5 RPA Configuration
RPA configuration describes options for configuration of RPA.

5.1 General Settings

RPA Configuration General Setting
This section defines the display units used in the application. After applying these setting, they will be reflected immediately across the application.
o Distance: Meters | Feet
o Area: Square Meters | Square Feet | Square Kilometers | Hectares | Acres |Square Miles
o Speed: Metres/second | Feet/second | Miles/hour | Kilometres/hour | Knots
o Temperature: Celsius | Fahrenheit

5.2 Air frame

RPA Airframe Configuration
The Airframe setting can be done to choose require airframe so that flight controller software can understand and operate accordingly. This is very important setting and must be ensured before flight is taken. It has two types of settings.
a) Frame Class à All these standard classes of airframe supported by Ardupilot and PX4 firmware are displayed here. You need to select on of them and reboot the drone.
b) Frame Type à All these standard frame types of airframe supported by Ardupilot and PX4 firmware are displayed here. You need to select one of them as per drone physical specifications.

5.3 Sensors

RPA Sensor Configuration
The Sensor Setup section allows you to configure and calibrate the vehicle's compass, gyroscope, accelerometer and pressure.
a) Accelerometer à Under this setting, you can calibrate the accelerometer of the device. Once you click on ‘Calibrate button’ you would be asked to hold the vehicle in various orientation.
b) Compass à You need to rotate the vehicle randomly around all axes until the progress bar fills all the way to the right and the calibration completes.
c) Level Horizon à If the horizon is not level after completing accelerometer calibration you can calibrate the level horizon for your vehicle. You will be asked to place and hold your vehicle in level orientations while it captures orientation.
d) Pressure à This calibration set's the altitude to zero at the current pressure.

5.4 Safety

Safety section provides various configuration options for RPA safety.
RPA Safety Setting

5.4.1 Battery Failsafe

This section sets the Battery Failsafe parameters. You can set low and critical thresholds for voltage and/or remaining capacity and define the action if the failsafe value is breached. The thresholds can be disabled by setting them to zero. Following options are available for configuration.
o Low action - Select one of: None, Land, RTL, SmartRTL, SmartRTL or Land, Terminate.
o Critical action - Select one of: None, Land, RTL, SmartRTL, SmartRTL or Land, Terminate.
o Low voltage threshold - Battery voltage that triggers the low action.
o Critical voltage threshold - Battery voltage that triggers the critical action.
o Low mAh threshold - Battery capacity that triggers the low action.
o Critical mAh threshold - Battery capacity that triggers the critical action.

5.4.2 Return to Launch

This section sets the RTL Mode behavior. Following configurations are available.
o Select RTL return altitude:
o Return at current altitude - Return at current altitude.
o Return at specified altitude - Ascend to specified altitude to return if below current altitude.
o Loiter above home for - Check to set a loiter time before landing.
o One of
o Land with descent speed - Select final descent speed.
o Final loiter altitude - Select and set final altitude for landing after RTL or mission (set to 0 to land).

5.4.3 Geofence

This section sets the parameters for the cylindrical Simple Geofence. You can set whether the fence radius or height are enabled, the maximum values for causing a breach, and the action in the event of a breach. The configuration allows following settings.
o Circle GeoFence enabled - Enable the circular geofence.
o Altitude GeoFence enabled - Enable altitude geofence.
o Fence action One of:
o Report only - Report fence breach.
o RTL or Land - RTL or land on fence breach.
o Max radius - Circular fence radius that when broken causes RTL.
o Max altitude Fence maximum altitude to trigger altitude geofence.

5.4.4 Failsafe Trigger

The configuration options under this section are.
o GCS Heartbeat - Select one of: Disabled, Warn only, Disarm, Enter depth hold mode, Enter surface mode.
o Leak - Select one of: Disabled, Warn only, Enter surface mode.
o Detector Pin - Select one of: Disabled, Pixhawk Aux (1-6), Pixhawk 3.3ADC(1-2), Pixhawk 6.6ADC.
o Logic when Dry - Select one of: Low, High.
o Battery – Configure batter options.
o EKF - Select one of: Disabled, Warn only, Disarm.
o Pilot Input - Select one of: Disabled, Warn only, Disarm.
o Internal Temperature - Select one of: Disabled, Warn only.
o Internal Pressure - Select one of: Disabled, Warn only.

5.4.5 Arming Checks

The configuration options under this section are.
Arming Checks to perform (ARMING_CHECK) - Check all appropriate: Barometer, Compass, GPS lock, INS, Parameters, RC Channels, Board voltage, Battery Level, Airspeed, Logging Available, Hardware safety switch, GPS Configuration, System.

