Reglage throttle mid apm 2.6

[Zenip]

Bonjour à tous,

J'essaye de régler mon throttle mid mais j'ai un soucis dans mission planner. Ma console m affiche plein de caractère bizarre et il est impossible de l'exploiter. Donc au moment ou je veux charger le graphe pour voir la valeur auquel je suis, il m'est impossible de le faire..

J'essaye alors de régler ça au tâtonnement mais ce n'est pas très efficace comme procédure..

Une solution ?

Merci !

[furynick]

La console n'existe plus sur APM depuis au moins la 3.1.5, les logs de télémétrie se chargent depuis l'onglet Dataflosh logs juste en dessous du HUD.

[Zenip]

Quand je disais console je pensais au "terminal". Je vais essayé de telecharger les logs ce soir alors. Je vous tiens au courant.

[furynick]

console = terminal, c'est la même chose .... et il a disparu (pas assez de place en mémoire flash).

[Zenip]

Je n'arrive toujours pas a télécharger ces logs.. Il me fait une erreur a chaque fois.. Mon quad n'arrive pas a tenir en stationnaire, jai les gaz à 70% environ. C'est que jai un quad pas assez puissant ? Avec le naza il volait niquel avec cette config'

[Zenip]

Up ! Impossible de gérer ces gaz. Quand je diminue le throttle mid j'ai l'impression que cava mieux, mais au bout de 2 3 minutes le quad n'a même plus de force pour redécoller.

[furynick]

Tu essaies bien de charger les logs à travers une connexion USB ?

Un statio à 70% de gaz oui, tu es clairement sous-dimensionné.

[Zenip]

Oui j'essaie bien de télécharger les logs via l'USB. Je devrai changer mes moteurs pour des plus puissant et passer en 4S ? La config' marchait parfaitement avec le naza.. Qu'est ce qui change avec l'APM au niveau de la configuration ?

[Dehas]

Dans MP regarde le "THR_MAX", il doit être a 1000.

[Zenip]

Ok je regarde ca ce soir merci !

[furynick]

Il n'y a pas de raison qu'il soit à autre chose que 1000 (=100%).
Tu n'as pas besoin des logs pour le THR_MID, vérifie qu'il est bien à 500, fait un stationnaire pendant un peu moins de la moitié de l'autonomie (jusqu'à 3,9V par élément environ) en mode stabilize et regarde la position de ton manche de gaz. Tu peux en déduire le THR_MID : si le manche est au milieu THR_MID=500, si le manche est à 65% THR_MID=650, etc.

Tu modifies le THR_MID et tu redécolles (tu as encore la moitié de la batterie), normalement le statio devrait être à 50% de gaz. A partir de là active le mote AltHold, si le THR_MID est bon le multi ne bouge pas, si le multi monte c'est que tu n'es pas à mi-gaz donc le THR_MID est trop bas et il faut augmenter sa valeur. Inversement si le multi descend.

[Dehas]

Ben j'ai eu le coup sur une APM avec un firmware tout frais et il était a 650, donc j'avais exactement le même soucis de manque de puissance et de difficultés a décoller.

[furynick]

Tu avais réinitialisé l'EEPROM avant (installation Plane puis réinstallation Copter) ?

[Dehas]

Eh oui, et chaque fois que je rechargeais le firmware ça revenait a 600, j'ai mis un moment pour trouver, la carte n'était plus sur le multi.

[Wovokaa]

Sur l'APM de mon CX-20 le THR_MID a été réglé à 600, cela juste en observant la position du manche, le statio se trouve alors maintenant à 50% des gaz, et en mode "Sport", ça déchire grave !

[Zenip]

Je pense avoir le même problème que toi Dehas sachant qu'avant le multi marchait super bien sous Naza donc il n'y a pas de raison qu'il soit sous dimensionné. Je vérifie cela ce soir et je vous donne des nouvelles en espérant que se soit ça mon problème.

[Zenip]

THR_MAX est bien à 1000... D'autres pistes ?

[Dehas]

Peux tu faire une sauvegarde de tes param et les poster ici (avec les balises "code")

[Zenip]

