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ardu_params_and_commands.md

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ArduCopter Parameters and Helpful MAVproxy Commands

Video Tutorial at https://youtu.be/A-JaRgtljLg

Common MAVproxy Commands

alias           : command aliases: usage: alias <add|remove|list>
arm             : arm motors: usage: arm <check|uncheck|list|throttle|safetyon|safetyoff>
auxopt          : select option for aux switches on CH7 and CH8 (ArduCopter only): Usage: auxopt set|show|reset|list 
disarm          : disarm motors
land            : auto land
log             : log file handling: usage: log <list|download|erase|resume|status|cancel>
mode            : mode change
module          : module commands: usage: module <list|load|reload|unload>
param           : parameter handling: Usage: param <fetch|save|set|show|load|preload|forceload|diff|download|help>
position        : position: Usage: position x y z (meters)
rc              : RC input control: Usage: rc <channel|all> <pwmvalue>
reboot          : reboot autopilot
repeat          : repeat a command at regular intervals: Usage: repeat <add|remove|clean>
script          : run a script of MAVProxy commands
setspeed        : do_change_speed: Usage: setspeed SPEED_VALUE
setyaw          : condition_yaw: Usage: yaw ANGLE ANGULAR_SPEED MODE:[0 absolute / 1 relative]
takeoff         : takeoff: Usage: takeoff ALTITUDE_IN_METERS

Helpful Commands Cheat Sheet Here

ArduCopter Important Parameters

Waypoint Nav Parameters

WPNAV_SPEED: Waypoint Horizontal Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Range 	    Increment 	Units
20 - 2000 	50 	        centimeters per second

WPNAV_RADIUS: Waypoint Radius

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Range 	    Increment 	Units
5 - 1000 	1           centimeters

WPNAV_SPEED_UP: Waypoint Climb Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Range 	    Increment 	Units
10 - 1000 	50 	        centimeters per second

WPNAV_SPEED_DN: Waypoint Descent Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Range 	    Increment 	Units
10 - 500 	10 	        centimeters per second

WPNAV_ACCEL: Waypoint Acceleration

Defines the horizontal acceleration in cm/s/s used during missions

Range 	    Increment 	Units
50 - 500 	10 	        centimeters per square second

WPNAV_ACCEL_Z: Waypoint Vertical Acceleration

Defines the vertical acceleration in cm/s/s used during missions

Range 	    Increment 	Units
50 - 500 	10 	        centimeters per square second

WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following

Note: This parameter is for advanced users

This controls if waypoint missions use rangefinder for terrain following Values

Value 	Meaning
0 	    Disable
1 	    Enable

RTL_ALT: RTL Altitude

The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.

Range 	Increment 	Units
200 - 8000 	1 	centimeters

RTL_CONE_SLOPE: RTL cone slope

Defines a cone above home which determines maximum climb

Range 	 	
0.5 - 10.0 	

Values
Value 	Meaning
0 	Disabled
1 	Shallow
3 	Steep

Increment
.1

RTL_SPEED: RTL speed

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.

Range 	Increment 	Units
0 - 2000 	50 	centimeters per second

RTL_ALT_FINAL: RTL Final Altitude

This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.

Range 	Increment 	Units
-1 - 1000 	1 	centimeters

RTL_CLIMB_MIN: RTL minimum climb

The vehicle will climb this many cm during the initial climb portion of the RTL

Range 	Increment 	Units
0 - 3000 	10 	centimeters

RTL_LOIT_TIME: RTL loiter time

Time (in milliseconds) to loiter above home before beginning final descent

Ran66666ge 	Increment 	Units
0 - 60000 	1000 	milliseconds

References

ArduCopter Full Parameter List