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‎Plane-4.6/MAVLinkMessages.rst‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -179,7 +179,7 @@ Commands the autopilot handles when received.
179179
`MAV_CMD_DO_REPEAT_RELAY <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPEAT_RELAY>`_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp>`_, common
180180
`MAV_CMD_DO_REPEAT_SERVO <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPEAT_SERVO>`_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/libraries/AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp>`_, common
181181
`MAV_CMD_DO_REPOSITION <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPOSITION>`_, `ArduPlane/GCS_Mavlink.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/ArduPlane/GCS_Mavlink.cpp>`_, common
182-
`MAV_CMD_DO_RETURN_PATH_START <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_RETURN_PATH_START>`_, `AP_Mission/AP_Mission.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/libraries/AP_Mission/AP_Mission.cpp>`_, common
182+
`MAV_CMD_DO_RETURN_PATH_START <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_RETURN_PATH_START>`_, `ArduPlane/GCS_Mavlink.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/ArduPlane/GCS_Mavlink.cpp>`_, common
183183
`MAV_CMD_DO_SEND_BANNER <https://mavlink.io/en/messages/ardupilotmega.html#MAV_CMD_DO_SEND_BANNER>`_, `GCS_MAVLink/GCS_Common.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/libraries/GCS_MAVLink/GCS_Common.cpp>`_, ardupilotmega
184184
`MAV_CMD_DO_SEND_SCRIPT_MESSAGE <https://mavlink.io/en/messages/ardupilotmega.html#MAV_CMD_DO_SEND_SCRIPT_MESSAGE>`_, `AP_Mission/AP_Mission.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/libraries/AP_Mission/AP_Mission.cpp>`_, ardupilotmega
185185
`MAV_CMD_DO_SET_CAM_TRIGG_DIST <https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAM_TRIGG_DIST>`_, `ArduPlane/commands_logic.cpp <https://github.com/ArduPilot/ardupilot/tree/Plane-4.6/ArduPlane/commands_logic.cpp>`_, common

‎Plane-4.6/Parameters.html‎

Lines changed: 109 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1076,9 +1076,10 @@ <h2>RTL auto land (ArduPlane:RTL_AUTOLAND)</h2>
10761076
<ul>
10771077
<table><th>Value</th><th>Meaning</th>
10781078
<tr><td>0</td><td>Disable</td></tr>
1079-
<tr><td>1</td><td>Fly HOME then land</td></tr>
1080-
<tr><td>2</td><td>Go directly to landing sequence</td></tr>
1079+
<tr><td>1</td><td>Fly HOME then land via DO_LAND_START mission item</td></tr>
1080+
<tr><td>2</td><td>Go directly to landing sequence via DO_LAND_START mission item</td></tr>
10811081
<tr><td>3</td><td>OnlyForGoAround</td></tr>
1082+
<tr><td>4</td><td>Go directly to landing sequence via DO_RETURN_PATH_START mission item</td></tr>
10821083
</table>
10831084
</ul>
10841085

@@ -12194,6 +12195,7 @@ <h2>Button Pin 1 RC Channel function (BTN_FUNC1)</h2>
1219412195
<tr><td>179</td><td>ICEngine start / stop</td></tr>
1219512196
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
1219612197
<tr><td>181</td><td>QuickTune</td></tr>
12198+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
1219712199
<tr><td>208</td><td>Flap</td></tr>
1219812200
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
1219912201
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -12304,6 +12306,7 @@ <h2>Button Pin 2 RC Channel function (BTN_FUNC2)</h2>
1230412306
<tr><td>179</td><td>ICEngine start / stop</td></tr>
1230512307
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
1230612308
<tr><td>181</td><td>QuickTune</td></tr>
12309+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
1230712310
<tr><td>208</td><td>Flap</td></tr>
1230812311
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
1230912312
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -12414,6 +12417,7 @@ <h2>Button Pin 3 RC Channel function (BTN_FUNC3)</h2>
1241412417
<tr><td>179</td><td>ICEngine start / stop</td></tr>
1241512418
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
1241612419
<tr><td>181</td><td>QuickTune</td></tr>
12420+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
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<tr><td>208</td><td>Flap</td></tr>
1241812422
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
1241912423
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -12524,6 +12528,7 @@ <h2>Button Pin 4 RC Channel function (BTN_FUNC4)</h2>
1252412528
<tr><td>179</td><td>ICEngine start / stop</td></tr>
1252512529
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
1252612530
<tr><td>181</td><td>QuickTune</td></tr>
12531+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
1252712532
<tr><td>208</td><td>Flap</td></tr>
1252812533
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
1252912534
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -35799,6 +35804,7 @@ <h2>RC input option (RC10_OPTION)</h2>
3579935804
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3580035805
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3580135806
<tr><td>181</td><td>QuickTune</td></tr>
35807+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3580235808
<tr><td>208</td><td>Flap</td></tr>
3580335809
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3580435810
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -35962,6 +35968,7 @@ <h2>RC input option (RC11_OPTION)</h2>
3596235968
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3596335969
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3596435970
<tr><td>181</td><td>QuickTune</td></tr>
35971+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3596535972
<tr><td>208</td><td>Flap</td></tr>
3596635973
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3596735974
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36125,6 +36132,7 @@ <h2>RC input option (RC12_OPTION)</h2>
3612536132
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3612636133
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3612736134
<tr><td>181</td><td>QuickTune</td></tr>
36135+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3612836136
<tr><td>208</td><td>Flap</td></tr>
3612936137
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3613036138
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36288,6 +36296,7 @@ <h2>RC input option (RC13_OPTION)</h2>
3628836296
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3628936297
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3629036298
<tr><td>181</td><td>QuickTune</td></tr>
36299+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3629136300
<tr><td>208</td><td>Flap</td></tr>
3629236301
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3629336302
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36451,6 +36460,7 @@ <h2>RC input option (RC14_OPTION)</h2>
3645136460
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3645236461
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3645336462
<tr><td>181</td><td>QuickTune</td></tr>
36463+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3645436464
<tr><td>208</td><td>Flap</td></tr>
3645536465
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3645636466
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36614,6 +36624,7 @@ <h2>RC input option (RC15_OPTION)</h2>
3661436624
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3661536625
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3661636626
<tr><td>181</td><td>QuickTune</td></tr>
36627+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3661736628
<tr><td>208</td><td>Flap</td></tr>
3661836629
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3661936630
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36777,6 +36788,7 @@ <h2>RC input option (RC16_OPTION)</h2>
3677736788
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3677836789
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3677936790
<tr><td>181</td><td>QuickTune</td></tr>
36791+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3678036792
<tr><td>208</td><td>Flap</td></tr>
3678136793
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3678236794
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -36940,6 +36952,7 @@ <h2>RC input option (RC1_OPTION)</h2>
3694036952
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3694136953
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3694236954
<tr><td>181</td><td>QuickTune</td></tr>
36955+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3694336956
<tr><td>208</td><td>Flap</td></tr>
3694436957
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3694536958
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37103,6 +37116,7 @@ <h2>RC input option (RC2_OPTION)</h2>
3710337116
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3710437117
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3710537118
<tr><td>181</td><td>QuickTune</td></tr>
37119+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3710637120
<tr><td>208</td><td>Flap</td></tr>
3710737121
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3710837122
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37266,6 +37280,7 @@ <h2>RC input option (RC3_OPTION)</h2>
3726637280
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3726737281
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3726837282
<tr><td>181</td><td>QuickTune</td></tr>
37283+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3726937284
<tr><td>208</td><td>Flap</td></tr>
3727037285
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3727137286
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37429,6 +37444,7 @@ <h2>RC input option (RC4_OPTION)</h2>
3742937444
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3743037445
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3743137446
<tr><td>181</td><td>QuickTune</td></tr>
37447+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3743237448
<tr><td>208</td><td>Flap</td></tr>
3743337449
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3743437450
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37592,6 +37608,7 @@ <h2>RC input option (RC5_OPTION)</h2>
3759237608
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3759337609
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3759437610
<tr><td>181</td><td>QuickTune</td></tr>
37611+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3759537612
<tr><td>208</td><td>Flap</td></tr>
3759637613
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3759737614
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37755,6 +37772,7 @@ <h2>RC input option (RC6_OPTION)</h2>
3775537772
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3775637773
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3775737774
<tr><td>181</td><td>QuickTune</td></tr>
37775+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3775837776
<tr><td>208</td><td>Flap</td></tr>
3775937777
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3776037778
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -37918,6 +37936,7 @@ <h2>RC input option (RC7_OPTION)</h2>
3791837936
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3791937937
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3792037938
<tr><td>181</td><td>QuickTune</td></tr>
37939+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3792137940
<tr><td>208</td><td>Flap</td></tr>
3792237941
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3792337942
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -38081,6 +38100,7 @@ <h2>RC input option (RC8_OPTION)</h2>
3808138100
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3808238101
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3808338102
<tr><td>181</td><td>QuickTune</td></tr>
38103+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3808438104
<tr><td>208</td><td>Flap</td></tr>
3808538105
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3808638106
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -38244,6 +38264,7 @@ <h2>RC input option (RC9_OPTION)</h2>
3824438264
<tr><td>179</td><td>ICEngine start / stop</td></tr>
3824538265
<tr><td>180</td><td>Test autotuned gains after tune is complete</td></tr>
3824638266
<tr><td>181</td><td>QuickTune</td></tr>
38267+
<tr><td>184</td><td>System ID Chirp (Quadplane only)</td></tr>
3824738268
<tr><td>208</td><td>Flap</td></tr>
3824838269
<tr><td>209</td><td>VTOL Forward Throttle</td></tr>
3824938270
<tr><td>210</td><td>Airbrakes</td></tr>
@@ -50659,6 +50680,92 @@ <h2>Range of travel (SERVO_VOLZ_RANGE)</h2>
5065950680
</ul>
5066050681

5066150682

50683+
<h1>SID Parameters</h1>
50684+
50685+
50686+
<h2>System identification axis (SID_AXIS)</h2>
50687+
50688+
<p>Controls which axis are being excited. Set to non-zero to see more parameters</p>
50689+
<ul>
50690+
<table><th>Value</th><th>Meaning</th>
50691+
<tr><td>0</td><td>None</td></tr>
50692+
<tr><td>1</td><td>Input Roll Angle</td></tr>
50693+
<tr><td>2</td><td>Input Pitch Angle</td></tr>
50694+
<tr><td>3</td><td>Input Yaw Angle</td></tr>
50695+
<tr><td>4</td><td>Recovery Roll Angle</td></tr>
50696+
<tr><td>5</td><td>Recovery Pitch Angle</td></tr>
50697+
<tr><td>6</td><td>Recovery Yaw Angle</td></tr>
50698+
<tr><td>7</td><td>Rate Roll</td></tr>
50699+
<tr><td>8</td><td>Rate Pitch</td></tr>
50700+
<tr><td>9</td><td>Rate Yaw</td></tr>
50701+
<tr><td>10</td><td>Mixer Roll</td></tr>
50702+
<tr><td>11</td><td>Mixer Pitch</td></tr>
50703+
<tr><td>12</td><td>Mixer Yaw</td></tr>
50704+
<tr><td>13</td><td>Mixer Thrust</td></tr>
50705+
</table>
50706+
</ul>
50707+
50708+
50709+
<h2>System identification Chirp Magnitude (SID_MAGNITUDE)</h2>
50710+
50711+
<p>Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.</p>
50712+
<ul>
50713+
</ul>
50714+
50715+
50716+
<h2>System identification Start Frequency (SID_F_START_HZ)</h2>
50717+
50718+
<p>Frequency at the start of the sweep</p>
50719+
<ul>
50720+
<li>Range: 0.01 100</li>
50721+
<li>Units: hertz</li>
50722+
</ul>
50723+
50724+
50725+
<h2>System identification Stop Frequency (SID_F_STOP_HZ)</h2>
50726+
50727+
<p>Frequency at the end of the sweep</p>
50728+
<ul>
50729+
<li>Range: 0.01 100</li>
50730+
<li>Units: hertz</li>
50731+
</ul>
50732+
50733+
50734+
<h2>System identification Fade in time (SID_T_FADE_IN)</h2>
50735+
50736+
<p>Time to reach maximum amplitude of sweep</p>
50737+
<ul>
50738+
<li>Range: 0 20</li>
50739+
<li>Units: seconds</li>
50740+
</ul>
50741+
50742+
50743+
<h2>System identification Total Sweep length (SID_T_REC)</h2>
50744+
50745+
<p>Time taken to complete the sweep</p>
50746+
<ul>
50747+
<li>Range: 0 255</li>
50748+
<li>Units: seconds</li>
50749+
</ul>
50750+
50751+
50752+
<h2>System identification Fade out time (SID_T_FADE_OUT)</h2>
50753+
50754+
<p>Time to reach zero amplitude at the end of the sweep</p>
50755+
<ul>
50756+
<li>Range: 0 5</li>
50757+
<li>Units: seconds</li>
50758+
</ul>
50759+
50760+
50761+
<h2>System identification XY control multiplier (SID_XY_CTRL_MUL)</h2>
50762+
50763+
<p>A multiplier for the XY velocity and position controller when using systemID in VTOL modes that do horizontal position and velocity control</p>
50764+
<ul>
50765+
<li>Range: 0.05 1.0</li>
50766+
</ul>
50767+
50768+
5066250769
<h1>SIM_ Parameters</h1>
5066350770

5066450771

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