MAVLINKHUD
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Full Parameter PDF

Overview

The SCAN parameter group configures the behavior of the Scan mode for the Antenna Tracker.

Scan mode is used when the tracker does not have a valid vehicle position to follow. Instead of sitting idle, the tracker can be programmed to oscillate or sweep a specific area to help the ground station radios re-acquire a signal.

Key Concepts

1. Sweep Speeds

  • SCAN_SPEED_YAW: The rotation speed (deg/s) for the horizontal sweep.
  • SCAN_SPEED_PIT: The rotation speed (deg/s) for the vertical sweep.

Integration Guide

  • Usage: If you fly out of range and the tracker stops moving, switching to SCAN mode will help sweep the sky with your directional antenna to catch a "glimmer" of telemetry data.

Developer Notes

  • Library: AntennaTracker/Parameters.cpp.

SCAN_SPEED_PIT

deg/s
Default 2
Range 0 100

Antenna Tracker Scan Pitch Speed (SCAN_SPEED_PIT)

Description

SCAN_SPEED_PIT defines the vertical sweep speed for the Antenna Tracker while searching for a signal.

View Source

SCAN_SPEED_YAW

deg/s
Default 2
Range 0 100

Antenna Tracker Scan Yaw Speed (SCAN_SPEED_YAW)

Description

SCAN_SPEED_YAW defines how fast the Antenna Tracker "looks around" when it loses its connection to the drone.

In SCAN mode, the tracker performs a pre-defined sweeping pattern to re-acquire the telemetry signal. This parameter sets the horizontal sweep speed.

Tuning & Behavior

  • Default: 2 $deg/s$.
  • Recommendation: Keep this relatively low. If the tracker moves too fast, it might sweep past the signal before the radio can achieve a "Link."
View Source
Control Scaling Configuration (SCALING) Real-Time Scheduler (SCHED)