Upgrade to 4.0 loses some variables from 3.0 dump

[blind-oracle]

Just upgraded to 4.0:

1. Did a diff all in 3.0
2. Upgraded configurator to 4.0
3. Flashed with full erase
4. Restored dump through CLI tab

At least throttle_idle and nav_mc_hover_thr settings left with default values instead of the ones from the dump.
Though during dump loading the CLI definitely said that these variables were set to correct values, but after reboot they're default.

Maybe some others also got lost, haven't checked yet.

[stronnag]

Check the battery profiles. At least throttle_idle is profile dependent (and it works for me once I evinced that).

[blind-oracle]

@stronnag Thanks, that wasn't obvious, especially the idle throttle. But after digging in sources I see the relevant struct:

inav/src/main/sensors/battery_config_structs.h

Line 77 in 7dad0bf

typedef struct batteryProfile_s {

I guess we need some docs update, otherwise it might surprise others. Will do a PR maybe.

[stronnag]

I guess we need some docs update, otherwise it might surprise others. Will do a PR maybe.

It would certainly be useful to indicate whether a value is global, profile or battery profile specific.

[stronnag]

Not an inconsiderable list ...

Battery Profile

Setting	Description
bat_cells	Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected.
vbat_cell_detect_voltage	Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units.
vbat_max_cell_voltage	Maximum voltage per cell in 0.01V units, default is 4.20V
vbat_min_cell_voltage	Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)
vbat_warning_cell_voltage	Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)
battery_capacity	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity.
battery_capacity_warning	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink.
battery_capacity_critical	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps.
battery_capacity_unit	Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour).
controlrate_profile	Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile
throttle_scale	Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
throttle_idle	The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle.
turtle_mode_power_factor	Turtle mode power factor
failsafe_throttle	Throttle level used for landing when failsafe is enabled. See Failsafe documentation.
fw_min_throttle_down_pitch	Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)
nav_mc_hover_thr	Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering.
nav_fw_cruise_thr	Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded )
nav_fw_min_thr	Minimum throttle for flying wing in GPS assisted modes
nav_fw_max_thr	Maximum throttle for flying wing in GPS assisted modes
nav_fw_pitch2thr	Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr)
nav_fw_launch_thr	Launch throttle - throttle to be set during launch sequence (pwm units)
nav_fw_launch_idle_thr	Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position)
limit_cont_current	Continous current limit (dA), set to 0 to disable
limit_burst_current	Burst current limit (dA): the current which is allowed during limit_burst_current_time after which limit_cont_current will be enforced, set to 0 to disable
limit_burst_current_time	Allowed current burst time (ds) during which limit_burst_current is allowed and after which limit_cont_current will be enforced
limit_burst_current_falldown_time	Time slice at the end of the burst time during which the current limit will be ramped down from limit_burst_current back down to limit_cont_current
limit_cont_power	Continous power limit (dW), set to 0 to disable
limit_burst_power	Burst power limit (dW): the current which is allowed during limit_burst_power_time after which limit_cont_power will be enforced, set to 0 to disable
limit_burst_power_time	Allowed power burst time (ds) during which limit_burst_power is allowed and after which limit_cont_power will be enforced
limit_burst_power_falldown_time	Time slice at the end of the burst time during which the power limit will be ramped down from limit_burst_power back down to limit_cont_power

Profile - Control Rate

Setting	Description
thr_mid	Throttle value when the stick is set to mid-position. Used in the throttle curve calculation.
thr_expo	Throttle exposition value
tpa_rate	Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate.
tpa_breakpoint	See tpa_rate.
fw_tpa_time_constant	TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
rc_expo	Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but MANUAL)
rc_yaw_expo	Exposition value used for the YAW axis by all the stabilized flights modes (all but MANUAL)
roll_rate	Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
pitch_rate	Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
yaw_rate	Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
manual_rc_expo	Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]
manual_rc_yaw_expo	Exposition value used for the YAW axis by the MANUAL flight mode [0-100]
manual_roll_rate	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%
manual_pitch_rate	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%
manual_yaw_rate	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%
fpv_mix_degrees
rate_dynamics_center_sensitivity	The center stick sensitivity for Rate Dynamics
rate_dynamics_end_sensitivity	The end stick sensitivity for Rate Dynamics
rate_dynamics_center_correction	The center stick correction for Rate Dynamics
rate_dynamics_end_correction	The end stick correction for Rate Dynamics
rate_dynamics_center_weight	The center stick weight for Rate Dynamics
rate_dynamics_end_weight	The end stick weight for Rate Dynamics

