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Adv Parameter List中文对照

Command/命令ACRO_BAL_PITCH ACRO_BAL_ROLL ACRO_P

ACRO_TRAINER AHRS_BARO_USE AHRS_GPS_GAIN

AHRS_GPS_USE

AHRS_RP_P AHRS_TRIM_X AHRS_TRIM_Y AHRS_TRIM_Z AHRS_WIND_MAX

AHRS_YAW_P

AMP_PER_VOLT AUTO_SLEW AUTO_VELZ_MAX AUTO_VELZ_MIN AXIS_ENABLE BATT_CAPACITY

BATT_CURR_PIN BATT_MONITOR BATT_VOLT_PIN

CAM_DURATION

CAM_SERVO_OFF CAM_SERVO_ON CAM_TRIGG_TYPE

CH7_OPT

CIRCLE_RADIUS COMPASS_AUTODEC

COMPASS_DEC COMPASS_LEARN

COMPASS_OFS_X COMPASS_OFS_Y COMPASS_OFS_Z COMPASS_USE ESC

FLOW_ENABLE FLTMODE1 FLTMODE2 FLTMODE3 FLTMODE4 FLTMODE5

FLTMODE6

FRAME

FS_BATT_ENABLE FS_THR_ENABLE FS_THR_VALUE HLD_LAT_I

HLD_LAT_IMAX HLD_LAT_P

HLD_LON_I

HLD_LON_IMAX HLD_LON_P

INAV_ACORR_X INAV_ACORR_Y INAV_ACORR_Z

INAV_TC_XY INAV_TC_Z INPUT_VOLTS INS_ACCOFFS_X INS_ACCOFFS_Y INS_ACCOFFS_Z INS_ACCSCAL_X INS_ACCSCAL_Y INS_ACCSCAL_Z INS_GYROFFS_X INS_GYROFFS_Y INS_GYROFFS_Z

INS_MPU6K_FILTER

INS_PRODUCT_ID LAND_SPEED

LED_MODE

LIM_ALT_MAX

LIM_ALT_MIN

LIM_ALT_ON

LIM_ALT_REQ

LIM_CHANNEL

LIM_DEBUG

LIM_ENABLED

LIM_FNC_ON

LIM_FNC_RAD

LIM_FNC_REQ

LIM_FNC_SMPL

LIM_FNC_TOT

LIM_GPSLCK_ON LIM_GPSLCK_REQ LIM_RECMODE

LIM_REQUIRED

LIM_SAFETIME

LOG_BITMASK LOITER_LAT_D LOITER_LAT_I LOITER_LAT_IMAX LOITER_LAT_P LOITER_LON_D LOITER_LON_I LOITER_LON_IMAX LOITER_LON_P LOW_VOLT

MAG_ENABLE

MNT_ANGMAX_PAN MNT_ANGMAX_ROL MNT_ANGMAX_TIL

MNT_ANGMIN_PAN MNT_ANGMIN_ROL MNT_ANGMIN_TIL MNT_CONTROL_X MNT_CONTROL_Y MNT_CONTROL_Z

MNT_JSTICK_SPD MNT_MODE

MNT_NEUTRAL_X MNT_NEUTRAL_Y MNT_NEUTRAL_Z

MNT_RC_IN_PAN MNT_RC_IN_ROLL MNT_RC_IN_TILT

MNT_RETRACT_X MNT_RETRACT_Y MNT_RETRACT_Z MNT_STAB_PAN MNT_STAB_ROLL MNT_STAB_TILT MOT_TB_RATIO MOT_TCRV_ENABLE

MOT_TCRV_MAXPCT

MOT_TCRV_MIDPCT NAV_LAT_D

NAV_LAT_I

NAV_LAT_IMAX NAV_LAT_P

NAV_LON_D

NAV_LON_I

NAV_LON_IMAX NAV_LON_P

OF_PIT_D

OF_PIT_I

OF_PIT_IMAX

OF_PIT_P

OF_RLL_D

OF_RLL_I

OF_RLL_IMAX OF_RLL_P PILOT_VELZ_MAX RATE_PIT_D RATE_PIT_I RATE_PIT_IMAX RATE_PIT_P RATE_RLL_D RATE_RLL_I RATE_RLL_IMAX RATE_RLL_P RATE_YAW_D RATE_YAW_I RATE_YAW_IMAX RATE_YAW_P

