General Ardupilot Settings
118
RangePro RPX8-P User Manual
J • Helpful Parameter Hints
General Ardupilot Settings
Aircraft Orientation During Autonomous Flight
Is your aircraft pointing the right direction during autonomous flight? Solar panel inspection may require keep-
ing the aircraft always oriented in the same direction regardless of the direction of flight, while a tower inspec-
tion may require the aircraft to change orientation. Use the parameter
WP_YAW_BEHAVIOR
to determine
whether the aircraft maintains a constant orientation or always points in the direction it is heading.
Behavior During Return to Land
In RTL mode the unit does not make a beeline for the landing point. Instead, it manages altitude and orienta-
tion to reduce the risk of hitting an obstacle along the way or hitting the ground too hard. Expect the following
steps:
1.
The aircraft ascends to a minimum altitude (
RTL_ALT
),
2.
orients itself for return to the next waypoint (
WP_YAW_BEHAVIOR
),
3.
descends rapidly (
LAND_SPEED_HIGH
),
4.
until obtaining landing altitude (
LAND_ALT_LOW
),
5.
then descends slowly (
LAND_SPEED
),
6.
until landing is complete and the aircraft disarms.
Herelink Specific
Trick for Tilting the Camera
In normal flight operations many pilots prefer for the camera to be tilted down a little to get more ground and
less sky. However, since the scroll wheel on the Herelink is spring loaded and setup for momentary operations
there is no easy way to pick and hold an angle during manual flight operations.
However, there is way to adjust the maximum and minimum tilt angles to set a specific default tilt angle.
MNT_ANGMAX_TIL
sets the maximum tilt angle.
MNT_ANGMIN_TIL
sets the minimum tilt angle. The
center tilt value is halfway in between these two angles. Both are measured in centidegrees. Below are some
examples showing what settings to use to establish a different default tilt angle:
Scenario 1
Scenario 2
Scenario 3
MNT_ANGMAX_TIL
9000 (+90 deg)
7000 (+70 deg)
9000 (+90 deg)
MNT_ANGMIN_TIL
-9000 (-90 deg)
-9000 (-90 deg)
-7000 (-70 deg)
Math
(90 - 90) / 2
(70 - 90) / 2
(90 - 70) / 2
Halfway Point
0 deg
-10 deg
+10 deg
Summary of Contents for RangePro RPX8-P
Page 90: ...90 Chapter 12 Contacting TerraView for Support Chapter Contents Support Options 91...
Page 104: ...104 Appendix F LED Meanings Chapter Contents Introduction 105...
Page 119: ...119 Appendix K Configuration Specific Parameters Chapter Contents Load Specific Parameters 120...
Page 121: ...121 Appendix L Making Sense of Motor Tests Chapter Contents Making Sense of Motor Tests 122...
Page 123: ...123 Appendix M Serial Port Assignment Chapter Contents Serial Port Assignment 124...