Profile - PID

Setting	Description
mc_p_pitch	Multicopter rate stabilisation P-gain for PITCH
mc_i_pitch	Multicopter rate stabilisation I-gain for PITCH
mc_d_pitch	Multicopter rate stabilisation D-gain for PITCH
mc_cd_pitch	Multicopter Control Derivative gain for PITCH
mc_p_roll	Multicopter rate stabilisation P-gain for ROLL
mc_i_roll	Multicopter rate stabilisation I-gain for ROLL
mc_d_roll	Multicopter rate stabilisation D-gain for ROLL
mc_cd_roll	Multicopter Control Derivative gain for ROLL
mc_p_yaw	Multicopter rate stabilisation P-gain for YAW
mc_i_yaw	Multicopter rate stabilisation I-gain for YAW
mc_d_yaw	Multicopter rate stabilisation D-gain for YAW
mc_cd_yaw	Multicopter Control Derivative gain for YAW
mc_p_level	Multicopter attitude stabilisation P-gain
mc_i_level	Multicopter attitude stabilisation low-pass filter cutoff
mc_d_level	Multicopter attitude stabilisation HORIZON transition point
fw_p_pitch	Fixed-wing rate stabilisation P-gain for PITCH
fw_i_pitch	Fixed-wing rate stabilisation I-gain for PITCH
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH
fw_ff_pitch	Fixed-wing rate stabilisation FF-gain for PITCH
fw_p_roll	Fixed-wing rate stabilisation P-gain for ROLL
fw_i_roll	Fixed-wing rate stabilisation I-gain for ROLL
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL
fw_ff_roll	Fixed-wing rate stabilisation FF-gain for ROLL
fw_p_yaw	Fixed-wing rate stabilisation P-gain for YAW
fw_i_yaw	Fixed-wing rate stabilisation I-gain for YAW
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW
fw_ff_yaw	Fixed-wing rate stabilisation FF-gain for YAW
fw_p_level	Fixed-wing attitude stabilisation P-gain
fw_i_level	Fixed-wing attitude stabilisation low-pass filter cutoff
fw_d_level	Fixed-wing attitude stabilisation HORIZON transition point
max_angle_inclination_rll	Maximum inclination in level (angle) mode (ROLL axis). 100=10°
max_angle_inclination_pit	Maximum inclination in level (angle) mode (PITCH axis). 100=10°
dterm_lpf_hz	Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value
dterm_lpf_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD, PT2, PT3.
dterm_lpf2_hz	Cutoff frequency for stage 2 D-term low pass filter
dterm_lpf2_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD, PT2, PT3.
yaw_lpf_hz	Yaw P term low pass filter cutoff frequency. Should be disabled (set to 0) on small multirotors (7 inches and below)
fw_iterm_throw_limit	Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely.
fw_loiter_direction	Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick.
fw_reference_airspeed	Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.
fw_turn_assist_yaw_gain	Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter
fw_turn_assist_pitch_gain	Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter
fw_iterm_limit_stick_position	Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled.
pidsum_limit	A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
pidsum_limit_yaw	A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help
iterm_windup	Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)
rate_accel_limit_roll_pitch	Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting.
rate_accel_limit_yaw	Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting.
heading_hold_rate_limit	This setting limits yaw rotation rate that HEADING_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when HEADING_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes.
nav_mc_pos_z_p	P gain of altitude PID controller (Multirotor)
nav_mc_vel_z_p	P gain of velocity PID controller
nav_mc_vel_z_i	I gain of velocity PID controller
nav_mc_vel_z_d	D gain of velocity PID controller
nav_mc_pos_xy_p	Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity
nav_mc_vel_xy_p	P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause "nervous" behavior and oscillations
nav_mc_vel_xy_i	I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot
nav_mc_vel_xy_d	D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target.
nav_mc_vel_xy_ff
nav_mc_heading_p	P gain of Heading Hold controller (Multirotor)
nav_mc_vel_xy_dterm_lpf_hz
nav_mc_vel_xy_dterm_attenuation	Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating.
nav_mc_vel_xy_dterm_attenuation_start	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins
nav_mc_vel_xy_dterm_attenuation_end	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum
nav_fw_pos_z_p	P gain of altitude PID controller (Fixedwing)
nav_fw_pos_z_i	I gain of altitude PID controller (Fixedwing)
nav_fw_pos_z_d	D gain of altitude PID controller (Fixedwing)
nav_fw_pos_xy_p	P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH
nav_fw_pos_xy_i	I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_fw_pos_xy_d	D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero
nav_fw_heading_p	P gain of Heading Hold controller (Fixedwing)
nav_fw_pos_hdg_p	P gain of heading PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_i	I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_d	D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_fw_pos_hdg_pidsum_limit	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
mc_iterm_relax
mc_iterm_relax_cutoff
d_boost_min
d_boost_max
d_boost_max_at_acceleration
d_boost_gyro_delta_lpf_hz
antigravity_gain	Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
antigravity_accelerator
antigravity_cutoff_lpf_hz	Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
pid_type	Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID
mc_cd_lpf_hz	Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level
smith_predictor_strength	The strength factor of a Smith Predictor of PID measurement. In percents
smith_predictor_delay	Expected delay of the gyro signal. In milliseconds
smith_predictor_lpf_hz	Cutoff frequency for the Smith Predictor Low Pass Filter
fw_level_pitch_gain	I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations