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Overview

The XY parameter group (specifically XY_CTRL_MUL) configures the gain scaling for horizontal movement.

Key Concepts

1. Gain Multiplier (XY_CTRL_MUL)

(ArduPlane/SysID) This is a safety parameter used during automated tuning or experimental modes. It scales the horizontal position and velocity controller gains.

  • Purpose: Allows for "detuning" the position hold to prevent it from interfering with a test signal (e.g., during System Identification).

Developer Notes

  • Library: ArduPlane/systemid.cpp.

XY_CTRL_MUL

Default 0.1
Range 0.05 1.0

XY_CTRL_MUL: System identification XY control multiplier

Description

A multiplier for the XY velocity and position controller when using systemID in VTOL modes that do horizontal position and velocity control.

Values

  • Range: 0.05 to 1.0
  • Default: 0.1

Description

This parameter scales down the position and velocity controller gains during a System Identification flight test on a QuadPlane.

  • Function: When System ID is active in a position-controlled mode (like QLoiter), the normal PID gains might be too aggressive combined with the injected chirp signal. XY_CTRL_MUL reduces the effectiveness of the outer loops (Position/Velocity) to allow the inner loops (Attitude/Rate) to be excited cleanly without the drone fighting the test inputs too hard.
  • Usage: Only relevant when SID_AXIS is set to a position or velocity axis.
  • Safety: Prevents the drone from over-reacting to the test signal and flying away.
View Source
Crosstrack Configuration (XTRACK) Yaw Controller Configuration (YAW)