RC_SPEED

RC1_DZ

RC1_MAX

RC1_MIN

RC1_REV

RC1_TRIM

RC10_DZ

RC10_FUNCTION RC10_MAX

RC10_MIN

RC10_REV

RC10_TRIM

RC11_DZ

RC11_FUNCTION

RC11_MAX

RC11_MIN

RC11_REV

RC11_TRIM

RC2_DZ

RC2_MAX

RC2_MIN

RC2_REV

RC2_TRIM

RC3_DZ

RC3_MAX

RC3_MIN

RC3_REV

RC3_TRIM

RC4_DZ

RC4_MAX

RC4_MIN

RC4_REV

RC4_TRIM

RC5_DZ

RC5_FUNCTION

RC5_MAX

RC5_MIN

RC5_REV

RC5_TRIM

RC6_DZ

RC6_FUNCTION

RC6_MAX

RC6_MIN

RC6_REV

RC6_TRIM

RC7_DZ

RC7_FUNCTION RC7_MAX

RC7_MIN

RC7_REV

RC7_TRIM

RC8_DZ

RC8_FUNCTION

RC8_MAX

RC8_MIN

RC8_REV

RC8_TRIM RSSI_PIN

RTL_ALT

RTL_ALT_FINAL RTL_LOIT_TIME SERIAL3_BAUD SIMPLE SONAR_ENABLE SONAR_TYPE

SR0_EXT_STAT SR0_EXTRA1 SR0_EXTRA2 SR0_EXTRA3 SR0_PARAMS SR0_POSITION SR0_RAW_CTRL SR0_RAW_SENS SR0_RC_CHAN SR3_EXT_STAT SR3_EXTRA1

SR3_EXTRA2 SR3_EXTRA3 SR3_PARAMS SR3_POSITION SR3_RAW_CTRL SR3_RAW_SENS SR3_RC_CHAN

STB_PIT_I STB_PIT_IMAX STB_PIT_P STB_RLL_I STB_RLL_IMAX STB_RLL_P STB_YAW_I STB_YAW_IMAX STB_YAW_P

SUPER_SIMPLE

SYSID_MYGCS SYSID_SW_MREV

SYSID_SW_TYPE SYSID_THISMAV TELEM_DELAY THR_ACC_ENABLE THR_ACCEL_D THR_ACCEL_I THR_ACCEL_IMAX THR_ACCEL_P THR_ALT_I

THR_ALT_IMAX THR_ALT_P

THR_MAX

THR_MID

THR_MIN

THR_RATE_D THR_RATE_I THR_RATE_IMAX THR_RATE_P TILT

TOY_RATE TRIM_THROTTLE

TUNE

TUNE_HIGH TUNE_LOW VOLT_DIVIDER WP_INDEX

WP_RADIUS

WP_SPEED_MAX WP_TOTAL XTRK_GAIN_SC

XTRK_MIN_DIST YAW_OVR_BEHAVE

Desc/说明

rate at which pitch angle returns to level in acro mode

rate at which roll angle returns to level in acro mode

Type of trainer used in acro mode

This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.

This controls how fast the accelerometers correct the attitude

Compensates for the roll angle difference between the control board and the frame Compensates for the pitch angle difference between the control board and the frame

Not Used

This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.

This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.

Capacity of the battery in mAh when full

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.

Controls enabling monitoring of the battery's voltage and current

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.

How long the shutter will be held open in 10ths of a second (i.e. enter 10 for

1second, 50 for 5seconds)

PWM value to move servo to when shutter is deactivated

PWM value to move servo to when shutter is activated

how to trigger the camera to take a picture

Select which function if performed when CH7 is above 1800 pwm

Defines the radius of the circle the vehicle will fly when in Circle flight mode

Enable or disable the automatic calculation of the declination based on gps location

An angle to compensate between the true north and magnetic north

Enable or disable the automatic learning of compass offsets

Offset to be added to the compass x-axis values to compensate for metal in the frame Offset to be added to the compass y-axis values to compensate for metal in the frame Offset to be added to the compass z-axis values to compensate for metal in the frame Enable or disable the use of the compass (instead of the GPS) for determining heading

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0)

will disable optical flow

Flight mode when Channel 5 pwm is <= 1230

Flight mode when Channel 5 pwm is >1230, <= 1360

Flight mode when Channel 5 pwm is >1360, <= 1490

Flight mode when Channel 5 pwm is >1490, <= 1620

Flight mode when Channel 5 pwm is >1620, <= 1749

Flight mode when Channel 5 pwm is >=1750

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

Controls whether failsafe will be invoked when battery voltage or current runs low The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

The PWM level on channel 3 below which throttle sailsafe triggers

Loiter latitude position controller I gain. Corrects for longer-term distance (in latitude) to the target location

Loiter latitude position controller I gain maximum. Constrains the maximum desired speed that the I term will generate

Loiter latitude position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

Loiter longitude position controller I gain. Corrects for longer-term distance (in longitude direction) to the target location

Loiter longitudeposition controller I gain maximum. Constrains the maximum desired speed that the I term will generate

Loiter longitude position controller P gain. Converts the distance (in the longitude direction) to the target location into a desired speed which is then passed to the loiter longitude rate controller

Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate

Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Accelerometer scaling of X axis. Calculated during acceleration calibration

routine

Accelerometer scaling of Y axis Calculated during acceleration calibration routine Accelerometer scaling of Z axis Calculated during acceleration calibration routine Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisation

Which type of IMU is installed (read-only)

The descent speed for the final stage of landing in cm/s

bitmap to control the copter led mode

2 byte bitmap of log types to enable

Loiter latitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed

Loiter latitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the latitude direction

Loiter rate controller I gain maximum. Constrains the lean angle that the I gain will output

Loiter latitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the latitude direction

Loiter longitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed

Loiter longitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the longitude direction

Loiter longitude rate controller I gain maximum. Constrains the lean angle that the I gain will output

Loiter longitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the longitude direction

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass

Maximum physical pan (yaw) angular position of the mount

Maximum physical roll angular position of the mount

Maximum physical tilt (pitch) angular position of the mount

Minimum physical pan (yaw) angular position of mount.

Minimum physical roll angular position of mount.

Minimum physical tilt (pitch) angular position of mount.

Mount roll angle when in MavLink or RC control operation mode

Mount tilt/pitch angle when in MavLink or RC control operation mode

Mount pan/yaw angle when in MavLink or RC control operation mode

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

Camera or antenna mount operation mode

Mount roll angle when in neutral position

Mount tilt/pitch angle when in neutral position

Mount pan/yaw angle when in neutral position

0 for none, any other for the RC channel to be used to control pan (yaw) movements

0 for none, any other for the RC channel to be used to control roll movements

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Mount roll angle when in retracted position

Mount tilt/pitch angle when in retracted position

Mount yaw/pan angle when in retracted position

enable pan/yaw stabilisation relative to Earth

enable roll stabilisation relative to Earth

enable tilt/pitch stabilisation relative to Earth

Controls whether a curve is used to linearize the thrust produced by the motors

Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.

Set the pwm position that produces half the maximum thrust of the motors

Optical Flow based loiter controller pitch axis D gain. Compensates for short-term change in speed in the pitch direction

Optical Flow based loiter controller pitch axis I gain. Corrects long-term

position error by more persistently pitching left or right

Optical Flow based loiter controller pitch axis I gain maximum. Constrains the maximum pitch angle that the I term will generate

Optical Flow based loiter controller pitch axis P gain. Converts the position

error from the target point to a pitch angle

Optical Flow based loiter controller roll axis D gain. Compensates for short-term change in speed in the roll direction

Optical Flow based loiter controller roll axis I gain. Corrects long-term position error by more persistently rolling left or right

Optical Flow based loiter controller roll axis I gain maximum. Constrains the maximum roll angle that the I term will generate

Optical Flow based loiter controller roll axis P gain. Converts the position error from the target point to a roll angle

The maximum vertical velocity the pilot may request in cm/s

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

Pitch axis rate controller I gain maximum. Constrains the maximum motor output

that the I gain will output

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

Roll axis rate controller D gain. Compensates for short-term change in desired

roll rate vs actual roll rate

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Roll axis rate controller P gain. Converts the difference between desired roll

rate and actual roll rate into a motor speed output

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

This is the speed in Hertz that your ESCs will receive updates

dead zone around trim.

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.