diff --git a/Tools/parameters_injected.xml b/Tools/parameters_injected.xml
index a5b6bc0883..6cf856017c 100644
--- a/Tools/parameters_injected.xml
+++ b/Tools/parameters_injected.xml
@@ -15,7 +15,7 @@
0
1
-
+
Speed (RPM) controller gain
Speed (RPM) controller gain. Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
@@ -24,59 +24,53 @@
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.
- amp-seconds per radian
- 3
+ amp-seconds per radian
+ 3
0.00
1.00
-
+
Idle speed (e Hz)
Idle speed (e Hz)
- Hertz
- 3
+ Hertz
+ 3
0.0
100.0
-
+
Spin-up rate (e Hz/s)
Spin-up rate (e Hz/s)
- Hz/s
-
+ Hz/s
5
1000
-
+
Index of this ESC in throttle command messages.
Index of this ESC in throttle command messages.
- Index
-
+ Index
0
15
-
+
Extended status ID
Extended status ID
-
-
1
- 1023
+ 1000000
-
+
Extended status interval (µs)
Extended status interval (µs)
- µs
-
+ µs
0
1000000
-
+
ESC status interval (µs)
ESC status interval (µs)
- µs
-
+ µs
1000000
-
+
Motor current limit in amps
Motor current limit in amps. This determines the maximum
current controller setpoint, as well as the maximum allowable
@@ -84,62 +78,61 @@
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.
- Amps
- 3
+ Amps
+ 3
1
80
-
+
Motor Kv in RPM per volt
Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.
- RPM/v
- 0
+ RPM/v
+ 0
0
100
READ ONLY: Motor inductance in henries.
READ ONLY: Motor inductance in henries. This is measured on start-up.
- henries
- 3
+ henries
+ 3
-
+
Number of motor poles.
Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.
- Poles
-
+ Poles
2
40
-
+
READ ONLY: Motor resistance in ohms
READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.
- Ohms
- 3
+ Ohms
+ 3
-
+
Acceleration limit (V)
Acceleration limit (V)
- Volts
- 3
+ Volts
+ 3
0.01
1.00
-
+
Motor voltage limit in volts
Motor voltage limit in volts. The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.
- Volts
- 3
+ Volts
+ 3
0
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 3573f5d6eb..fc755437da 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2536,7 +2536,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
} else if (status_local->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
rgbled_set_color(RGBLED_COLOR_RED);
} else {
- if (status_local->condition_home_position_valid) {
+ if (status_local->condition_home_position_valid && status_local->condition_global_position_valid) {
rgbled_set_color(RGBLED_COLOR_GREEN);
} else {