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Code Issues Wiki Activity

CLI bug fix; Docs update

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Konstantin Sharlaimov (DigitalEntity) 2017-03-05 22:45:44 +10:00
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docs/Cli.md
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@ -129,7 +129,7 @@ Re-apply any new defaults as desired.
| gps_auto_baud | ON | Automatic configuration of GPS baudrate(The spesified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports |
| gps_min_sats | 6 | Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count. |
| inav_auto_mag_decl | ON | Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored. |
| inav_accz_unarmedcal | ON | Controls if inertial position estimator should compute gravity offset on accelerometer Z-axis dynamically when drone is unarmed. Mostly affects accuracy of altitude estimation and althold performace. No real reason to disable this feature. |
| inav_gravity_cal_tolerance | 5 | Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value. |
| inav_use_gps_velned | ON | Defined if iNav should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF iNav will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance. |
| inav_gps_delay | 200 | GPS position and velocity data usually arrive with a delay. This parameter defines this delay. Default (200) should be reasonable for most GPS receivers. |
| inav_reset_altitude | FIRST_ARM | Defines when relative estimated altitude is reset to zero. Variants - `NEVER` (once reference is acquired it's used regardless); `FIRST_ARM` (keep altitude at zero until firstly armed), `EACH_ARM` (altitude is reset to zero on each arming) |