5.5 Flight Modes

RPA Flight Mode Setting
In Flight Modes (RPA Configuration >Flight Modes), Flight modes are controlled through the radio (via a transmitter switch), or using commands from AeroGCS.
In general when first starting to use Copter you should progress through the flight modes in the order listed below, being sure that you are comfortable with each before progressing to the next.
Following flight modes:
1. Acro: Acro mode uses the RC sticks to control the angular velocity of the copter in each axis. Release the sticks and the vehicle will maintain its current attitude and will not return to level (attitude hold). Acro mode is useful for aerobatics such as flips or rolls, or FPV when smooth and fast control is desired.
2. Altitude Hold: In altitude hold mode, Copter maintains a consistent altitude while allowing roll, pitch, and yaw to be controlled normally.
3. Air mode: This is not an actual flight mode, but rather, an important feature of ACRO and STABILIZE modes.
4. Auto Mode: In Auto mode the copter will follow a pre-programmed mission script stored in the autopilot which is made up of navigation commands
5. Brake Mode: This very simple flight mode simply stops the vehicle as soon as possible using the Loiter controller.
6. Circle: Circle will orbit a point located CIRCLE_RADIUS centimeters in front of the vehicle with the nose of the vehicle pointed at the center.
7. Drift Mode: This page provides tips for flying in Drift Mode and methods for tuning your copter to fly optimally in Drift Mode.
8. Flip Mode: Vehicle will flip on its roll or pitch axis depending upon the pilot’s roll and pitch stick position
9. Flow Hold Mode: Flow Hold mode uses an optical flow sensor to hold position without the need for a GPS nor a downward facing Lidar.
10. Follow: When switched into Follow, the vehicle will attempt to follow another vehicle (or anything publishing its position) at a specified offset.
11. Follow me mode: Follow Me mode makes it possible for you to have your copter follow you as you move, using a telemetry radio and a ground station.
12. Guided Mode: Guided mode is a capability of Copter to dynamically guide the copter to a target location wirelessly using a telemetry radio module and ground station application
13. Heli_Autorotate: This flight mode is available for traditional helicopters only. It is currently limited to single rotor helicopters.
14. Land Mode: LAND Mode attempts to bring the copter straight down.
15. Loiter Mode: Loiter Mode automatically attempts to maintain the current location, heading and altitude.
16. PosHold Mode: It is similar to Loiter in that the vehicle maintains a constant location, heading, and altitude but is generally more popular because the pilot stick inputs directly control the vehicle’s lean angle providing a more “natural” feel.
17. Position Mode: Position mode is the same as loiter mode, but with manual throttle control. This means that, in position mode, the copter maintains a consistent location and heading, while allowing the operator to control the throttle manually.
18. RTL Mode: RTL mode (Return to launch mode) navigates Copter from its current position to hover above the home position.
19. Simple and Super simple modes: “Simple” and “Super Simple” modes allow the pilot to control the movement of the copter from the pilot’s point of view regardless of which way the copter is facing.
20. Smart RTL Mode: When switched into Smart RTL, like regular RTL, the vehicle will attempt to return home.
21. Sport Mode: Sport Mode is also known as “rate controlled stabilize” plus Altitude Hold.
22. Stabilize Mode: Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis.
23. System Identification mode: This mode is for advanced users and provides a means to generate mathematical models of the vehicles flight behavior for model generation
24. Throw mode: This slightly dangerous flight mode allows the pilot to throw the vehicle into the air (or drop the vehicle) in order to start the motors
25. Zigzag mode: Zigzag mode is a semi-autonomous mode designed to make it easier for a pilot to fly a vehicle back and forth across a field which can be useful for crop spraying.
Flight Mode
PWM Range
Flight Mode 1
0 – 1230
Flight Mode 2
1231 – 2360
Flight Mode 3
1361 – 1490
Flight Mode 4
1491 – 1620
Flight Mode 5
1621 – 1749
Flight Mode 6
1750 +

5.6 RC Calibration

In RC configuration (RPAConfiguration > RC Config), RC transmitters allow the pilot to set the flight mode, control the vehicle’s movement and orientation and also turn on/off auxiliary functions (i.e. raising and lowering landing gear, etc.).
· RC Calibration involves capturing each RC input channel’s minimum, maximum and “trim” values so that ArduPilot can correctly interpret the input.
· Move both sticks in the largest circle possible so that they reach their complete range of motion. Move the Ch 5 and 6 toggle switches through their range of positions.
· Your transmitter should cause the following control changes:
Channel 1: low = roll left, high = roll right.
Channel 2: low = pitch forward, high=pitch back.
Channel 3: low = throttle down (off), high = throttle up.
Channel 4: low = yaw left, high = yaw right.

5.7 ESC Calibration

RPA ESC Calibration
· In ESC Calibration (RPA Configuration > ESC Calibration), Electronic Speed Controllers (ESCs) regulate motor speed (and direction) based on the PWM input value from the flight controller (FC). The range of inputs to which an ESC will respond is configurable, and the default range can differ even between ESCs of the same model.
· This calibration updates all the ESCs with the maximum and minimum PWM input values that will be supplied by the flight controller. Subsequently all the ESCs/motors will respond to flight controller input in the same way (across the whole input range).

