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Full Parameter PDF

Overview

The SIMPLE parameter group (specifically SIMPLE) configures the Simple and Super Simple pilot assistance modes for ArduCopter.

These modes decouple the drone's movement from its heading, making it much easier for beginners to fly or for experts to maintain orientation at long distances.

Key Concepts

1. Simple Mode

In standard flight, pushing the stick "Forward" moves the drone towards its own nose. If the drone rotates 180°, "Forward" on the stick moves the drone toward the pilot.

  • Simple Mode Fix: When enabled, "Forward" on the stick always moves the drone away from the pilot (based on the heading when it was armed), regardless of the drone's current rotation.

2. Super Simple Mode

  • Super Simple Mode Fix: Decouples movement from both heading and initial arming orientation. "Forward" on the stick always moves the drone away from the Home position (GPS based). Even if the drone flies behind the pilot, pushing "Away" still moves it further away.

Parameter Breakdown

  • SIMPLE: Bitmask of which flight mode switch positions have Simple mode enabled.

Integration Guide

  • Setup: Use the "Flight Modes" screen in Mission Planner to check the "Simple" or "SSimple" boxes for specific switch positions.
  • Prerequisite: Super Simple mode requires a valid GPS lock.

Developer Notes

  • Library: ArduCopter/control_simple.cpp.

SIMPLE

Bitmask
Default 0
Range 0 63

Simple mode bitmask (SIMPLE)

Description

Simple Mode is a pilot assistance feature where the controls are relative to the copter's heading when it was armed (or last reset). This means "Forward" on the stick always moves the copter North (if you armed facing North), even if the copter rotates to face East. It is "Headless Mode" (orientation independent).

The Mathematics

The control inputs are rotated by the difference between the current heading and the initial heading $\psi\_0$.

The Engineer's View

Defined in ArduCopter/Parameters.cpp.

  • Bit 0: Flight Mode 1
  • Bit 1: Flight Mode 2
  • ...
  • Bit 5: Flight Mode 6

Tuning & Behavior

  • Default Value: 0 (Disabled)
  • Vs Super Simple: Simple Mode only handles orientation. Super Simple handles orientation AND position relative to home.
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SIMPLE_MODE

Default 0
Range 0 1

Simple Mode Enable (SIMPLE_MODE)

Description

SIMPLE_MODE is a pilot-assistance feature that removes the need to track which way the drone is "facing" (its heading).

In Normal flight, if you push the stick right, the drone rolls to its right. If the drone is facing toward you, pushing right makes it move to your left. In Simple Mode, pushing the stick right always makes the drone move to the right relative to your starting position, regardless of which way the nose is pointing.

Tuning & Behavior

  • Default: 0 (Disabled).
  • Usage: Excellent for beginners or for retrieving a drone that is so far away you can't tell which way it's pointing.
  • Prerequisite: Requires a functional GPS and compass lock. The "Home" position is recorded at the moment of arming and used as the reference point.
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SIMPLE_TYPE

Default 0
Range 0 1

SIMPLE_TYPE: Simple mode types

Description

This parameter selects the behavior of "Simple Mode" on a Rover.

Values

Value Meaning
0 Initial Heading (Stick forward matches vehicle's orientation at arming)
1 Home Direction (Stick forward always moves the vehicle away from home)
  • Default: 0 (Initial Heading)

Description

Simple Mode changes how the steering stick works to make it easier for beginners to fly/drive when the vehicle is facing them.

  • Initial Heading (0): The autopilot remembers which way the rover was facing when it armed. If you push the stick forward, it always tries to drive in that direction, regardless of which way the nose is currently pointed.
  • Home Direction (1): "Super Simple" mode. If you push the stick away from you, the rover always drives away from its home point. If you pull the stick back, it always drives towards home. This is perfect if you lose orientation.
  • Requirement: Requires a good Compass and GPS lock to function correctly.
View Source
SITL Simulation Configuration (SIM) Autonomous Soaring (SOAR)