ArduPlane VTOL tutorial

Firmware Installation

The source of VTOL firmware can be found from the official Ardupilot website, secondary development
firmware (such as QQ Group:305970641 KRIS firmware), which are different in function (described in
the following chapters), but they are all free and can be downloaded for free.

* Install and download the official Ardupilot firmware:

The official firmware is divided into three versions (stable version / beta version / developer master
version), usually the newer version has more/updated features and correction of some known bugs (but
there may be unknown Bugs, so be carefull!). Recommend to use stable version as beta mean that they
are still under testing. If you want to flash the stable version Just click 1->2->3 (the icon of the aircraft),
as shown below:

If you want to flash the test version, please click the Beta Firmware at the bottom right. At this time, the
version number will appear below the aircraft icon. When you click the aircraft icon, you will enter the
firmware program.

Not recommended!:
If you want to install the developer DEV version, you can click on Download Firmware to open the
official download firmware page (http://firmware.ardupilot.org/). The developer version is sorted by date,
and there are quite a lot of supported flight control boards. If you are using the Pixhawk, it is PX4 or
FMUV3 (ChibiOS). To find the firmware you want to download, right click -> Save Target (or save link
as...) to download the firmware.
* Download the secondary development firmware (QQ_Group Firmware):
You can go to this Dropbox link to download the firmware:
https://www.dropbox.com/sh/ircqhf6phsgagk3/AAA_Cw3VwoHm2o_viCWHZJj9a?dl=0

The firmware is labeled [version number_date] to distinguish between the old and new versions, so you
will see a lot of folders, each version of the modification instructions in the readme.txt. Typicall
about the new features that have been added. Also a list of corrected “major” bugs. As
mentioned previously, there may be unknown bugs, so use with caution and entirely at your
own risk.

To decide which version of the that fits your hardware, please refer to the description and figure below:
*.px4 is Nuttx (old OS, low performance) firmware, and *.apj is ChibiOS (new OS, high performance)
firmware, some of the flight control can be flashed (as shown below), please decide to flash that
One.
Note: ChibiOS is still in the experimental stage and can be used normally, but there may be unknown
Bugs! and unfinished functions:
https://github.com/ArduPilot/ardupilot/issues/8109
Note:
If your Pixhawk is a flight controller without a 1mb-flash bug, you can either use V3 or FMU_V3. If the
detection is a buggy hardware, you can only flash FMU_V2.apj. Detection method:
https://diydrones.com/ Forum/topics/pixhawk-1mb-flash-limit

* How to install customized version firmware (like group firmware):

Please click 1->2->3(Load custom firmware), then select the firmware you downloaded to flash into the
flight control.
*Possible errors and troubleshooting in the process of firmware.

1. Cannot find the [Load custom firmware] button. This is because the advanced features of
Mission Planner (MP) are not turned on, please open it.

2. After inserting the flight controller, "Drive not found" appears, or "Drive installation failed", or COM??
has not appeared.
This is a problem with your computer driver installation. Try reinstalling the latest version of Mission
Planner.
If you can't solve it, you should find a computer expert. This is not in the scope of this tutorial, so please
try your own way, or try another computer.
3. Failed to load the firmware, or MP freezes, that is not responding, cannot be successfully flashed in.
Here are a few ways you can try:
a. The SD card is not plugged in (or faulty), please change to an SD card.
b. Do not plug in the flight control first. After selecting the firmware, press [ENTER] to insert the flight
control.
c. Insert the flight control first, press [Connect], press [Disconnect] after connecting, and then select
the firmware to be flashed.
d. Plug in the battery first (powered by the battery), then plug in the USB after hearing the boot tone,
then go to step c
e. Change the USB cable (too long or bad contact) can not supply enough power.
4. Can't find Com? after flashing (waiting for a long time has not appeared)
This may be after the ChibiOS (*.apj firmware) will be reinstalled, and the installation driver is wrong,
so it is also a computer problem, or permission to try to remove the MP and then go to the official
website to download the latest version of the MP with the latest driver, if it is Inability to solve, you can
use the (b) of item 3 above to flash back the Nuttx (*.px4) firmware.

5. A strange sound appears at boot.

 Please go to the official website http://ardupilot.org/copter/docs/common-sounds-pixhawkpx4.html
Listen to it is the kind of sound, there are reasons for writing.

6. RGB LED flashing lights are weird!

Please go to the official website http://ardupilot.org/copter/docs/common-leds-pixhawk.html to see if
the LED is flashing, there are also reasons for writing.

If you have tried the above method and still fails, you may have to try another flight control, maybe it is
broken, or it may be a bad rate...
Vertical takeoff and landing fixed wing Chinese tutorial - import parameters
*Download parameter file:
You can also enter the parameter file of each model in the Parameters folder of Dropbox. Please
download it according to your own model. This can save you a lot of tuning time.
https://www.dropbox.com/sh/ircqhf6phsgagk3/AAA_Cw3VwoHm2o_viCWHZJj9a?dl=0

* Reset parameters (restore factory values):

The first time you flash the firmware, you must reset the
parameters (only the first time you want to do this, you don't have to
reset it later), because the value of the parameter memory is
unpredictable after the first firmware is swiped, so we have to reset
it. The parameter is the default value.
The reset method is very simple, just press 1->2->3 (Reset to
Default) and then reboot.
There should be nothing wrong with this step. If you can't find [Full
Parameter List], then you just didn't look carefully at the previous
one.

*Import parameters: Click 1->2->3(Load from file) and select the model parameters you
downloaded.

Pay special attention here, because this step has to be done several times: The first import will
have a lot of errors (the parameter name can't be found), because some parameters need to
be opened before you can see the relevant parameters. For example, Q_Enabled=1 will see
the parameters at the beginning of Q_. So after we import, press [Write Params] to write the
parameter -> reboot -> and then repeat the import step. After several imports, you will find
that there are a few remaining errors (perhaps no errors). In this case, please use [Compare
Params] to compare the parameters, then press Write and reboot, all parameters should be
imported, if still There are a few errors, so it may be that the old and new versions have
different parameter names (or changed), you can also check it through the next chapter
(parameter settings).
caveat:
1. Do not plug in the servo (Servo) until you have imported the parameters or set the
parameters correctly, because you may insert the servo into the 490Hz ESC Main out or AUX
out, and the rudder servo will burn.

2. The servos must be powered separately (with independent UBEC power supply), and not
via the flight control. If there is no separate power supply, the steering gear will not move, or
the flight control will be restarted in the air.

3. Tilt the rotor servo (especially the UAVS label), be sure to use high voltage (6.0V-8.0V
power supply, it is recommended to use the 7.0V UBEC provided by UAVS), Do not use 5.0V
(5V is cannot provide the power needed to carry the high (kg) load and the high current draw
may cause damage)

4. On some flight controllers Main out and AUX out can only be plugged into 5.5V. On those, if
your BEC voltage is 6V (or higher), you can't plug in Main or AUX out. If you are unsure,
please ask your flight control. Manufacturer.

5. The SD card sent by the flight control is usually not very good. It is best to change the 16G
high-speed SD card by yourself, so as to avoid POS or SD card write error during the aerial
survey operation, or Log discontinuity (or even no log).
 Vertical takeoff and landing fixed wing - calibration
accelerometer
Accelerometer calibration is divided into [six-sided calibration Calibration Accel] and [horizontal
calibration Calibration Level]. The six-sided calibration must be calibrated on a completely flat desktop,
so please complete it before installing the machine. Do a horizontal calibration.

Click 1->2->3(Calibration Accel) to do a six-sided calibration, and then follow the picture to complete it.
*Levitation level (LEVEL) is placed, press [ENTER] after completion or click [Done] in
the screen.
*Place flight controller on its left, then press [ENTER] when finished or click [Done] in
the screen.
*Place flight controller on its right, press [ENTER] when finished or click [Done] in the
screen.
*The nose is placed down, press [ENTER] or click [Done] in the screen.

* Place the nose up, press [ENTER] or click [Done] in the screen.
*Place flight controler on its back, press [ENTER] when finished or click [Done] in the
screen
* Accelerometer calibration completed

Vertical takeoff and landing fixed wing - calibration compass

The compass should be calibrated after the installation is completed, but it can also be temporarily
affixed to the flight controller to first calibrate and try to confirm that there is no problem to install the
machine.
However, it must still be calibrated again after the machine is installed (the same method), and it is
better to use battery power to calibrate after the installation (USB may not supply enough power).

Before calibrating, please advance all parameters to determine whether the compass ID is correct.
Pixhawk2 Cube / Pixhack-V3 / UAVS-V3 has two built-in compasses (generally Pixhawk only has one
built-in). If you plug in an external compass, you must see it. 3 different compass IDs, if not, please
check wiring or other issues.

About compass interference:

Since the vertical takeoff and landing fixed wing (VTOL) has a large current (>60A) in the copter mode
and is concentrated on the wings on both sides, it is difficult to avoid the interference compass problem.
If it is impossible to eliminate the current magnetic field interference, only two can be disabled. Built-in
compass, only 1 external or 2 external compass.

About the compass installation direction:

The new firmware automatically recognizes the direction of the compass, so there is no need to set the
direction on the calibration page. If the calibration is completed and found to be deflected by 90 degrees
(observable from the Mission Planner map, the north side of the screen is directly above), first check for
interference nearby, or Change position for calibration.

