vertical accelerometer delta velocity bias condition mistake estimate. Raising it would make accelerometer bias estimation quicker and noisier.
Converts pilot yaw input right into a preferred level of rotation in ACRO, Stabilize and Activity modes. Larger values mean faster amount of rotation.