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Overview

The STARTUP parameter group (specifically STARTUP_DELAY) manages the initialization timing for the Antenna Tracker.

Key Concepts

1. Servo Warm-up

Some high-power servos or mechanical systems can draw massive current spikes or jitter violently if commanded immediately upon power-on.

  • STARTUP_DELAY: Introduces a wait time (in seconds) during which the servos are held at their neutral trim position before active tracking begins.

Developer Notes

  • Library: AntennaTracker/Parameters.cpp.

STARTUP_DELAY

s
Default 0
Range 0 10

Delay before first servo movement from trim (STARTUP_DELAY)

Description

This parameter introduces a pause at system startup during which the Antenna Tracker servos are held at their trim (neutral) positions. This delay allows the system to stabilize, sensors to initialize, or the operator to stand clear before active tracking movement begins.

The Mathematics

Timer wait loop.

The Engineer's View

Defined in AntennaTracker/Parameters.cpp.

  • 0: No delay. Servos move immediately upon initialization.
  • >0: Wait time in seconds.

Tuning & Behavior

  • Default Value: 0 s
  • Usage: Set to 2-5 seconds if your tracker tends to jerk violently on power-up.
View Source
Startup Origin Configuration (START) Vehicle Statistics Configuration (STAT)