params.c File Reference

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Functions
	PARAM_DEFINE_INT32 (MC_AIRMODE, 0)
	Multicopter air-mode. More...
	PARAM_DEFINE_INT32 (MOT_ORDERING, 0)
	Motor Ordering. More...

Function Documentation

PARAM_DEFINE_INT32() [1/2]

PARAM_DEFINE_INT32	(	MC_AIRMODE	,
		0
	)

Multicopter air-mode.

The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle.

This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).

Enabling air-mode for yaw requires the use of an arming switch.

0 Disabled 1 Roll/Pitch 2 Roll/Pitch/Yaw Mixer Output

PARAM_DEFINE_INT32() [2/2]

PARAM_DEFINE_INT32	(	MOT_ORDERING	,
		0
	)

Motor Ordering.

Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4.

ONLY supported for Quads.

When changing this, make sure to test the motor response without props first.

0 PX4 1 Betaflight / Cleanflight

Mixer Output