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Full Parameter PDF

Overview

The RLL2SRV parameter group contains the core gains for the ArduPlane roll controller.

For full documentation on these parameters, please see the RLL group.

RLL2SRV_RMAX

deg/s
Default 0
Range 0 180

Steering Max Rate (RLL2SRV_RMAX)

Description

RLL2SRV_RMAX limits how fast the steering servo or motor is allowed to move.

  • 0: Disabled (No limit).
  • Value: Degrees per second.
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RLL2SRV_TCONST

s
Default 0.75
Range 0.4 1.0

Steering Time Constant (RLL2SRV_TCONST)

Description

RLL2SRV_TCONST defines the "Responsiveness" of the steering system for Rovers and the ground-handling of Planes.

A lower value makes the steering more aggressive and "snappy," forcing the vehicle to reach its target angle as quickly as possible. A higher value makes the steering feel "lazy" or more gradual.

Tuning & Behavior

  • Default: 0.75 seconds.
  • Recommendation (Rover): Leave at 0.75.
  • Recommendation (Plane): Use 0.5 for better ground handling during high-speed takeoff runs.
  • Note: If set too low, the steering may oscillate (weaving) even at low speeds.
View Source
Roll Controller Configuration (RLL) Rangefinder Configuration (RNGFND)