5.8 Power

RPA Power Configuration
This section allows to you configure power related safety parameters.
Configuration options are as below.
o Battery Monitor – Configure the battery monitoring method.
o Battery Capacity – allows to set the battery maximum in terms of power capacity.
o Minimum Arming Voltage – sets the minimum voltage to start giving alarm about battery.
o Power Sensor – select the power sensors of RPA device.

5.9 Compass

RPA Compass Configuration
This section allows to you configure compass related parameters.
Configuration options are as below.
o Compass Declination – Set the compass declination value in radian. The minimum value allowed is -3.14 and maximum value allowed is +3.14

5.10 Serial Param

RPA Serial Parameters Configuration
This section allows to you configure serial interface related parameters.
Configuration options are as below.
o Serial0 to Serial6
o Baud rate à Set the speed of transfer of bits from the serial port.
o Protocol à Set the protocol of transfer of data.

5.11 Flow

RPA Flow Setting
This section allows to you configure flow related parameters.
Configuration options are as below.
o Flow Enable
o X axis correction factor
o Y axis correction factor
o Flow sensor yaw alignment

5.12 Land

RPA Land Configuration
This section allows to you configure landing speed related parameters.
Configuration options are as below.
o Land speed – This is the speed at which the RPA should land on ground.
o Land high speed – This is the maximum high speed at which the RPA should land on ground.
· In Land setting (RPAConfiguration > Land), Descent speed for the final stage of landing in cm/s.
Increment
Range
Units
10
30 - 200
centimeters per second
· The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used.
Increment
Range
Units
10
0 - 500
centimeters per second

5.13 Fence

RPA Fence Setting
This section allows to you configure fence related parameters.
Configuration options are as below.
o Fence Type
o Altitude – This allows to setup altitude fence so that RPA will be within defined altitude.
o Circular – This defines circular type of fence.
o Polygon – This defines polygon type of geo fence
o Fence Action – This allows you to set action on breach of fence.
o Fence Enable – This enables or disables fence to monitor and take action on breach of fence. If it is disabled, then RPA will not consider any fence. It is important to enable fence always.
o Fence maximum Altitude – This is the maximum altitude then RPA should go. If this limit is crossed, then fence action should get activated.
o Fence Margin – This is the safety margin of fence.
o Circular Fence Radius – Here you can define maximum radius of a circular fence.
o Polygon Fence Total Points – Here you can define maximum polygon points a fence should consider.
Maximum altitude allowed before geofence triggers
Increment
Range
Units
1
10 -1000
meters
Circle fence radius which when breached will cause an RTL
Range
Units
30 – 10000
meters
Distance that autopilots should maintain from the fence to avoid a breach

5.14 Camera

RPA Camera Setting
This section allows to you configure camera and gimbal related parameters.
Configuration options are as below.
o Gimbal Tilt
o Gimbal Roll – This allows you to set action on breach of fence.
o Gimbal PAN – This allows you to set action on breach of fence.
o Gimbal General Setting
o Camera Settings
o
In camera (RPAConfiguration > Camera), ranges are given following.
Gimbal Setting
Min
Max
Units
Gimbal Tilt
Gimbal angle limits
-18000
17999
-18000
17999
Cdeg
Servo PWM limits
500
2200
800
2200
Pwm
Gimbal Roll
Gimbal angle limits
-18000
17999
-18000
17999
Cdeg
Servo PWM limits
500
2200
800
2200
Pwm
Gimbal Pan
Gimbal angle limits
-18000
17999
-18000
17999
Cdeg
Servo PWM limits
500
2200
800
2200
Pwm
Type
Min
Max
Units
Camera servo off
1000
2000
Pwm
Camera servo on
1000
2000
Pwm
Camera trigger distance
0
1000
m
Camera trigger duration
0
50
deciseconds

5.15 Streaming Camera Settings

This section allows to you configure camera and gimbal related parameters.

5.16 Spraying Configurations

This section allows to you configure camera and gimbal related parameters.
SPRAY_ENABLE: Sprayer enable/disable
Allows you to enable or disable the sprayer
SERVO5 Function
Minimum PWM
Minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Maximum PWM
Maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
SERVO6 Function
Minimum PWM
Minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit
Maximum PWM
Maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
BRD_PWM_COUNT: Auxiliary pin config
Note: This parameter is for advanced users
Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO.
Value
Meaning
0
No PWMs
1
One PWMs
2
Two PWMs
3
Three PWMs
4
Four PWMs
5
Five PWMs
6
Six PWMs
7
Seven PWMs
8
Eight PWMs
Last modified 8mo ago