Overview

The DIS parameter group (specifically DIS_MASK) is a utility feature primarily found in ArduBlimp (and sometimes Sub/Rover) to selectively disable control axes.

Key Concepts

1. Axis Isolation

When tuning or testing a complex vehicle like a Blimp, it is often useful to disable certain axes (e.g., disable Yaw control to focus on Pitch tuning). This mask allows enabling/disabling axes without unplugging motors.

Parameter Breakdown

DIS_MASK: Bitmask of axes to disable.
- Bit 0: Disable Sway (Y).
- Bit 1: Disable Surge (X).
- Bit 2: Disable Heave (Z).
- Bit 3: Disable Yaw.

Integration Guide

Default: 0 (All enabled).
Usage: Set to 15 (1+2+4+8) to disable all output for safe bench testing of other systems.

Developer Notes

Library: ArduBlimp (Vehicle specific).

Disable output mask (DIS_MASK)

Description

This parameter allows specific control axes (Surge, Sway, Heave, Yaw) to be completely disabled when the Blimp is in Velocity or Loiter modes. This is typically used for testing, tuning individual axes, or for airframe configurations that lack actuation in certain directions.

The Mathematics

The parameter is a bitmask. If a bit is set (1), the corresponding axis control output is forced to zero (or disabled logic).

Bit 0: Disable Y-axis (Sway / Right)
Bit 1: Disable X-axis (Surge / Forward)
Bit 2: Disable Z-axis (Heave / Down)
Bit 3: Disable Yaw

The Engineer's View

Defined in Blimp/Parameters.cpp. Checked in Blimp/Loiter.cpp (and likely ModeVelocity.cpp).
Note the unusual ordering found in the source code: Bit 0 is checked against err_xyz.y and Bit 1 against err_xyz.x.

Tuning & Behavior

Default Value: 0 (All axes enabled)
1 (2^0): Disable Sway.
2 (2^1): Disable Surge.
4 (2^2): Disable Heave.
8 (2^3): Disable Yaw.
Example: Set to 15 (1+2+4+8) to disable all control in these modes.

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