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Hamish Willee
2025-12-04 08:34:07 +11:00
committed by GitHub
parent c0e0d9a080
commit e3f05f1bbe
21 changed files with 326 additions and 138 deletions
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docs/en/advanced_config/parameter_reference.md
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@@ -2177,6 +2177,116 @@ output latency, or completely block I2C bus.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 50.0 | 400.0 | | 50.0 |
### PWM_AUX_CENT1 (`INT32`) {#PWM_AUX_CENT1}
PWM Aux 1 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT10 (`INT32`) {#PWM_AUX_CENT10}
PWM Capture 2 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT11 (`INT32`) {#PWM_AUX_CENT11}
PWM Capture 3 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT2 (`INT32`) {#PWM_AUX_CENT2}
PWM Aux 2 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT3 (`INT32`) {#PWM_AUX_CENT3}
PWM Aux 3 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT4 (`INT32`) {#PWM_AUX_CENT4}
PWM Aux 4 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT5 (`INT32`) {#PWM_AUX_CENT5}
PWM Aux 5 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT6 (`INT32`) {#PWM_AUX_CENT6}
PWM Aux 6 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT7 (`INT32`) {#PWM_AUX_CENT7}
PWM Aux 7 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT8 (`INT32`) {#PWM_AUX_CENT8}
PWM Aux 8 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_CENT9 (`INT32`) {#PWM_AUX_CENT9}
PWM Capture 1 Center Value.
Servo Center output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 2200 | | -1 |
### PWM_AUX_DIS1 (`INT32`) {#PWM_AUX_DIS1}
PWM Aux 1 Disarmed Value.
@@ -15346,8 +15456,7 @@ disabled, warn only or deny arming.
Arm switch is a momentary button.
0: Arming/disarming triggers on switch transition.
1: Arming/disarming triggers when holding the momentary button down
for COM_RC_ARM_HYST like the stick gesture.
1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
@@ -15355,15 +15464,17 @@ for COM_RC_ARM_HYST like the stick gesture.
### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}
GPS preflight check.
Arming without GNSS configuration.
Measures taken when a check defined by EKF2_GPS_CHECK is failing.
Configures whether arming is allowed without GNSS, for modes that require a global position
(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).
The settings deny arming and warn, allow arming and warn, or silently allow arming.
**Values:**
- `0`: Deny arming
- `1`: Warning only
- `2`: Disabled
- `1`: Allow arming (with warning)
- `2`: Allow arming (no warning)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -16152,16 +16263,6 @@ External modes requiring stick input will still failsafe.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 31 | | 0 |
### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
Manual control input arm/disarm command duration.
The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 100 | 1500 | | 1000 | ms |
### COM_RC_IN_MODE (`INT32`) {#COM_RC_IN_MODE}
Manual control input source configuration.
@@ -19347,6 +19448,24 @@ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -0.5 | 0.5 | 0.01 | 0.0 |
### FW_GC_EN (`INT32`) {#FW_GC_EN}
Enable rate gain compression.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ----------- | ---- |
|   | | | | Enabled (1) |
### FW_GC_GAIN_MIN (`FLOAT`) {#FW_GC_GAIN_MIN}
Compression gain lower limit.
The range of the compression gain is between this parameter and 1.0
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0.0 | 1.0 | 0.01 | 0.3 |
### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC}
Manual pitch scale.
@@ -21989,6 +22108,8 @@ Control Surface 0 configuration as spoiler.
Control Surface 0 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22069,6 +22190,8 @@ Control Surface 1 configuration as spoiler.
Control Surface 1 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22149,6 +22272,8 @@ Control Surface 2 configuration as spoiler.
Control Surface 2 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22229,6 +22354,8 @@ Control Surface 3 configuration as spoiler.
Control Surface 3 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22309,6 +22436,8 @@ Control Surface 4 configuration as spoiler.
Control Surface 4 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22389,6 +22518,8 @@ Control Surface 5 configuration as spoiler.
Control Surface 5 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22469,6 +22600,8 @@ Control Surface 6 configuration as spoiler.
Control Surface 6 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -22549,6 +22682,8 @@ Control Surface 7 configuration as spoiler.
Control Surface 7 trim.
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -23162,6 +23297,7 @@ Engine start/stop input source.
- `0`: On arming - disarming
- `1`: Aux1
- `2`: Aux2
- `3`: On Vtol Transitions
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |