STorM32 Parameters - Revision history

OlliW: /* Expert Tool Window */

2025-11-30T10:48:32Z

Expert Tool Window

← Older revision		Revision as of 12:48, 30 November 2025
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	Selects the algorithm which is used for fusing the accelerometer and gyro data. Can be {{PARAMVALUE\|standard}} or {{PARAMVALUE\|advanced}}. The parameter affects the AHRS, and should be set with understanding. These posts might be useful: [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29173129], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176384], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176832].		Selects the algorithm which is used for fusing the accelerometer and gyro data. Can be {{PARAMVALUE\|standard}} or {{PARAMVALUE\|advanced}}. The parameter affects the AHRS, and should be set with understanding. These posts might be useful: [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29173129], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176384], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176832].

	== ~~Expert~~ Tool Window ==		== Filter Tool Window ==

	The parameters in the {{GUI\|Filter}} tab allow to set ~~norh~~/band-pass filters.		The parameters in the {{GUI\|Filter}} tab allow to set notch/band-pass filters.

			* {{PARAMNAME\|Filter1 Source}}, {{PARAMNAME\|Filter2 Source}}, {{PARAMNAME\|Filter3 Source}}: Selects the filter source.
			* {{PARAMNAME\|Filter1 Center Frequency}}, {{PARAMNAME\|Filter2 Center Frequency}}, {{PARAMNAME\|Filter3 Center Frequency}}: Selects the center or cut-off frequency of the filter.
			* {{PARAMNAME\|Filter1 Bandwidth}}, {{PARAMNAME\|Filter2 Bandwidth}}, {{PARAMNAME\|Filter3 Bandwidth}}: Selects the bandwidth for notch or band-cut filters.
			* {{PARAMNAME\|Filter1 Attenuation}}, {{PARAMNAME\|Filter2 Attenuation}}, {{PARAMNAME\|Filter3 Attenuation}}: Selects the attenuation of the band-cut filters. {{PARAMVALUE\|inf}} results in a notch filter.

	== Gimbal Mechanics Tool Window ==		== Gimbal Mechanics Tool Window ==

OlliW at 10:46, 30 November 2025

2025-11-30T10:46:35Z

← Older revision		Revision as of 12:46, 30 November 2025
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	{{PARAMNAMEDEF\|Acc Compensation Method}}:<br>		{{PARAMNAMEDEF\|Acc Compensation Method}}:<br>
	Selects the algorithm which is used for fusing the accelerometer and gyro data. Can be {{PARAMVALUE\|standard}} or {{PARAMVALUE\|advanced}}. The parameter affects the AHRS, and should be set with understanding. These posts might be useful: [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29173129], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176384], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176832].		Selects the algorithm which is used for fusing the accelerometer and gyro data. Can be {{PARAMVALUE\|standard}} or {{PARAMVALUE\|advanced}}. The parameter affects the AHRS, and should be set with understanding. These posts might be useful: [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29173129], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176384], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176832].

			== Expert Tool Window ==

			The parameters in the {{GUI\|Filter}} tab allow to set norh/band-pass filters.


	== Gimbal Mechanics Tool Window ==		== Gimbal Mechanics Tool Window ==

OlliW at 10:44, 30 November 2025

2025-11-30T10:44:59Z

@@ Line 257: / Line 257: @@
 {{PARAMNAMEDEF|Acc Compensation Method}}:<br>
 Selects the algorithm which is used for fusing the accelerometer and gyro data. Can be {{PARAMVALUE|standard}} or {{PARAMVALUE|advanced}}. The parameter affects the AHRS, and should be set with understanding. These posts might be useful: [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29173129], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176384], [http://www.rcgroups.com/forums/showthread.php?t=2055844&page=27&pp=50#post29176832].
 == Gimbal Mechanics Tool Window ==
@@ Line 283: / Line 271: @@
 {{PARAMNAMEDEF|Pitch Motor Limit Min}}, {{PARAMNAMEDEF|Pitch Motor Limit Max}}, {{PARAMNAMEDEF|Roll Motor Limit}}:<br> Limits for pitch and roll axes.
 == Servo Tool Window ==

OlliW: /* PID Tab */

2025-11-30T10:40:20Z

PID Tab

← Older revision		Revision as of 12:40, 30 November 2025
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	{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.		{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.

	~~{{PARAMNAMEDEF\|D Source}}: <br> Appears to not make a difference.~~

	{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.		{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.

OlliW: /* In Conventional Mode: */

2025-11-30T10:40:02Z

In Conventional Mode:

← Older revision		Revision as of 12:40, 30 November 2025
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	{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.		{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.

			{{PARAMNAMEDEF\|D Source}}: <br> Appears to not make a difference.

	{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.		{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.

OlliW: /* Servo Tool Window */

2025-06-30T07:11:49Z

Servo Tool Window

← Older revision		Revision as of 09:11, 30 June 2025
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	{{PARAMNAMEDEF\|Servo Yaw P}}, {{PARAMNAMEDEF\|Servo Yaw I}}, {{PARAMNAMEDEF\|Servo Yaw D}}, {{PARAMNAMEDEF\|Servo Yaw DLPF}}:<br>		{{PARAMNAMEDEF\|Servo Yaw P}}, {{PARAMNAMEDEF\|Servo Yaw I}}, {{PARAMNAMEDEF\|Servo Yaw D}}, {{PARAMNAMEDEF\|Servo Yaw DLPF}}:<br>
	Parameters for the position PID controller in servo mode for the yaw axis.		Parameters for the position PID controller in servo mode for the yaw axis.

	<!--		<!--
	{{PARAMNAMEDEF\|Imu Acc Threshold}}:<br>		{{PARAMNAMEDEF\|Imu Acc Threshold}}:<br>

OlliW at 07:11, 30 June 2025

2025-06-30T07:11:32Z

← Older revision		Revision as of 09:11, 30 June 2025
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	<span style="font-size:88%">''The information on this page refers to firmware v2.~~67e~~.''</span>		<span style="font-size:88%">''The information on this page refers to firmware v2.72e.''</span>

	List of all STorM32 parameters, and some GUI features, with brief explanations and/or links to more comprehensive articles.		List of all STorM32 parameters, and some GUI features, with brief explanations and/or links to more comprehensive articles.

OlliW: /* Gimbal Mechanics Tool Window */

2025-06-30T07:11:19Z

Gimbal Mechanics Tool Window

← Older revision		Revision as of 09:11, 30 June 2025
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	The parameters in the {{GUI\|Gimbal Mechanics}} tab allow to set mechanical gimbal limits. They are experimental.		The parameters in the {{GUI\|Gimbal Mechanics}} tab allow to set mechanical gimbal limits. They are experimental.


	=== All Modes: ===		=== All Modes: ===

OlliW: /* Gimbal Mechanics Tool Window */

2025-06-30T07:11:07Z

Gimbal Mechanics Tool Window

← Older revision		Revision as of 09:11, 30 June 2025
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	The parameters in the {{GUI\|Gimbal Mechanics}} tab allow to set mechanical gimbal limits. They are experimental.		The parameters in the {{GUI\|Gimbal Mechanics}} tab allow to set mechanical gimbal limits. They are experimental.


			=== All Modes: ===

			{{PARAMNAMEDEF\|Yaw Motor Limit}}:<br> Limit for yaw axis.

			{{PARAMNAMEDEF\|Setpoint Speed Limit}}, {{PARAMNAMEDEF\|Setpoint Accel Limit}}:<br> Speed and acceleration limits for changes of the setpoint.

	=== In T-STorM32 Mode: ===		=== In T-STorM32 Mode: ===

	{{PARAMNAMEDEF\|T1 Pitch}}, {{PARAMNAMEDEF\|~~T1 Roll~~}}, {{PARAMNAMEDEF\|~~T1 Yaw~~}}:<br>		{{PARAMNAMEDEF\|Pitch Motor Limit Min}}, {{PARAMNAMEDEF\|Pitch Motor Limit Max}}, {{PARAMNAMEDEF\|Roll Motor Limit}}:<br> Limits for pitch and roll axes.
	~~Relative moments of inertia of the camera along the~~ pitch~~, roll~~ and ~~yaw directions.~~

	~~{{PARAMNAMEDEF\|T2 Roll}}, {{PARAMNAMEDEF\|T2 Yaw}}:<br>~~
	~~Relative moments of inertia of the~~ roll ~~arm along the roll and yaw directions~~.

	== Servo Tool Window ==		== Servo Tool Window ==

OlliW: /* Gimbal Model Tool Window */

2025-06-30T07:08:41Z

Gimbal Model Tool Window

← Older revision		Revision as of 09:08, 30 June 2025
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	{{PARAMNAMEDEF\|T2 Roll}}, {{PARAMNAMEDEF\|T2 Yaw}}:<br>		{{PARAMNAMEDEF\|T2 Roll}}, {{PARAMNAMEDEF\|T2 Yaw}}:<br>
	Relative moments of inertia of the roll arm along the roll and yaw directions.		Relative moments of inertia of the roll arm along the roll and yaw directions.


	== Gimbal Mechanics Tool Window ==		== Gimbal Mechanics Tool Window ==

← Older revision		Revision as of 12:40, 30 November 2025
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	{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.		{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.

	~~{{PARAMNAMEDEF\|D Source}}: <br> Appears to not make a difference.~~

	{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.		{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.

← Older revision		Revision as of 12:40, 30 November 2025
Line 37:		Line 37:

	{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.		{{PARAMNAMEDEF\|Controller}}: <br> Enables the model-based controller. The settings {{PARAMVALUE\|default}} and {{PARAMVALUE\|roll mixing}} are available, where the first corresponds to the "old" behavior, and the second enables improved roll mixing.

			{{PARAMNAMEDEF\|D Source}}: <br> Appears to not make a difference.

	{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.		{{GUIFIELD\|Use simplified PID tuning}}: <br> Toggles between the standard PID tuning, in which the P, I D values are adjusted, and a simplified mechanism, in which tuning is achieved by only two parameters, called Damping and Stability.