ArduCopter SHOW parameters
The custom ArduCopter firmware we provide with Skybrush Live has a new SHOW flight mode and a corresponding new parameter group (SHOW_*), containing parameters that change drone behaviour related to the SHOW flight mode. Details of SHOW parameters are provided below.
SHOW_CTRL_MODE: Flags to configure the show position control algorithm
| This parameter is for advanced users |
Controls various aspects of the position control algorithm built into the firmware
| Bit | Meaning |
|---|---|
0 |
Velocity control |
1 |
Acceleration control |
| Value | Meaning |
|---|---|
0 |
Position control only |
1 |
Position and velocity control |
3 |
Position/velocity/acceleration control |
SHOW_CTRL_RATE: Target update rate
| This parameter is for advanced users |
Update rate of the target position and velocity during the show
| Range | Increment | Units |
|---|---|---|
1–50 |
1 |
Hz |
SHOW_HFENCE_DIST: Hard fence minimum distance
Minimum distance that the hard fence extends beyond the standard geofence
| Range | Increment | Units |
|---|---|---|
1–1000 |
None |
m |
SHOW_HFENCE_TO: Hard fence timeout
Minimum time that the vehicle needs to spend outside the hard geofence to trigger a motor shutdown
| Range | Increment | Units |
|---|---|---|
0–120 |
None |
sec |
SHOW_HFENCE_EN: Hard fence enable/disable
Allows you to enable (1) or disable (0) the hard fence functionality
| Value | Meaning |
|---|---|
0 |
Disabled |
1 |
Enabled |
SHOW_LED0_CHAN: PWM, MAVLink or UART channel to use for the LED output
| This parameter is for advanced users |
PWM channel to use for the LED output (1-based) if the LED type is "NeoPixel", "ProfiLED" or "NeoPixel RGBW"; the MAVLink channel to use if the LED type is "MAVLink"; the I2C address of the LED if the LED type is "I2C"; the UART index if the LED type is "WGDrones". For UART-driven LEDs, you also need to set the baud rate in SERIALx_BAUD and set SERIALx_PROTOCOL to "Scripting" to ensure that the UART is initialized.
SHOW_LED0_COUNT: Number of individual LEDs on a LED channel
| This parameter is for advanced users |
For NeoPixel or ProfiLED LED strips: specifies how many LEDs there are on the strip. For I2C LEDs: specifies the index of the bus that the LED is attached to.
SHOW_LED0_GAMMA: Gamma correction factor for the LED channel
| This parameter is for advanced users |
Specifies the exponent of the gamma correction to apply on the RGB values of this channel. Set this to 1 if you do not want to use gamma correction or if the LEDs perform gamma correction on their own; otherwise typical values are in the range 2.2 to 2.8 for LEDs. Set a value that provides an approximately linear perceived brightness response when the LEDs are faded from full black to full white.
| Range | Increment |
|---|---|
1–5 |
0.1 |
SHOW_LED0_TYPE: Assignment of LED channel 0 to a LED output type
| This parameter is for advanced users |
Specifies where the output of the main LED light track of the show should be sent
| Value | Meaning |
|---|---|
0 |
Off |
1 |
MAVLink |
2 |
NeoPixel |
3 |
ProfiLED |
4 |
Debug |
5 |
SITL |
6 |
Servo |
7 |
I2C |
8 |
Inverted servo |
9 |
UART (WGDrones) |
10 |
NeoPixel RGBW |
SHOW_MAX_XY_ERR: Maximum placement error in XY direction
Maximum placement error that we tolerate before takeoff, in meters. Zero to turn off XY placement accuracy checks.
| Range | Increment | Units |
|---|---|---|
0–20 |
0.1 |
m |
SHOW_MODE_BOOT: Conditions for entering show mode
Bitfield that specifies when the drone should switch to show mode automatically
| Bit | Meaning |
|---|---|
0 |
At boot |
1 |
When authorized |
| Value | Meaning |
|---|---|
0 |
Never |
1 |
At boot |
2 |
When authorized |
3 |
At boot and when authorized |
SHOW_ORIENTATION: Show orientation
Orientation of the X axis of the show coordinate system in CW direction relative to North, -1 if unset
| Range | Increment | Units |
|---|---|---|
-1–360 |
1 |
degrees |
SHOW_ORIGIN_AMSL: Show origin (altitude)
AMSL altitude of the origin of the drone show coordinate system, -10000000 or smaller if unset
| Range | Increment | Units |
|---|---|---|
-10000000–10000000 |
1 |
mm |
SHOW_ORIGIN_LAT: Show origin (latitude)
Latitude of the origin of the drone show coordinate system, zero if unset
| Range | Increment | Units |
|---|---|---|
-900000000–900000000 |
1 |
1e-7 degrees |
SHOW_ORIGIN_LNG: Show origin (longitude)
Longitude of the origin of the drone show coordinate system, zero if unset
| Range | Increment | Units |
|---|---|---|
-1800000000–1800000000 |
1 |
1e-7 degrees |
SHOW_PRE_LIGHTS: Brightness of preflight check related lights
Controls the brightness of light signals on the drone that are used to report status information when the drone is on the ground
| Range | Increment |
|---|---|
0–3 |
1 |
SHOW_START_AUTH: Authorization to start
Whether the drone is authorized to start the show
| This parameter is volatile; it is reset to its default after every boot |
| Range | Increment |
|---|---|
0–1 |
1 |
SHOW_START_TIME: Start time
Start time of drone show as a GPS time of week timestamp (sec), negative if unset
| This parameter is volatile; it is reset to its default after every boot |
| Range | Increment | Units |
|---|---|---|
-1–604799 |
1 |
sec |
SHOW_SYNC_MODE: Time synchronization mode
| This parameter is for advanced users |
Time synchronization mode to use when starting the show
| Changing this parameter requires reboot |
| Value | Meaning |
|---|---|
0 |
Countdown |
1 |
GPS time |