About CANBUS Compass:

There are only 3 compass positions on the MP ground station. If you have 4 compasses (for example,
external GPS*1, Pixhawk2 built-in*2, CANBUS*1), you must use the COMPASS_TYPEMASK
parameter to turn off some compasses. See http: //ardupilot.org/plane/docs/parameters.html Search for
the "COMPASS_TYPEMASK" parameter. For example, if you only need a CANBUS compass,
COMPASS_TYPEMASK=6143 (binary: 1011111111111)
If you have 2 CANBUS compasses, you must turn off one of them (for example, CANBUS GPS built-in
compass), because there can only be one compass on CANBUS, so use the parameter
CAN_D1_UC_MAG_ID=55 (specify CANBUS high-precision compass ID).
Enter the compass calibration page will be checked and set as shown below, then press
1->2->3 (Start) Start to rotate the UAV( flight control and compass)e, as long as each direction
has turned, the progress bar will continue to increase To 100%.
After the compass calibration is completed, please restart the flight controller. If the calibration
fails, check if there are any magnetic objects nearby. Please try again.

Vertical takeoff and landing fixed wing- remote control calibration

Remote control calibration
 Vertical takeoff and landing fixed wing - parameter setting

The vertical take-off and landing fixed wing is composed of copter + fixed wing + transition. The
parameters at the beginning of Q_ are mostly related to copter (Quad), especially copter PID
parameters, as long as the parameter "Q_" "Remove it with the copter firmware (Copter) with the same
name, so the reference can refer to the copter tutorial, and the parameters without "Q_" in front are
mostly fixed-wing parameters, you can refer to the fixed-wing tuning tutorial.
*key parameter:
The key parameters must be set correctly according to the carrier configuration. Don't make a mistake
(error is directly blown), please check again.
The parameter name is marked in red to indicate that only the secondary development firmware has
parameters.
parameter name range unit Setting Parameter Description

Q_ENABLE 0~1 1 0=Disable VTOL

1=Enable VTOL

Q_FRAME_CLASS 0-10 1 Copter frame:

0=Undefined
1=Quad
2 = Hexa
3 = Octa
4=OctaQuad
5=Y6
7=Tri(Y3/Tri-Copter)
10=Tailsitter

FLTMODE_CH 5-8 5 RC Channel to use for flight mode control (5=CH5)

Q_FRAME_TYPE 0-11 1 Frame Type:

0=+(Plus)
1=X
2=V
3=H (Note: H actually refers to the "工" of Chinese
characters)
4=V tail (Note: not the V-tail of the fixed wing, but the
motor is V-shaped)
5=A tail (motor is type A)
10=Y6B
11=Y6F

Q_TILT_MASK 0- bit 3=Y3 Those motors will tilt (4+1 or 4+2 please set to 0)
6553 Front 2* This is a bit type.
5 Example (Quad 2+2*): The front two motors of the
11=Y3 quad will tilt, and the front motor numbers of the quad
Three will be numbered 1 and 3.
tilt , then arranged in binary: 00000101=5, then
Q_TILT_MASK=5

Example (Quad 4*): All motors of quad will tilt, then the
quad motor number is 1/2/3/4
, then arranged in binary: 00001111=15, then
Q_TILT_MASK=15

Example (Y6A): The first 4 motors of Y6A will tilt, the

number is 1/2/3/5
 , arranged in binary: 00010111=23, Q_TILT_MASK=23

Example (Y3): The first two motors of Y3 will tilt, and the
number is 1/2.
, arranged in binary: 00000011=3, Q_TILT_MASK=3

Q_TILT_TYPE 0-2 2 Tilting mode (4+1 or 4+2 please set to 0)

0=none
1=Tip wing machine (eg CL-84)
2 = vector thrust

Q_TILT_RATE_DN 0-180 18
The speed of tilting down (15=1 seconds tilt 15 degrees)

Q_TILT_RATE_UP 0-180 90
The speed of tilting upwards (90 = 1 second and 90
degrees)

Q_TILT_THR_DN 30-10 % 80
0 copter conversion to the throttle limit of the fixed wing
(example: 0,100=100%, 90=maximum 90%)
Uses: When the power is too large, the fuselage
structure cannot be supported, and after conversion, it
is limited by THR_MAX.

Q_TILT_THR_UP 10- % 20 The fixed wing is converted back to the copter throttle
100 scaling parameter (example: 0,100=100%,
90=maximum 90%)
Use: If the conversion back to multiple axes will climb
high, you can set an appropriate value, for example 60
(%)

Q_TILT_MAX 0-90 degre 60 Maximum tilt 60 degrees (waiting airspeed at this angle
e > Q_ASSIST_SPEED)

Q_TRAN_PIT_MAX 0-30 degre 5 The process of converting to a fixed wing allows

e the Pitch to tilt a few degrees (5 = up to 5 degrees)

Q_TRAN_RLL_MAX 0-60 degre 5 The process of converting to a fixed wing allows the Roll
e to tilt a few degrees (5 = up to 5 degrees)

Q_TRANSITION_MS 0- 6000
30000 millis How long after the fixed wing reaches the minimum
econ airspeed, the copter assistance will stop.
d Note: This parameter tilting model only serves as the
maximum taxi time for switching back to QLOITER
mode (if the ground speed is <5, the QLOITER fixed
point is advanced)

Q_TILT_YAW_ANGL degre 10
E e The maximum angle of the rotor vector thrust (too big
will cut the wing, please measure it yourself)
Q_TILT_FIX_ANGLE 0-30 degre 10
e Fixed wing vector thrust maximum angle (too much
press arm, please measure it yourself)

Q_TILT_FIX_GAIN 0-100 % 50 Fixed wing vector thrust sensitivity (0=off, 50=50%)

ARSPD_FBW_MIN 5-100 m/s 10 Minimum airspeed limit

ARSPD_FBW_MAX 5-100 m/s 35 Maximum airspeed limit

Q_ASSIST_SPEED 0-100 m/s 11 When the fixed wing airspeed is <11 (m/s), the copter
will automatically assist to avoid stall (11m/s is
approximately equal to the speed of 11*3.6=39.6km)

Q_ASSIST_ANGLE 0-90 度 65
When the fixed wing falls >65 degrees, Quad mode will
be engaged to level the plane.
Note: This protection must be enabled for stall
protection.

Q_ASSIST_ALT 米 25
Low height protection, below 0.5 h for this height
triggers rescue (0=disabled)

Q_ASSIST_ALT_MO 18
D Low altitude protection, what mode is used to save the
machine
(17=QSTABILIZE,18=QHOVER,19=QLOITER,20=QLA
ND,21=QRTL)
note:
1. Flight must have exceeded ASSIST_ALT + 10 meters
in fixed-wing mode (or conversion), if not, it will not
trigger.
2. If the remote control is out of control (or not turned
on), then the QLAND self-drop mode will save the
machine.
3.Q_ASSIST_ALT When setting a negative value, you
can specify a remote control channel (knob or switch) to
specify the height, -6 for CH6, -7 for CH7...-14 for
CH14, when the knob or switch is in the neutral position
(PWM= 1500) is 25 meters high in the low position
(PWM <1100), the height protection is turned off, in the
high position (PWM > 1900 is 50 meters, PWM > 2100
is 65 meters) If it is positive (> 0), the specified height
(20 = 20 meters, 30 = 30 meters, ... analogy)

Q_GUIDED_MODE 0-1 0 0=Close copter guidance mode (please set to 0 off)

1=Turn on copter guidance mode

Q_RTL_MODE 0-1 1 0=disabled

 1=Enable hybrid RTL, if you are far away from home,
you can automatically turn the fixed wing home, and
automatically copter landing over the home.

Q_RTL_ALT 1-200 米 30
copter QRTL return altitude

Q_RTL_LOIT_ALT 0-200 米 80 Circling down to this height to find a suitable tangent

and automatically convert to a copter landing..

Q_RTL_LOIT_MIN 0-999 米 200 RTL hovering height function, the height is greater than
9 this value to enable the hovering height, the default is
500 meters

Q_RTL_LOIT_RAD 50-20 米 120

0 RTL hover rdius, default 90 meters (counterclockwise if
negative)

Q_LAND_FINAL_ALT 米 9
The height of the second stage landing (9=9 meters)

Q_LAND_SPEED 30- Cm 60
200 The speed of the second stage landing (60 = 60 cm per
second)

Q_LAND_DETECT 0-3 3 Automatic landing detection and automatic locking

detection (including AUTO / RTL / QLAND)
0=The barometer does not change >20 cm in a few
seconds (locking slow >5 seconds, this is the default old
way)
1=With a barometer, it does not change >20 cm in a few
seconds (fast lock >3 seconds)
2=Use ground effect + ACC-Z to judge (locking slow > 2
seconds)
3=Use ground effect + ACC-Z to judge (locking fast >
0.5 seconds)

Q_TRANS_DECEL 0.2-5 1.5 This is deceleration rate that will be used in calculating
the stopping distance when transitioning from fixed wing
flight to multicopter flight. (the greater the value, the
shorter the taxi)

Q_ANGLE_MAX 1000 degre 2500 Maximum tilt angle for copter mode (1000=10 degrees,
8000 e/ 2500=25 degrees)
1000

RTL_RADIUS 米 90
The fixed-wing RTL is close to HOME and the radius
starts to be converted to copter.

WP_LOITER_RAD 米 90 Fixed wing radius

MIXING_GAIN 0.5- 1
1.2 Mixing ratio of the rudder surface (1=100%)

KFF_RDDRMIX 0-1 0.8 Aileron hybrid tail rudder (model without tail rudder, this
parameter will be used for dual-speed differential
control)

RUDD_DT_GAIN 0-100 50%

Dual differential control sensitivity (0=off, 50=50%)

AHRS_WIND_MAX 0-127 米/ 8 Maximum wind speed, when the barometer fails, let the
秒 airspeed and ground speed be within +-8.
Or at least a ground speed of 8 m / s when flying
against a wind

LIM_PITCH_MAX 4000 Fixed wing allows maximum pitch angle (4000 = 40

degrees)

LIM_PITCH_MIN -4000 The fixed wing allows the maximum pitch angle (-4000
= 40 degrees)

LIM_ROLL_CD 5000
Fixed wing allows maximum roll angle (5000=50
degrees)
*copter/fixed wing parameters:
Parameters used in copter mode
parameter name range unit Setting Parameter Description

Q_VELZ_MAX 50- 200 Maximum vertical speed of the copter mode remote
500 Cm control rod (200 = 2 meters per second)
/sec
ond

Q_ACCEL_Z 50- 250 Maximum vertical acceleration of the copter mode

500 remote control

Q_RC_SPEED 50- Hz 490

500 ESC PWM refresh rate

Q_THR_MIN_PWM 800- PWM 1000

2200 Minimum PWM output for copter motors
Note: If this parameter is 0, use RC3_MIN (subject to
remote control CH3)

Q_THR_MAX_PWM 800- PWM 2000

2200 Maximum PWM output of copter motor
Note: If this parameter is 0, use RC3_MAX (subject to
remote control CH3)

Q_YAW_RATE_MAX 50- Deg 100

500 ree/ The maximum rotation rate of the YAV lever of the
sec remote control, 100 = 100 degrees per second
ond

Q_VFWD_GAIN 0-0.5 0 QLOITER mode maintains position with a fixed-wing

motor (boost)
Note: Tilting models can use tilt to boost

Q_VFWD_ALT 0-10 米 2
Above this height, boosting is enabled to avoid hitting
the paddle on the ground.

Q_WVANE_GAIN 0-1 0
Active windward, the value of 0.1 will slowly turn to the
wind, the value of 0.4 can get more response

Q_WVANE_MINROLL 0-10 0
The wind vane that is active against the wind (when the
fuselage is tilted by the wind, it begins to wind up)
Note: This parameter of the tilting model is used as
crosswind compensation during conversion.

Q_ESC_CAL 0-2 0
 Enter copter motor calibration (0=off, re-open
opportunity to return to 0)
1=Accurate calibration is based on throttle stick output
2 = When the ESC is calibrated, the unlock is the
maximum throttle and the lock is the minimum throttle
output.

Q_LAND_ICE_CUT 0-1 1
Automatically turn off the aircraft engine when copter
landing, and turn off the flame (for oil sag)

Q_A_SLEW_YAW 500- Cen 9000

18000 t QLoiter, QRTL, AUTO mode maximum yaw rate (YAW)
/sec
ond

Q_A_ANGLE_BOOST 0-1 1
When the copter is tilted, the output throttle is
increased to avoid falling high (0=off, 1=enabled)

Q_WP tuning (used during the route mission)

Q_WP_ACCEL 50-
500 The [horizontal] acceleration used. The higher the
value, the faster the response to the horizontal
correction.

Q_WP_ACCEL_Z 50- The [vertical] acceleration used, the higher the value,
500 the faster the response to vertical correction.

Q_WP_RADIUS 10-
1000 How far (cm) from the waypoint even if it touches the
waypoint.

Q_WP_RFND_USE 0-1
Use the rangefinder for terrain tracking (1=on, 0=off)

Q_WP_SPEED 20-
2000 Flight speed, 1000 (cm / sec) = about 36 kilometers per
hour.

Q_WP_SPEED_DN 10- The speed of the descent, 100 (cm / sec) = about 3.6
500 km per hour.

Q_WP_SPEED_UP 10-
1000 The speed of climbing up, 1000 (cm / sec) = about 36
kilometers per hour.

Q_LOITER tuning (in QLOITER, copter hover mode)

Q_LOIT_ACC_MAX 100-
 981 Maximum corrected acceleration in cm/s/s, with higher
values ​leading to more positive correction of positional
errors.

Q_LOIT_ANG_MAX 0-45
The maximum tilt angle, if 0, uses 2/3 (about 70%) of
the Q_ANGLE_MAX angle.

Q_LOIT_BRK_ACCEL 25- Brake acceleration in cm/s/s. When the pole is

250 centered, a higher value will stop the aircraft faster.

Q_LOIT_BRK_DELAY 0-2 Brake start delay (in seconds), when the pole is
centered, how long does it take to start braking.

Q_LOIT_BRK_JERK 500-
5000 The brake impact in cm/s/s/s, if the rod is moved during
the brake operation, the higher the value, the faster the
brake.

Q_LOIT_SPEED 20- Defines the maximum flight speed of the aircraft in

2000 QLOITER mode in cm/s (cm/s)

Q_P adjustment

Q_P_ACCZ_P 0.5-
1.5 Acceleration (vertical) controller P gain. Convert the
difference between the desired vertical acceleration
and the actual acceleration to the motor output

Q_P_ACCZ_I 0.0- Acceleration (vertical) controller I gain. Correct

3.0 long-term differences between required vertical
acceleration and actual acceleration

Q_P_ACCZ_D 0.0-
0.4 Acceleration (vertical) controller D gain. Compensation
for short-term changes in the expected vertical
acceleration and actual acceleration

Q_P_ACCZ_IMAX 0-
1000 The acceleration (vertical) controller I has the largest
gain. Constrained I gain will generate the maximum
pwm

Q_P_ACCZ_FILT 1- Acceleration (vertical) controller filter, filter applied to

100.0 accelerate to reduce noise, lower value reduces noise,
but delays

Q_P_ACC_XY_FILT 0.5-5
 The cutoff frequency of the horizontal acceleration filter.
The lower the value, the slower the response of the
navigation controller.

Q_P_ANGLE_MAX 0-45 Maximum tilt angle. Set to zero to use the

ANGLE_MAX parameter

Q_M_THST_EXPO 0.25- Thrust curve of the motor (0 = linear, 1 = second-order

0.8 curve)

Q_M_YAW_HEADRO 0-500 Maximum number of PWM values ​

for YAW control,
OM range: 0~500

Q_A_THR_MIX_MAN 0.1-
0.9 The weight of the throttle stick for throttle or attitude
control during manual flight (the higher the value, the
more the control attitude is than the throttle)

Q_A_THR_MIX_MAX 0.5-
0.9 The weight of the throttle stick for throttle or attitude
control during flight (the higher the value, the more the
control attitude is than the throttle)

Q_A_THR_MIX_MIN 0.1-
0.25 The weight of the throttle stick for throttle or attitude
control during landing (the higher the value, the more
the control attitude is than the throttle)

Q_M_SPOOL_TIME copter motor accelerates from speed 0 to minimum

throttle (seconds, 0.3=0.3 seconds)

Q_M_YAW_SV_ANGL Yaw (yaw) steering gear maximum tilt angle (for Y3),
E range: 5~80 degrees

Q_M_SAFE_DISARM
After locking, whether the copter motor needs PMW
output (0=disconnect, 1=minimum PWM output)

Q_M_HOVER_LEARN
Throttle adaptive (0=none, 1=adaptive, 2=adaptive and
memorized)

Q_M_THST_HOVER Hovering throttle (0~1, 0.5=50% throttle just hovering)

Q_M_BAT_CURR_TC
It is allowed to last for a few seconds when the motor
output reaches the maximum current (more than the
throttle output will be limited), range: 0~10 seconds
Q_M_BAT_CURR_MA The maximum current output from the motor, which
X lasts longer than Q_M_BAT_CURR_TC seconds, will
limit the throttle output.

Q_M_BAT_VOLT_MIN
The minimum voltage compensation of the battery (V, 0
= off), below which the PID voltage compensation
adjustment will not be performed.

Q_M_BAT_VOLT_MA
X The maximum voltage compensation of the battery (V,
0 = off), above which the PID voltage compensation
adjustment will not be performed.

Q_M_SPIN_ARM
After the motor is unlocked, the idle speed (0: slow, 0.1:
medium, 0.2: fast) cannot be set greater than
Q_M_SPIN_MIN.

Q_M_SPIN_MIN
The minimum rotation speed of the motor (0: slow,
0.15: medium, 0.3: fast), set to be greater than
Q_M_SPIN_ARM, used during flight.

Q_M_SPIN_MAX
Maximum motor rotation speed (0.9: slow, 0.95:
medium, 1: fast)

Q_M_PWM_MAX
The maximum PWM value of the motor. If it is 0, the
value of RC3_MAX is used.

Q_M_PWM_MIN
The minimum PWM value of the motor. If it is 0, the
value of RC3_MIN is used.

Q_M_PWM_TYPE
Motor PMW form (0=normal, 1=OneShot,
2=OneShot125,
3=Brushed(16kHz),4=DShot150,5=DShot300,6=DShot
600,7=DShot1200

1~7 must be ESC support.

ACRO_LOCKING
In the trick mode, the joystick stays in the middle and
stays high (0=no, 1=yes)

ACRO_PITCH_RATE Stunt mode, the pitch angle per second when the lifter
is pushed and pulled to the maxim
ACRO_ROLL_RATE
In the trick mode, the roll angle per second when the
roll bar is pushed to the maximum

AHRS_COMP_BETA
This parameter is used to control the time constant of
the ground rate calculated by airspeed, direction data
and GPS data. The standard of the time constant is
0.1/beta. The larger the value is set, the less the
proportion of GPS data is used. The lesser the use of
airspeed data. Not recommended to modify

AHRS_GPS_GAIN
GPS participates in correcting the proportion of height
(1 for fixed wings)

AHRS_GPS_MINSAT
S Minimum number of GPS, when the number of
satellites is greater than this value, participate in the
correction.

AHRS_GPS_USE
Whether to enable GPS navigation (0=No, 1=Yes)

AHRS_ORIENTATION
Flight control installation direction

AHRS_RP_P
Let the accelerometer correct the attitude at a fast
speed. Optional reaction time is between 0.1 and 0.4
seconds

AHRS_TRIM_X
Compensate for the difference in roll angle between the
flight control board and the fuselage

AHRS_TRIM_Y
Compensate for the difference in pitch between the
flight control board and the body

AHRS_TRIM_Z
Compensation for the difference in the direction of the
Yaw angle between the flight control board and the
fuselage (this parameter is not used)

AHRS_WIND_MAX
Set the maximum difference between ground speed
and airspeed. This setting is to prevent the airspeed
 meter from malfunctioning. 0 is the use of an airspeed
meter in any case.

AHRS_YAW_P
Use the compass and GPS to determine the specific
gravity of the direction. A higher value means that the
direction will be faster to follow the source of the
direction data.

ALT_CTRL_ALG What algorithm is used to control the flight altitude

(0=automatic), there is currently only one "TECS--total
power control" algorithm.

ALT_HOLD_FBWCM
In the FBW-B and CRUISE flight modes, the minimum
flight altitude is limited. If the aircraft drops to this
setting, the flight controller will automatically correct it
and not make the aircraft lower than the preset
minimum height (0=no limit).

ALT_HOLD_RTL
Return to the height of the starting point, which will be
the height the aircraft is aiming at when returning, and
also the height back to the starting point and hovering.
If set to -1, the aircraft will use the current altitude to
enter the RTL mode. Note: If the assembly point is set (
Rally point), then the preset height of the assembly
point will replace the preset height of this RTL mode.
 Servo_Function
No Name Description Chinese description
==== ====================== ===================================== =========================
0 k_none Disabled 不使用
1 k_manual Pass-thru the RC in signal RC穿透（仅通过RC信号）
2 k_flap Flap 襟翼(flap)舵機
3 k_flap_auto Flap automated 襟翼(flap)自動
4 k_aileron Aileron 副翼舵機
6 k_mount_pan Mount1 pan(yaw) 雲台1 yaw舵機
7 k_mount_tilt Mount1 tilt(pitch) 雲台1 Pitch舵機
8 k_mount_roll Mount1 roll 雲台1 roll舵機
9 k_mount_open Mount1 deploy/retract 雲台1 (開/關)
10 k_cam_trigger Camera trigger 相機快門觸發
11 k_egg_drop Release 釋放掛載(丟雞蛋,一種比賽)
12 k_mount2_pan Mount2 pan(yaw) 雲台2 yaw舵機
13 k_mount2_tilt Mount2 tilt(pitch) 雲台2 Pitch舵機
14 k_mount2_roll Mount2 roll 雲台2 roll舵機
15 k_mount2_open Mount2 deploy/retract 雲台2 (開/關)
16 k_dspoiler1 Differential spoiler1-left 差分擾流板1（左翼）
17 k_dspoiler2 Differential spoiler1-right 差分擾流板2（右翼）
18 k_aileron_with_input Aileron with rc input 副翼舵機(帶rc輸入)
19 k_elevator Elevator 升降舵機
20 k_elevator_with_input Elevator with rc input 升降舵機(帶rc輸入)
21 k_rudder Rudder 尾舵機
22 k_sprayer_pump Crop sprayer pump 作業噴霧器泵通道
23 k_sprayer_spinner Crop sprayer spinner 作業噴霧器旋轉通道
24 k_flaperon1 Flaperon, left wing flaperon-左翼
25 k_flaperon2 Flaperon, right wing flaperon-右翼
26 k_steering Ground steering 地面轉向器舵機(輪子轉向)
27 k_parachute_release Parachute release 釋放降落傘
28 k_gripper Gripper 夾具
29 k_landing_gear_control Landing gear controller 起落架控制器
30 k_engine_run_enable Engine kill switch(for gas) 引擎(油動發動機)開關
31 k_heli_rsc Helicopter RSC output 直升機RSC輸出
32 k_heli_tail_rsc Helicopter tail RSC output 直升機尾RSC輸出
33 k_motor1 Copter/VTOL motor 1 多軸或VTOL的電機1
34 k_motor2 Copter/VTOL motor 2 多軸或VTOL的電機2
35 k_motor3 Copter/VTOL motor 3 多軸或VTOL的電機3
36 k_motor4 Copter/VTOL motor 4 多軸或VTOL的電機4
37 k_motor5 Copter/VTOL motor 5 多軸或VTOL的電機5
38 k_motor6 Copter/VTOL motor 6 多軸或VTOL的電機6
39 k_motor7 Copter/VTOL motor 7 多軸或VTOL的電機7
40 k_motor8 Copter/VTOL motor 8 多軸或VTOL的電機8
41 k_motor_tilt Tiltrotor motor tilt control VTOL傾轉舵機(無向量推力)
42 k_pd_left_motor Pandora VTOL motor-left(Anti-Torque) Pandora VTOL 左電機(鎖尾)
43 k_pd_right_motor Pandora VTOL motor-right(Anti-Torque) Pandora VTOL 右電機(鎖尾)
44 k_vp_roll Variable pitch VTOL(roll for Pandora) VTOL斜盤舵機(橫滾斜盤)
45 k_tiltMotorRear Vectored thrust(Pitch), rear tilt VTOL傾轉舵機-後(向量推力)
46 k_vp_left Variable pitch VTOL(pitch-left) VTOL變距左舵機(總距)
47 k_vp_right Variable pitch VTOL(pitch-right) VTOL變距右舵機(總距)
48 k_vp_throttle Variable pitch VTOL(throttle) VTOL變距油門
49 k_vp_left_ele Variable pitch VTOL(Elevator-left) VTOL斜盤左舵機(升降斜盤)
50 k_vp_right_ele Variable pitch VTOL(Elevator-right) VTOL斜盤右舵機(升降斜盤)
51 k_rcin1 RC pass-thru(CH1) RC通道穿透(CH1)
52 k_rcin2 RC pass-thru(CH2) RC通道穿透(CH2)
53 k_rcin3 RC pass-thru(CH3) RC通道穿透(CH3)
54 k_rcin4 RC pass-thru(CH4) RC通道穿透(CH4)
55 k_rcin5 RC pass-thru(CH5) RC通道穿透(CH5)
56 k_rcin6 RC pass-thru(CH6) RC通道穿透(CH6)
57 k_rcin7 RC pass-thru(CH7) RC通道穿透(CH7)
58 k_rcin8 RC pass-thru(CH8) RC通道穿透(CH8)
59 k_rcin9 RC pass-thru(CH9) RC通道穿透(CH9)
60 k_rcin10 RC pass-thru(CH10) RC通道穿透(CH10)
61 k_rcin11 RC pass-thru(CH11) RC通道穿透(CH11)
62 k_rcin12 RC pass-thru(CH12) RC通道穿透(CH12)
63 k_rcin13 RC pass-thru(CH13) RC通道穿透(CH13)
64 k_rcin14 RC pass-thru(CH14) RC通道穿透(CH14)
65 k_rcin15 RC pass-thru(CH15) RC通道穿透(CH15)
66 k_rcin16 RC pass-thru(CH16) RC通道穿透(CH16)
67 k_ignition Ignition(for gas) 點火開關
68 k_choke Choke(for gas) 熄火開關
69 k_starter Starter(for gas) 起動器
70 k_throttle Throttle 油門
71 k_tracker_yaw Tracker Yaw 跟蹤天線yaw舵機
72 k_tracker_pitch Tracker Pitch 跟蹤天線pitch舵機
73 k_throttleLeft Throttle Left 油門-左(差速控制左電機)
74 k_throttleRight Throttle Right 油門-右(差速控制右電機)
75 k_tiltMotorLeft Vectored thrust, left tilt VTOL傾轉舵機-左(向量推力)
76 k_tiltMotorRight Vectored thrust, righttilt VTOL傾轉舵機-右(向量推力)
77 k_elevon_left Elevon Left 飛翼-左舵機(免混控)
78 k_elevon_right Elevon Right 飛翼-右舵機(免混控)
79 k_vtail_left VTail Left V尾-左舵機(免混控)
80 k_vtail_right VTail Right V尾-右舵機(免混控)
81 k_boost_throttle Vertical booster throttle 垂直推力油門
82 k_motor9 Copter/VTOL motor 9 多軸或VTOL的電機9
83 k_motor10 Copter/VTOL motor 10 多軸或VTOL的電機10
84 k_motor11 Copter/VTOL motor 11 多軸或VTOL的電機11
85 k_motor12 Copter/VTOL motor 12 多軸或VTOL的電機12
86 k_dspoilerLeft2 differential spoiler2 left 差動擾流板(左翼)
87 k_dspoilerRight2 differential spoiler2 right 差動擾流板(右翼)
88 k_winch Winch 絞盤