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docs/en/config/_autotune.md
-4
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@@ -82,7 +82,6 @@ The test steps are:
If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position.
</div></div>
1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**:
![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png)
@@ -197,11 +196,8 @@ By default, the autotune maneuvers ensure that a sufficient angular rate is reac
If the signal-to-noise ratio of the vehicle is low, the system identification algorithm might have issues finding the correct coefficients. Ensure that there is no excessive noise and/or platform vibration.
</div>
### The drone oscillates after auto-tuning
Due to effects not included in the mathematical model such as delays, saturation, slew-rate, airframe flexibility, the loop gain can be too high.
docs/en/config/flight_mode.md
+23 -27
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@@ -4,15 +4,15 @@ This topic explains how to map [flight modes](../getting_started/px4_basic_conce
:::tip
In order to set up flight modes you must already have:
- [Configured your radio](../config/radio.md)
- [Setup your transmitter](#rc-transmitter-setup) to encode the physical positions of your mode switch(es) into a single channel.
We provide examples for the popular *Taranis* transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
:::
We provide examples for the popular _Taranis_ transmitter [below](#taranis-setup-3-way-switch-configuration-for-single-channel-mode) (check your documentation if you use a different transmitter).
:::
## What Flight Modes and Switches Should I Set?
Flight Modes provide different types of *autopilot-assisted flight*, and *fully autonomous flight*.
Flight Modes provide different types of _autopilot-assisted flight_, and _fully autonomous flight_.
You can set any (or none) of the flight modes [available to your vehicle](../flight_modes/index.md#flight-modes).
Most users should set the following modes and functions, as these make the vehicle easier and safer to fly:
@@ -33,26 +33,25 @@ You can also separately specify channels for mapping a kill switch, return to la
To configure single-channel flight mode selection:
1. Start *QGroundControl* and connect the vehicle.
1. Start _QGroundControl_ and connect the vehicle.
1. Turn on your RC transmitter.
1. Select **"Q" icon > Vehicle Setup > Flight Modes** (sidebar) to open _Flight Modes Setup_.
![Flight modes single-channel](../../assets/qgc/setup/flight_modes/flight_modes_single_channel.jpg)
1. Specify *Flight Mode Settings*:
* Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
* Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
The mode slot matching your current switch position will be highlighted (above this is *Flight Mode 1*).
1. Specify _Flight Mode Settings_:
- Select the **Mode channel** (above this shown as Channel 5, but this will depend on your transmitter configuration).
- Move the transmitter switch (or switches) that you have set up for mode selection through the available positions.
The mode slot matching your current switch position will be highlighted (above this is _Flight Mode 1_).
::: info
While you can set flight modes in any of the 6 slots, only the channels that are mapped to switch positions will be highlighted/used.
:::
* Select the flight mode that you want triggered for each switch position.
1. Specify *Switch Settings*:
* Select the channels that you want to map to specific actions - e.g.: *Return* mode, *Kill switch*, *offboard* mode, etc. (if you have spare switches and channels on your transmitter).
- Select the flight mode that you want triggered for each switch position.
1. Specify _Switch Settings_:
- Select the channels that you want to map to specific actions - e.g.: _Return_ mode, _Kill switch_, _offboard_ mode, etc. (if you have spare switches and channels on your transmitter).
1. Test that the modes are mapped to the right transmitter switches:
* Check the *Channel Monitor* to confirm that the expected channel is changed by each switch.
* Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on *QGroundControl* for the active mode).
- Check the _Channel Monitor_ to confirm that the expected channel is changed by each switch.
- Select each mode switch on your transmitter in turn, and check that the desired flight mode is activated (the text turns yellow on _QGroundControl_ for the active mode).
All values are automatically saved as they are changed.
@@ -61,7 +60,6 @@ All values are automatically saved as they are changed.
This section contains a small number of possible setup configurations for taranis.
QGroundControl _may_ have [setup information for other transmitters here](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#transmitter-setup).
<a id="taranis_setup"></a>
### Taranis Setup: 3-way Switch Configuration for Single-Channel Mode
@@ -70,7 +68,7 @@ If you only need to support selecting between two or three modes then you can ma
Below we show how to map the Taranis 3-way "SD" switch to channel 5.
::: info
This example shows how to set up the popular *FrSky Taranis* transmitter.
This example shows how to set up the popular _FrSky Taranis_ transmitter.
Transmitter setup will be different on other transmitters.
:::
@@ -78,15 +76,14 @@ Open the Taranis UI **MIXER** page and scroll down to **CH5**, as shown below:
![Taranis - Map channel to switch](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_1.png)
Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the *SD* button.
Press **ENT(ER)** to edit the **CH5** configuration then change the **Source** to be the _SD_ button.
![Taranis - Configure channel](../../assets/qgc/setup/flight_modes/single_channel_mode_selection_2.png)
That's it!
Channel 5 will now output 3 different PWM values for the three different **SD** switch positions.
The *QGroundControl* configuration is then as described in the previous section.