Code : Tout sélectionner

ACRO_BAL_PITCH	1		0 3	rate at which pitch angle returns to level in acro mode
ACRO_BAL_ROLL	1		0 3	rate at which roll angle returns to level in acro mode
ACRO_EXPO	0,3		0:Disabled 0.1:Very Low 0.2:Low 0.3:Medium 0.4:High 0.5:Very High	Acro roll/pitch Expo to allow faster rotation when stick at edges
ACRO_RP_P	4,5		1 10	Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.
ACRO_TRAINER	2		0:Disabled 1:Leveling 2:Leveling and Limited	Type of trainer used in acro mode
ACRO_YAW_P	4,5		1 10	Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation.
AHRS_COMP_BETA	0,1		0.001 0.5	This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
AHRS_GPS_GAIN	1		0.0 1.0	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.
AHRS_GPS_MINSATS	6		0 10	Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
AHRS_GPS_USE	1		0:Disabled 1:Enabled	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.
AHRS_ORIENTATION	0		0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll180 9:Roll180Yaw45 10:Roll180Yaw90 11:Roll180Yaw135 12:Pitch180 13:Roll180Yaw225 14:Roll180Yaw270 15:Roll180Yaw315 16:Roll90 17:Roll90Yaw45 18:Roll90Yaw90 19:Roll90Yaw135 20:Roll270 21:Roll270Yaw45 22:Roll270Yaw90 23:Roll270Yaw136 24:Pitch90 25:Pitch270 26:Pitch180Yaw90 27:Pitch180Yaw270 28:Roll90Pitch90 29:Roll180Pitch90 30:Roll270Pitch90 31:Roll90Pitch180 32:Roll270Pitch180 33:Roll90Pitch270 34:Roll180Pitch270 35:Roll270Pitch270 36:Roll90Pitch180Yaw90 37:Roll90Yaw270	Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.
AHRS_RP_P	0,1		0.1 0.4	This controls how fast the accelerometers correct the attitude
AHRS_TRIM_X	0,01841348	Radians	-0.1745 +0.1745	Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
AHRS_TRIM_Y	-0,003047528	Radians	-0.1745 +0.1745	Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
AHRS_TRIM_Z	0	Radians	-0.1745 +0.1745	Not Used
AHRS_WIND_MAX	0	m/s	0 127	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.
AHRS_YAW_P	0,1		0.1 0.4	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.
ANGLE_MAX	4500			Maximum lean angle in all flight modes
ARMING_CHECK	1		0:Disabled  1:Enabled  -3:Skip Baro  -5:Skip Compass  -9:Skip GPS  -17:Skip INS  -33:Skip Parameters  -65:Skip RC  127:Skip Voltage	Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS
ATC_ACCEL_RP_MAX	0	Centi-Degrees/Sec/Sec	0 1800000:Disabled  72000:Slow  108000:Medium  162000:Fast	Maximum acceleration in roll/pitch axis
ATC_ACCEL_Y_MAX	0	Centi-Degrees/Sec/Sec	0 720000:Disabled  18000:Slow  36000:Medium  54000:Fast	Maximum acceleration in yaw axis
ATC_RATE_FF_ENAB	0		0:Disabled  1:Enabled	Controls whether body-frame rate feedfoward is enabled or disabled
ATC_RATE_RP_MAX	18000	Centi-Degrees/Sec	9000 36000	maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
ATC_RATE_Y_MAX	9000	Centi-Degrees/Sec	4500 18000	maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
ATC_SLEW_YAW	1000	Centi-Degrees/Sec	500 18000	Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
BAROGLTCH_ACCEL	1500	cm/s/s	100 2000	Baro glitch protection's max vehicle acceleration assumption
BAROGLTCH_DIST	500	cm	100 2000	Baro glitch protection distance within which alt update is immediately accepted
BAROGLTCH_ENABLE	1		0:Disabled 1:Enabled	Allows you to enable (1) or disable (0) baro glitch protection
BATT_AMP_OFFSET	0	Volts		Voltage offset at zero current on current sensor
BATT_AMP_PERVOLT	16,125	A/V		Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT_CAPACITY	3300	mAh		Capacity of the battery in mAh when full
BATT_CURR_PIN	-1		-1:Disabled  1:A1  2:A2  3:Pixhawk  12:A12  101:PX4	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.
BATT_MONITOR	3		0:Disabled 3:Voltage Only 4:Voltage and Current	Controls enabling monitoring of the battery's voltage and current
BATT_VOLT_MULT	10,1			Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.
BATT_VOLT_PIN	-1		-1:Disabled  0:A0  1:A1  2:Pixhawk  13:A13  100:PX4	Setting this to 0 ~ 13 will enable battery voltage 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.
BATT_VOLT2_MULT	1			Used to convert the voltage of the VOLT2_PIN to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT_VOLT2_PIN	-1			This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery
CAM_DURATION	10		0 50	How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
CAM_SERVO_OFF	1100		1000 2000	PWM value to move servo to when shutter is deactivated
CAM_SERVO_ON	1300		1000 2000	PWM value to move servo to when shutter is activated
CAM_TRIGG_DIST	0		0 1000	Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
CAM_TRIGG_TYPE	0		0:Servo 1:Relay	how to trigger the camera to take a picture
CH7_OPT	0		0:Do Nothing  2:Flip  3:Simple Mode  4:RTL  5:Save Trim  7:Save WP  8:Multi Mode  9:Camera Trigger  10:RangeFinder  11:Fence  12:ResetToArmedYaw  13:Super Simple Mode  14:Acro Trainer  16:Auto  17:AutoTune  18:Land  19:EPM  20:EKF  21:Parachute Enable  22:Parachute Release  23:Parachute 3pos  24:Auto Mission Reset  25:AttCon Feed Forward  26:AttCon Accel Limits  27:Retract Mount  28:Relay On/Off	Select which function if performed when CH7 is above 1800 pwm
CH8_OPT	13		0:Do Nothing  2:Flip  3:Simple Mode  4:RTL  5:Save Trim  7:Save WP  8:Multi Mode  9:Camera Trigger  10:RangeFinder  11:Fence  12:ResetToArmedYaw  13:Super Simple Mode  14:Acro Trainer  16:Auto  17:AutoTune  18:Land  19:EPM  20:EKF  21:Parachute Enable  22:Parachute Release  23:Parachute 3pos  24:Auto Mission Reset  25:AttCon Feed Forward  26:AttCon Accel Limits  27:Retract Mount  28:Relay On/Off	Select which function if performed when CH8 is above 1800 pwm
CIRCLE_RADIUS	1000	cm	0 10000	Defines the radius of the circle the vehicle will fly when in Circle flight mode
CIRCLE_RATE	20	deg/s	-90 90	Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise
COMPASS_AUTODEC	0		0:Disabled 1:Enabled	Enable or disable the automatic calculation of the declination based on gps location
COMPASS_DEC	0	Radians	-3.142 3.142	An angle to compensate between the true north and magnetic north
COMPASS_EXTERNAL	0		0:Internal 1:External	Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option
COMPASS_LEARN	0		0:Disabled 1:Enabled	Enable or disable the automatic learning of compass offsets
COMPASS_MOT_X	-0,0139233	Offset per Amp or at Full Throttle	-1000 1000	Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference
COMPASS_MOT_Y	-0,03830913	Offset per Amp or at Full Throttle	-1000 1000	Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference
COMPASS_MOT_Z	0,01810441	Offset per Amp or at Full Throttle	-1000 1000	Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference
COMPASS_MOTCT	2		0:Disabled 1:Use Throttle 2:Use Current	Set motor interference compensation type to disabled, throttle or current.  Do not change manually.
COMPASS_OFS_X	-80		-400 400	Offset to be added to the compass x-axis values to compensate for metal in the frame
COMPASS_OFS_Y	15		-400 400	Offset to be added to the compass y-axis values to compensate for metal in the frame
COMPASS_OFS_Z	-65		-400 400	Offset to be added to the compass z-axis values to compensate for metal in the frame
COMPASS_ORIENT	8		0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll180 9:Roll180Yaw45 10:Roll180Yaw90 11:Roll180Yaw135 12:Pitch180 13:Roll180Yaw225 14:Roll180Yaw270 15:Roll180Yaw315 16:Roll90 17:Roll90Yaw45 18:Roll90Yaw90 19:Roll90Yaw135 20:Roll270 21:Roll270Yaw45 22:Roll270Yaw90 23:Roll270Yaw136 24:Pitch90 25:Pitch270 26:Pitch180Yaw90 27:Pitch180Yaw270 28:Roll90Pitch90 29:Roll180Pitch90 30:Roll270Pitch90 31:Roll90Pitch180 32:Roll270Pitch180 33:Roll90Pitch270 34:Roll180Pitch270 35:Roll270Pitch270 36:Roll90Pitch180Yaw90 37:Roll90Yaw270	The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.
COMPASS_USE	1		0:Disabled 1:Enabled	Enable or disable the use of the compass (instead of the GPS) for determining heading
DCM_CHECK_THRESH	0,8		0:Disabled  0.8:Default  0.98:Relaxed	Allows setting the maximum acceptable yaw error as a sin of the yaw error (0 to disable check)
EKF_CHECK_THRESH	0,8		0:Disabled  0.6:Default  1.0:Relaxed	Allows setting the maximum acceptable compass and velocity variance (0 to disable check)
ESC	0		0:Normal Start-up  1:Start-up in ESC Calibration mode if throttle high  2:Start-up in ESC Calibration mode regardless of throttle	Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually.
FENCE_ACTION	1		0:Report Only 1:RTL or Land	What action should be taken when fence is breached
FENCE_ALT_MAX	100	Meters	10 1000	Maximum altitude allowed before geofence triggers
FENCE_ENABLE	0		0:Disabled 1:Enabled	Allows you to enable (1) or disable (0) the fence functionality
FENCE_MARGIN	2	Meters	1 10	Distance that autopilot's should maintain from the fence to avoid a breach
FENCE_RADIUS	300	Meters	30 10000	Circle fence radius which when breached will cause an RTL
FENCE_TYPE	3		0:None 1:Altitude 2:Circle 3:Altitude and Circle	Enabled fence types held as bitmask
FLOW_ENABLE	0		0:Disabled 1:Enabled	Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
FLTMODE1	16		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is <= 1230
FLTMODE2	2		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is >1230, <= 1360
FLTMODE3	3		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is >1360, <= 1490
FLTMODE4	0		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is >1490, <= 1620
FLTMODE5	16		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is >1620, <= 1749
FLTMODE6	6		0:Stabilize 1:Acro 2:AltHold 3:Auto 4:Guided 5:Loiter 6:RTL 7:Circle 9:Land 10:OF_Loiter 11:Drift 13:Sport 16:PosHold	Flight mode when Channel 5 pwm is >=1750
