Navigation Configuration
Table 15.8 — Navigation settings
Parameter
Default
Value
Description
[NAV]
ACCEPTANCE_RADIUS_M
1
Radius of waypoint neighborhood in
which it is considered the vehicle
reached the waypoint, m
HORIZONTAL_ACCEL_MSS
1
Horizontal acceleration, m/s²
MAX_CLIMB_SPEED_MS
1
Maximum climb rate, m/s
MAX_DESCENT_SPEED_MS
1
Maximum descent rate, m/s
MAX_JERK
5
Maximum horizontal jerk is defined by
the acceleration rate, m/s/s.
Recommended range is from 1.0 to
20.0
POS_P
0.4
Proportional term of the PID position
controller, m/s². The higher value, the
faster the vehicle approaches to the
waypoint. Recommended range is from
0.4 to 0.7
POS_Z_P
0.9
Proportional term of the PID vertival
controller, m/s². The higher value, the
faster the vehicle approaches to the
waypoint. Recommended range is from
0.4 to 1.0
VELOCITY_FEED_FORWARD
0.6
Defines the magnitude of desired
velocity to position-velocity controller.
Range 0.0 - 1.0
Flight Control Mode Configuration
UgCS SkyHub User Manual
Copyright © 2019—2021, SPH Engineering
103
Revision 5 • November 2021