The _QGroundControl_ configuration is then as described in the previous section.
### Taranis Setup: Multi-Switch Configuration for Single-Channel Mode
@@ -96,19 +93,18 @@ Commonly this is done by encoding the positions of a 2- and a 3-position switch
On the FrSky Taranis this process involves assigning a "logical switch" to each combination of positions of the two real switches.
Each logical switch is then assigned to a different PWM value on the same channel.
The video below shows how this is done with the *FrSky Taranis* transmitter.
The video below shows how this is done with the _FrSky Taranis_ transmitter.
<!-- [youtube](https://youtu.be/scqO7vbH2jo) Video has gone private and is no longer available -->
<!-- @[youtube](https://youtu.be/BNzeVGD8IZI?t=427) - video showing how to set the QGC side - at about 7mins and 3 secs -->
<lite-youtube videoid="TFEjEQZqdVA" title="Taranis Mode Switches"/>
The *QGroundControl* configuration is then [as described above](#flight-mode-selection).
The _QGroundControl_ configuration is then [as described above](#flight-mode-selection).
## Further Information
* [Flight Modes Overview](../flight_modes/index.md)
* [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
* [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
* [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
- [Flight Modes Overview](../flight_modes/index.md)
- [QGroundControl > Flight Modes](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/flight_modes.html#px4-pro-flight-mode-setup)
- [PX4 Setup Video - @6m53s](https://youtu.be/91VGmdSlbo4?t=6m53s) (Youtube)
- [Radio switch parameters](../advanced_config/parameter_reference.md#radio-switches) - Can be used to set mappings via parameters
docs/en/config/level_horizon_calibration.md
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@@ -18,7 +18,6 @@ To level the horizon:
You should already have set the [Autopilot Orientation](../config/flight_controller_orientation.md). If not, you can also set it here.
:::
1. Place the vehicle in its level flight orientation on a level surface:
- For planes this is the position during level flight (planes tend to have their wings slightly pitched up!)
- For copters this is the hover position.
docs/en/config/safety.md
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@@ -128,10 +128,10 @@ Additional (and underlying) parameter settings are shown below.
| Parameter | Setting | Description |
| ----------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. |
| <a id="COM_RC_LOSS_T"></a>[COM_RC_LOSS_T](../advanced_config/parameter_reference.md#COM_RC_LOSS_T) | Manual Control Loss Timeout | Time after last setpoint received from the selected manual control source after which manual control is considered lost. This must be kept short because the vehicle will continue to fly using the last known stick position until the timeout triggers. |
| <a id="COM_FAIL_ACT_T"></a>[COM_FAIL_ACT_T](../advanced_config/parameter_reference.md#COM_FAIL_ACT_T) | Failsafe Reaction Delay | Delay in seconds between failsafe condition being triggered (`COM_RC_LOSS_T`) and failsafe action (RTL, Land, Hold). In this state the vehicle waits in hold mode for the manual control source to reconnect. This might be set longer for long-range flights so that intermittent connection loss doesn't immediately invoke the failsafe. It can be to zero so that the failsafe triggers immediately. |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Failsafe Action | Disabled, Loiter, Return, Land, Disarm, Terminate. |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions | Set modes in which manual control loss is ignored. |
| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC Loss Exceptions | Set modes in which manual control loss is ignored. |
## Data Link Loss Failsafe
@@ -142,11 +142,11 @@ Users that want to disable this failsafe in specific modes can do so using the p
The settings and underlying parameters are shown below.
| Setting | Parameter | Description |
| ---------------------- | ------------------------------------------------------------------------ | --------------------------------------------------------------------------------- |
| Data Link Loss Timeout | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | Amount of time after losing the data connection before the failsafe will trigger. |
| Failsafe Action | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored. |
| Setting | Parameter | Description |
| ----------------------------------------------------------- | -------------------------------------------------------------------------- | --------------------------------------------------------------------------------- |
| Data Link Loss Timeout | [COM_DL_LOSS_T](../advanced_config/parameter_reference.md#COM_DL_LOSS_T) | Amount of time after losing the data connection before the failsafe will trigger. |
| Failsafe Action | [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Disabled, Hold mode, Return mode, Land mode, Disarm, Terminate. |
| <a id="COM_DLL_EXCEPT"></a>Mode exceptions for DLL failsafe | [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Set modes in which data link loss is ignored. |
## Geofence Failsafe
docs/en/config/safety_intro.md
+1 -1
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@@ -13,7 +13,7 @@ These are covered in the following topics:
- [Safe Points (Rally)](../flying/plan_safety_points.md)
- [Prearm/Arm/Disarm Configuration](../advanced_config/prearm_arm_disarm.md)
- [Flight Termination Configuration](../advanced_config/flight_termination.md)
- [First Flight Guidelines](../flying/first_flight_guidelines.md)
- [First Flight Guidelines](../flying/first_flight_guidelines.md)
::: tip
Note that the [First Flight Guidelines](../flying/first_flight_guidelines.md) are listed _last_.