This script implements a easy parameter reversion system to help with manual in-flight tuning. It allows you to do a wide range of manual tuning while flying and if you get in trouble (eg. an oscillation) then you can use a switch to instantly revert all the parameter changes to the values from startup.
The script adds 2 parameters to control it's behaviour. The parameters are:
this must be set to 1 to enable the script
The RCz_OPTIONS scripting function binding to be used for this script. Default RCz_OPTIONS binding is 300 (scripting1).
Install the script in the APM/SCRIPTS folder on your microSD (you can use mavFTP for that). Then reboot and re-fetch parameters. You will find you now have PREV_ENABLE and PREV_RC_FUNC parameters.
Set PREV_ENABLE to 1 and set PREV_RC_FUNC to an available RC option. You would typically use 300 if not used by another script. Then set RCn_OPTION for your chosen R/C channel to revert parameter to the PREV_RC_FUNC value (eg. 300).
Now reboot to start the script. To test it try changing one of the covered parameter values while on the ground, then trigger the reversion with your R/C switch. Then fetch your parameters and you will see it has been reverted. You will see a message "Reverted N parameters" in the messages tab when this happens.
The script covers the following parameters on quadplanes:
- Q_A_RAT_RLL_*
- Q_A_RAT_PIT_*
- Q_A_RAT_YAW_*
- Q_A_ANG_RLL_P
- Q_A_ANG_PIT_P
- Q_A_ANG_YAW_P
- Q_P_ACCZ_*
- Q_P_VELZ_*
- Q_P_POSZ_*
- Q_P_VELXY_*
- Q_P_POSXY_*
The script covers the following parameters on copters:
- ATC_RAT_RLL_*
- ATC_RAT_PIT_*
- ATC_RAT_YAW_*
- ATC_ANG_RLL_P
- ATC_ANG_PIT_P
- ATC_ANG_YAW_P
- PSC_ACCZ_*
- PSC_VELZ_*
- PSC_POSZ_*
- PSC_VELXY_*
- PSC_POSXY_*
For fixed wing the following parameters are covered:
- RLL_RATE_*
- PTCH_RATE_*
- RLL2SRV_TCONST
- PTCH2SRV_TCONST