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Full Parameter PDF

Overview

The DISTANCE parameter group is specific to the Antenna Tracker firmware. It prevents the tracker from trying to track a vehicle that is too close.

Key Concepts

1. Cone of Silence

When a vehicle is very close (or directly overhead), the angular rate required to track it becomes infinite (singularity). Attempting to track here causes violent servo movements.

  • DISTANCE_MIN defines this "safe zone" radius.

Parameter Breakdown

  • DISTANCE_MIN: Minimum distance in meters.
    • If Target Distance < DISTANCE_MIN: Stop tracking (Hold position).

Integration Guide

  • Launch: Set this to 5-10 meters so the tracker doesn't freak out while you are arming the drone next to it.

Developer Notes

  • Vehicle: AntennaTracker.

DISTANCE_MIN

m
Default 0
Range 0 100

Distance minimum to target (DISTANCE_MIN)

Description

This parameter defines a "Cone of Silence" radius around the Antenna Tracker. If the target vehicle comes closer than this distance, the tracker stops updating its pan/tilt angles and holds position. This prevents the tracker from whipping around violently or grinding its gears trying to track a target passing directly overhead or nearby.

The Mathematics

$$ \text{If } \text{Distance} < \text{DISTANCE\_MIN} \implies \text{Hold Position} $$

The Engineer's View

Defined in AntennaTracker/Parameters.cpp.

Tuning & Behavior

  • Default Value: 0 (Disabled)
  • Recommendation: Set to 5-10 meters to protect the mechanism during launch/landing near the tracker.
View Source
Distance Limits (DIST) Docking Mode (DOCK)