FRAME	1		0:Plus  1:X  2:V  3:H  4:V-Tail  5:A-Tail  10:Y6B (New)	Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters.
FS_BATT_ENABLE	0		0:Disabled 1:Land 2:RTL	Controls whether failsafe will be invoked when battery voltage or current runs low
FS_BATT_MAH	0	mAh		Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL
FS_BATT_VOLTAGE	10,5	Volts		Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL
FS_GCS_ENABLE	1		0:Disabled 1:Enabled always RTL 2:Enabled Continue with Mission in Auto Mode	Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds
FS_GPS_ENABLE	1		0:Disabled 1:Land 2:AltHold 3:Land even from Stabilize	Controls what action will be taken if GPS signal is lost for at least 5 seconds
FS_THR_ENABLE	0		0:Disabled 1:Enabled always RTL 2:Enabled Continue with Mission in Auto Mode 3:Enabled always LAND	The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
FS_THR_VALUE	975	pwm	925 1100	The PWM level on channel 3 below which throttle sailsafe triggers
GND_ABS_PRESS	97004,13			calibrated ground pressure in Pascals
GND_ALT_OFFSET	0	meters	-128 127	altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
GND_TEMP	23,08924			calibrated ground temperature in degrees Celsius
GPS_HDOP_GOOD	230		100 900	GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks
GPS_NAVFILTER	8		0:Portable 2:Stationary 3:Pedestrian 4:Automotive 5:Sea 6:Airborne1G 7:Airborne2G 8:Airborne4G	Navigation filter engine setting
GPS_TYPE	1		0:None 1:AUTO 2:uBlox 3:MTK 4:MTK19 5:NMEA 6:SiRF 7:HIL 8:SwiftNav	GPS type
GPSGLITCH_ACCEL	1000	cm/s/s	100 2000	GPS glitch protection's max vehicle acceleration assumption
GPSGLITCH_ENABLE	1		0:Disabled 1:Enabled	Allows you to enable (1) or disable (0) gps glitch protection
GPSGLITCH_RADIUS	200	cm	100 2000	GPS glitch protection radius within which all new positions are accepted
HLD_LAT_P	1		0.500 2.000	Loiter 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
INAV_TC_XY	2,5		0 10	Time constant for GPS and accel mixing. Higher TC decreases GPS impact on position estimate
INAV_TC_Z	5		0 10	Time constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate
INS_ACCOFFS_X	-0,1206888	m/s/s	-300 300	Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
INS_ACCOFFS_Y	0,1926568	m/s/s	-300 300	Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
INS_ACCOFFS_Z	-0,3646456	m/s/s	-300 300	Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
INS_ACCSCAL_X	0,9961374		0.8 1.2	Accelerometer scaling of X axis.  Calculated during acceleration calibration routine
INS_ACCSCAL_Y	1,001135		0.8 1.2	Accelerometer scaling of Y axis  Calculated during acceleration calibration routine
INS_ACCSCAL_Z	0,9825709		0.8 1.2	Accelerometer scaling of Z axis  Calculated during acceleration calibration routine
INS_GYROFFS_X	-0,02165686	rad/s		Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
INS_GYROFFS_Y	-0,06062327	rad/s		Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
INS_GYROFFS_Z	0,0134677	rad/s		Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
INS_MPU6K_FILTER	0	Hz	0:Default 5:5Hz 10:10Hz 20:20Hz 42:42Hz 98:98Hz	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
INS_PRODUCT_ID	0		0:Unknown 1:APM1-1280 2:APM1-2560 88:APM2 3:SITL 4:PX4v1 5:PX4v2 256:Flymaple 257:Linux	Which type of IMU is installed (read-only).
LAND_REPOSITION	1		0:No repositiong  1:Repositioning	Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
LAND_SPEED	50	cm/s	30 200	The descent speed for the final stage of landing in cm/s
LOG_BITMASK	894		830:Default 894:Default+RCIN 958:Default+IMU 1854:Default+Motors -6146:NearlyAll-AC315 43006:NearlyAll 131070:All+DisarmedLogging 0:Disabled	4 byte bitmap of log types to enable
LOITER_LAT_D	0		0.0 0.6	Loiter latitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed
LOITER_LAT_I	0,5		0.02 1.00	Loiter latitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the latitude direction
LOITER_LAT_IMAX	1000	Centi-Degrees	0 4500	Loiter rate controller I gain maximum.  Constrains the lean angle that the I gain will output
LOITER_LAT_P	1		0.1 6.0	Loiter latitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the latitude direction
LOITER_LON_D	0		0.0 0.6	Loiter longitude rate controller D gain.  Compensates for short-term change in desired speed vs actual speed
LOITER_LON_I	0,5		0.02 1.00	Loiter longitude rate controller I gain.  Corrects long-term difference in desired speed and actual speed in the longitude direction
LOITER_LON_IMAX	1000	Centi-Degrees	0 4500	Loiter longitude rate controller I gain maximum.  Constrains the lean angle that the I gain will output
LOITER_LON_P	1		0.1 6.0	Loiter longitude rate controller P gain.  Converts the difference between desired speed and actual speed into a lean angle in the longitude direction
MAG_ENABLE	1		0:Disabled 1:Enabled	Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
MIS_RESTART	0		0:Resume Mission  1:Restart Mission	Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
MIS_TOTAL	0		0 32766	The number of mission mission items that has been loaded by the ground station. Do not change this manually.
MNT_ANGMAX_PAN	1000	Centi-Degrees	-18000 17999	Maximum physical pan (yaw) angular position of the mount
MNT_ANGMAX_ROL	4500	Centi-Degrees	-18000 17999	Maximum physical roll angular position of the mount
MNT_ANGMAX_TIL	1500	Centi-Degrees	-18000 17999	Maximum physical tilt (pitch) angular position of the mount
MNT_ANGMIN_PAN	-1000	Centi-Degrees	-18000 17999	Minimum physical pan (yaw) angular position of mount.
MNT_ANGMIN_ROL	-4500	Centi-Degrees	-18000 17999	Minimum physical roll angular position of mount.
MNT_ANGMIN_TIL	-1500	Centi-Degrees	-18000 17999	Minimum physical tilt (pitch) angular position of mount.
MNT_CONTROL_X	0	Centi-Degrees	-18000 17999	Mount roll angle when in MavLink or RC control operation mode
MNT_CONTROL_Y	0	Centi-Degrees	-18000 17999	Mount tilt/pitch angle when in MavLink or RC control operation mode
MNT_CONTROL_Z	0	Centi-Degrees	-18000 17999	Mount pan/yaw angle when in MavLink or RC control operation mode
MNT_JSTICK_SPD	0		0 100	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.
MNT_MODE	3		0:retract 1:neutral 2:MavLink_targeting 3:RC_targeting 4:GPS_point	Camera or antenna mount operation mode
MNT_NEUTRAL_X	0	Centi-Degrees	-18000 17999	Mount roll angle when in neutral position
MNT_NEUTRAL_Y	0	Centi-Degrees	-18000 17999	Mount tilt/pitch angle when in neutral position
MNT_NEUTRAL_Z	0	Centi-Degrees	-18000 17999	Mount pan/yaw angle when in neutral position
MNT_RC_IN_PAN	6		0:Disabled 5:RC5 6:RC6 7:RC7 8:RC8	0 for none, any other for the RC channel to be used to control pan (yaw) movements
MNT_RC_IN_ROLL	0		0:Disabled 5:RC5 6:RC6 7:RC7 8:RC8	0 for none, any other for the RC channel to be used to control roll movements
MNT_RC_IN_TILT	7		0:Disabled 5:RC5 6:RC6 7:RC7 8:RC8	0 for none, any other for the RC channel to be used to control tilt (pitch) movements
MNT_RETRACT_X	0	Centi-Degrees	-18000 17999	Mount roll angle when in retracted position
MNT_RETRACT_Y	0	Centi-Degrees	-18000 17999	Mount tilt/pitch angle when in retracted position
MNT_RETRACT_Z	0	Centi-Degrees	-18000 17999	Mount yaw/pan angle when in retracted position
MNT_STAB_PAN	0		0:Disabled 1:Enabled	enable pan/yaw stabilisation relative to Earth
MNT_STAB_ROLL	0		0:Disabled 1:Enabled	enable roll stabilisation relative to Earth
MNT_STAB_TILT	0		0:Disabled 1:Enabled	enable tilt/pitch stabilisation relative to Earth
MOT_SPIN_ARMED	70		0:Do Not Spin 70:VerySlow 100:Slow 130:Medium 150:Fast	Controls whether motors always spin when armed (must be below THR_MIN)
MOT_TCRV_ENABLE	1		0:Disabled 1:Enable	Controls whether a curve is used to linearize the thrust produced by the motors
MOT_TCRV_MAXPCT	93		20 80	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.
MOT_TCRV_MIDPCT	52		20 80	Set the pwm position that produces half the maximum thrust of the motors
OF_PIT_D	0,12		0.100 0.140	Optical Flow based loiter controller pitch axis D gain.  Compensates for short-term change in speed in the pitch direction
OF_PIT_I	0,5		0.250 0.750	Optical Flow based loiter controller pitch axis I gain.  Corrects long-term position error by more persistently pitching left or right
OF_PIT_IMAX	100	Centi-Degrees	0 4500	Optical Flow based loiter controller pitch axis I gain maximum.  Constrains the maximum pitch angle that the I term will generate
OF_PIT_P	2,5		2.000 3.000	Optical Flow based loiter controller pitch axis P gain.  Converts the position error from the target point to a pitch angle
OF_RLL_D	0,12		0.100 0.140	Optical Flow based loiter controller roll axis D gain.  Compensates for short-term change in speed in the roll direction
OF_RLL_I	0,5		0.250 0.750	Optical Flow based loiter controller roll axis I gain.  Corrects long-term position error by more persistently rolling left or right
OF_RLL_IMAX	100	Centi-Degrees	0 4500	Optical Flow based loiter controller roll axis I gain maximum.  Constrains the maximum roll angle that the I term will generate
OF_RLL_P	2,5		2.000 3.000	Optical Flow based loiter controller roll axis P gain.  Converts the position error from the target point to a roll angle
PHLD_BRAKE_ANGLE	3000	Centi-degrees	2000 4500	PosHold flight mode's max lean angle during braking in centi-degrees
PHLD_BRAKE_RATE	8		4 12	PosHold flight mode's rotation rate during braking in deg/sec
PILOT_ACCEL_Z	250	cm/s/s	50 500	The vertical acceleration used when pilot is controlling the altitude
PILOT_VELZ_MAX	250	Centimeters/Second	50 500	The maximum vertical velocity the pilot may request in cm/s
POSCON_THR_HOVER	703	Percent*10	0 1000	The autopilot's estimate of the throttle required to maintain a level hover.  Calculated automatically from the pilot's throttle input while in stabilize mode
RATE_PIT_D	0,004		0.001 0.02	Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate
RATE_PIT_I	0,1		0.01 0.5	Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate
RATE_PIT_IMAX	1000	Percent*10	0 4500	Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
RATE_PIT_P	0,15		0.08 0.20	Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
RATE_RLL_D	0,004		0.001 0.02	Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate
RATE_RLL_I	0,1		0.01 0.5	Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate
RATE_RLL_IMAX	1000	Percent*10	0 4500	Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
RATE_RLL_P	0,15		0.08 0.20	Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
RATE_YAW_D	0		0.000 0.02	Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate
RATE_YAW_I	0,02		0.010 0.020	Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate
RATE_YAW_IMAX	1000	Percent*10	0 4500	Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
RATE_YAW_P	0,2		0.150 0.250	Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
RC_FEEL_RP	100		0 1000:Very Soft  25:Soft  50:Medium  75:Crisp  100:Very Crisp	RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
RC_SPEED	490	Hz	50 490	This is the speed in Hertz that your ESCs will receive updates
RC1_DZ	30	pwm	0 200	dead zone around trim.
RC1_MAX	2012	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC1_MIN	982	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC1_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC1_TRIM	1500	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC10_DZ	0	pwm	0 200	dead zone around trim.
RC10_FUNCTION	7		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC10_MAX	2060	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC10_MIN	1322	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC10_REV	-1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC10_TRIM	1500	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC11_DZ	0	pwm	0 200	dead zone around trim.
RC11_FUNCTION	6		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC11_MAX	1750	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC11_MIN	1350	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC11_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC11_TRIM	1500	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC2_DZ	30	pwm	0 200	dead zone around trim.
RC2_MAX	2012	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC2_MIN	987	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC2_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC2_TRIM	1490	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC3_DZ	30	pwm	0 200	dead zone around trim.
RC3_MAX	2012	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC3_MIN	986	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC3_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC3_TRIM	987	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC4_DZ	40	pwm	0 200	dead zone around trim.
RC4_MAX	2013	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC4_MIN	989	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC4_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC4_TRIM	1501	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC5_DZ	0	pwm	0 200	dead zone around trim.
RC5_FUNCTION	0		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC5_MAX	1502	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC5_MIN	1500	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC5_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC5_TRIM	1500	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC6_DZ	0	pwm	0 200	dead zone around trim.
RC6_FUNCTION	0		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC6_MAX	1499	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC6_MIN	1498	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC6_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC6_TRIM	1498	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC7_DZ	0	pwm	0 200	dead zone around trim.
RC7_FUNCTION	0		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC7_MAX	1499	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC7_MIN	1498	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC7_REV	-1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC7_TRIM	1499	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC8_DZ	0	pwm	0 200	dead zone around trim.
RC8_FUNCTION	0		0:Disabled 1:RCPassThru 2:Flap 3:Flap_auto 4:Aileron 6:mount_pan 7:mount_tilt 8:mount_roll 9:mount_open 10:camera_trigger 11:release 12:mount2_pan 13:mount2_tilt 14:mount2_roll 15:mount2_open 16:DifferentialSpoiler1 17:DifferentialSpoiler2 18:AileronWithInput 19:Elevator 20:ElevatorWithInput 21:Rudder 24:Flaperon1 25:Flaperon2 26:GroundSteering 27:Parachute	Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
RC8_MAX	1499	pwm	800 2200	RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC8_MIN	1498	pwm	800 2200	RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC8_REV	1		-1:Reversed 1:Normal	Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
RC8_TRIM	1498	pwm	800 2200	RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RCMAP_PITCH	2		1 8	Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.
RCMAP_ROLL	1		1 8	Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.
RCMAP_THROTTLE	3		1 8	Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.
RCMAP_YAW	4		1 8	Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.
RELAY_PIN	13		-1:Disabled 13:APM2 A9 pin 47:APM1 relay 50:Pixhawk FMU AUX1 51:Pixhawk FMU AUX2 52:Pixhawk FMU AUX3 53:Pixhawk FMU AUX4 54:Pixhawk FMU AUX5 55:Pixhawk FMU AUX6 111:PX4 FMU Relay1 112:PX4 FMU Relay2 113:PX4IO Relay1 114:PX4IO Relay2 115:PX4IO ACC1 116:PX4IO ACC2	Digital pin number for first relay control. This is the pin used for camera control.
RELAY_PIN2	-1		-1:Disabled 13:APM2 A9 pin 47:APM1 relay 50:Pixhawk FMU AUX1 51:Pixhawk FMU AUX2 52:Pixhawk FMU AUX3 53:Pixhawk FMU AUX4 54:Pixhawk FMU AUX5 55:Pixhawk FMU AUX6 111:PX4 FMU Relay1 112:PX4 FMU Relay2 113:PX4IO Relay1 114:PX4IO Relay2 115:PX4IO ACC1 116:PX4IO ACC2	Digital pin number for 2nd relay control.
RNGFND_FUNCTION	0		0:Linear 1:Inverted 2:Hyperbolic	Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
RNGFND_GAIN	0,8		0.01 2.0	Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
RNGFND_MAX_CM	700	centimeters		Maximum distance in centimeters that rangefinder can reliably read
RNGFND_MIN_CM	20	centimeters		Minimum distance in centimeters that rangefinder can reliably read
RNGFND_OFFSET	0	Volts		Offset in volts for zero distance
RNGFND_PIN	-1			Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.
RNGFND_RMETRIC	1		0:No 1:Yes	This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
RNGFND_SCALING	3	meters/Volt		Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
RNGFND_SETTLE_MS	0	milliseconds		The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.
RNGFND_STOP_PIN	-1			Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.
RNGFND_TYPE	0		0:None 1:Analog 2:APM2-MaxbotixI2C 3:APM2-PulsedLightI2C 4:PX4	What type of rangefinder device that is connected
RSSI_PIN	-1		-1:Disabled  0:APM2 A0  1:APM2 A1  2:APM2 A2  13:APM2 A13  103:Pixhawk SBUS	This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum
RSSI_RANGE	5	Volt	3.3:3.3V  5.0:5V	Receiver RSSI voltage range
RTL_ALT	200	Centimeters	0 8000	The minimum altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude.
RTL_ALT_FINAL	50	Centimeters	-1 1000	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.
RTL_LOIT_TIME	5000	ms	0 60000	Time (in milliseconds) to loiter above home before begining final descent
SCHED_DEBUG	0		0:Disabled 2:ShowSlips 3:ShowOverruns	Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.
SERIAL0_BAUD	115		1:1200 2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200 500:500000 921:921600 1500:1500000	The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
SERIAL1_BAUD	57		1:1200 2:2400 4:4800 9:9600 19:19200 38:38400 57:57600 111:111100 115:115200 500:500000 921:921600 1500:1500000	The baud rate used on the first telemetry port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
SIMPLE	0			Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
SR0_EXT_STAT	2			
SR0_EXTRA1	6			
SR0_EXTRA2	6			
SR0_EXTRA3	1			
SR0_PARAMS	10			
SR0_POSITION	2			
SR0_RAW_CTRL	2			
SR0_RAW_SENS	1			
SR0_RC_CHAN	2			
SR1_EXT_STAT	2			
SR1_EXTRA1	2			
SR1_EXTRA2	2			
SR1_EXTRA3	2			
SR1_PARAMS	0			
SR1_POSITION	2			
SR1_RAW_CTRL	2			
SR1_RAW_SENS	2			
SR1_RC_CHAN	2			
STB_PIT_P	4,5		3.000 12.000	Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate
STB_RLL_P	4,5		3.000 12.000	Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate
STB_YAW_P	4,5		3.000 6.000	Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate
SUPER_SIMPLE	0		0:Disabled 1:Mode1 2:Mode2 3:Mode1+2 4:Mode3 5:Mode1+3 6:Mode2+3 7:Mode1+2+3 8:Mode4 9:Mode1+4 10:Mode2+4 11:Mode1+2+4 12:Mode3+4 13:Mode1+3+4 14:Mode2+3+4 15:Mode1+2+3+4 16:Mode5 17:Mode1+5 18:Mode2+5 19:Mode1+2+5 20:Mode3+5 21:Mode1+3+5 22:Mode2+3+5 23:Mode1+2+3+5 24:Mode4+5 25:Mode1+4+5 26:Mode2+4+5 27:Mode1+2+4+5 28:Mode3+4+5 29:Mode1+3+4+5 30:Mode2+3+4+5 31:Mode1+2+3+4+5 32:Mode6 33:Mode1+6 34:Mode2+6 35:Mode1+2+6 36:Mode3+6 37:Mode1+3+6 38:Mode2+3+6 39:Mode1+2+3+6 40:Mode4+6 41:Mode1+4+6 42:Mode2+4+6 43:Mode1+2+4+6 44:Mode3+4+6 45:Mode1+3+4+6 46:Mode2+3+4+6 47:Mode1+2+3+4+6 48:Mode5+6 49:Mode1+5+6 50:Mode2+5+6 51:Mode1+2+5+6 52:Mode3+5+6 53:Mode1+3+5+6 54:Mode2+3+5+6 55:Mode1+2+3+5+6 56:Mode4+5+6 57:Mode1+4+5+6 58:Mode2+4+5+6 59:Mode1+2+4+5+6 60:Mode3+4+5+6 61:Mode1+3+4+5+6 62:Mode2+3+4+5+6 63:Mode1+2+3+4+5+6	Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode
SYSID_MYGCS	255		1 255	Allows restricting radio overrides to only come from my ground station
SYSID_SW_MREV	120			This value is incremented when changes are made to the eeprom format
SYSID_SW_TYPE	10			This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
SYSID_THISMAV	1		1 255	Allows reconising the mavlink version
TELEM_DELAY	0	seconds	0 10	The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
THR_ACCEL_D	0		0.000 0.400	Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration
THR_ACCEL_I	1,8		0.000 3.000	Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration
THR_ACCEL_IMAX	800	Percent*10	0 1000	Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate
THR_ACCEL_P	0,9		0.500 1.500	Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output
THR_ALT_P	1		1.000 3.000	Altitude controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
THR_DZ	100	pwm	0 300	The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes
THR_MAX	1000	Percent*10	800 1000	The maximum throttle that will be sent to the motors.  This should normally be left as 1000.
THR_MID	700	Percent*10	300 700	The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
THR_MIN	130	Percent*10	0 300	The minimum throttle that will be sent to the motors to keep them spinning
THR_RATE_P	5		1.000 8.000	Throttle rate controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
TRIM_THROTTLE	703	Percent*10	0 1000	The autopilot's estimate of the throttle required to maintain a level hover.  Calculated automatically from the pilot's throttle input while in stabilize mode
TUNE	0		0:None 1:Stab Roll/Pitch kP 4:Rate Roll/Pitch kP 5:Rate Roll/Pitch kI 21:Rate Roll/Pitch kD 3:Stab Yaw kP 6:Rate Yaw kP 26:Rate Yaw kD 14:Altitude Hold kP 7:Throttle Rate kP 34:Throttle Accel kP 35:Throttle Accel kI 36:Throttle Accel kD 42:Loiter Speed 12:Loiter Pos kP 22:Loiter Rate kP 28:Loiter Rate kI 23:Loiter Rate kD 10:WP Speed 25:Acro RollPitch kP 40:Acro Yaw kP 13:Heli Ext Gyro 17:OF Loiter kP 18:OF Loiter kI 19:OF Loiter kD 30:AHRS Yaw kP 31:AHRS kP 38:Declination 39:Circle Rate 41:RangeFinder Gain 46:Rate Pitch kP 47:Rate Pitch kI 48:Rate Pitch kD 49:Rate Roll kP 50:Rate Roll kI 51:Rate Roll kD 52:Rate Pitch FF 53:Rate Roll FF 54:Rate Yaw FF	Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
TUNE_HIGH	1000		0 32767	The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
TUNE_LOW	0		0 32767	The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
WP_YAW_BEHAVIOR	2		0:Never change yaw  1:Face next waypoint  2:Face next waypoint except RTL  3:Face along GPS course	Determines how the autopilot controls the yaw during missions and RTL
WPNAV_ACCEL	100	cm/s/s	50 500	Defines the horizontal acceleration in cm/s/s used during missions
WPNAV_ACCEL_Z	100	cm/s/s	50 500	Defines the vertical acceleration in cm/s/s used during missions
WPNAV_LOIT_JERK	1000	cm/s/s/s	500 2000	Loiter maximum jerk in cm/s/s/s
WPNAV_LOIT_SPEED	500	cm/s	0 2000	Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
WPNAV_RADIUS	200	cm	100 1000	Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
WPNAV_SPEED	500	cm/s	0 2000	Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
WPNAV_SPEED_DN	150	cm/s	0 1000	Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
WPNAV_SPEED_UP	250	cm/s	0 1000	Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

[Zenip]

Voila ! Merci d'avance pour l'aide !!

[Dehas]

c'est toi qui a mis le THR_ACCEL_IMAX a 800 ?

[Zenip]

Non je n'ai jamais touché ce paramètre.

[Dehas]

Sur le mien il est a 500

[Zenip]

Ok je vais faire un test en changeant ça.

[Dehas]

Fait aussi ce que ta dit Furynick

Il n'y a pas de raison qu'il soit à autre chose que 1000 (=100%).
Tu n'as pas besoin des logs pour le THR_MID, vérifie qu'il est bien à 500, fait un stationnaire pendant un peu moins de la moitié de l'autonomie (jusqu'à 3,9V par élément environ) en mode stabilize et regarde la position de ton manche de gaz. Tu peux en déduire le THR_MID : si le manche est au milieu THR_MID=500, si le manche est à 65% THR_MID=650, etc.

Tu modifies le THR_MID et tu redécolles (tu as encore la moitié de la batterie), normalement le statio devrait être à 50% de gaz. A partir de là active le mote AltHold, si le THR_MID est bon le multi ne bouge pas, si le multi monte c'est que tu n'es pas à mi-gaz donc le THR_MID est trop bas et il faut augmenter sa valeur. Inversement si le multi descend.