STorM32 Parameters

descriptions refer to firmware v2.08e

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

Dashboard Tab

[Change Name]:
Opens a dialog, which allows to change the name of the board.

[Share Settings]: Opens a dialog, which presents all parameters comprehensively. Taking a screen shot provides a useful method to share parameter settings.

PID Tab

Pitch P, Roll P, Yaw P:
Proportional term of the PID controller for the pitch, roll or yaw axis, respectively. See also Tuning Recipe: Tuning Procedure.

Pitch I, Roll I, Yaw I:
Integral term of the PID controller for the pitch, roll or yaw axis, respectively. See also Tuning Recipe: Tuning Procedure.

Pitch D, Roll D, Yaw D:
Derivative term of the PID controller for the pitch, roll or yaw axis, respectively. See also Tuning Recipe: Tuning Procedure.

Pitch Motor Vmax, Roll Motor Vmax, Yaw Motor Vmax:
Maximal average voltage for the pitch, roll or yaw motor, respectively. See also Tuning Recipe: Setting Motor Vmax.

Gyro LPF:
Digital low pass filter applied to the raw gyro data. Can help to avoid vibrations and/or reach higher PID values.

Imu2 FeedForward LPF:
Digital low pass filter applied to the attitude data before it enters the feedforward channel in the PID controller. Effective only when Imu2 Configuration is not “off”.

Low Voltage Limit:
Voltage level at which the lipo-saver function is triggered, see Advanced Functions: Lipo Saver.

Voltage Correction:
Attempts to compensate the effects of a (slowly) varying battery voltage on the PID controller tuning, see Advanced Functions: Voltage Correction.

[Use simplified PID tuning]:
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.

[Auto write PID changes]:
When checked, any change to the PID values (and only to the PID values) is written to the STorM32 board after ca. 1 sec.

Pan Tab

The parameters in the [GUI:Pan] tab are comprehensively described in the article Hold versus pan Mode.

Pan Mode Control:
Selects the input channel.

Pan Mode Default Setting, Pan Mode Setting #1, Pan Mode Setting #2, Pan Mode Setting #3:
Selects the pan states for each axis, for each state of the input channel.

Pitch Pan, Roll Pan, Yaw Pan:
Sets the pan speed for pitch, roll or yaw, respectively.

Pitch Pan Deadband, Roll Pan Deadband, Yaw Pan Deadband:
Sets the pan deadband for pitch, roll or yaw, respectively.

Pitch Pan Expo, Roll Pan Expo, Yaw Pan Expo:
Sets the pan expo for pitch, roll or yaw, respectively.

Yaw Pan Deadband LPF:
Sets the pan deadband LPF for the yaw axis.

Yaw Pan Deadband Hysteresis:
Sets the pan deadband hysteresis for the yaw axis.

Rc Inputs Tab

The parameters in the [GUI:Rc Inputs] tab are comprehensively described in the article Configure the RC Input.

Rc Deadband:

Rc Hysteresis:

Rc Pitch Trim, Rc Roll Trim, Rc Yaw Trim:

Rc Pitch, Rc Roll, Rc Yaw:

Rc Pitch Mode, Rc Roll Mode, Rc Yaw Mode:

Rc Pitch Min, Rc Roll Min, Rc Yaw Min:

Rc Pitch Max, Rc Roll Max, Rc Yaw Max:

Rc Pitch Speed Limit, Rc Roll Speed Limit, Rc Yaw Speed Limit:

Rc Pitch Accel Limit, Rc Roll Accel Limit, Rc Yaw Accel Limit:

[Auto Trim]:

Functions Tab

Standby:
See Advanced Functions: Standby.

Re-center Camera:
See Advanced Functions: Re-center Camera.

IR Camera Control, Camera Model, IR Camera Setting #1, IR Camera Setting #2, Time Interval:
See Advanced Functions: IR Camera Remote Control.

Pwm Out Control, Pwm Out Mid, Pwm Out Min, Pwm Out Max, Pwm Out Speed Limit:
See Advanced Functions: Pwm Out.

Scripts Tab

The parameters in the [GUI:Scripts] tab are comprehensively described in the article STorM32 Scripts.

Setup Tab

Imu2 Configuration:
Selects how a 2nd IMU is used. See also Using a 2nd IMU.

Virtual Channel Configuration:
Selects the physical source for the “Virtual-1”, ..., “Virtual-16” input values. See Inputs and Functions for understanding the STorM32's concept of inputs, and Configure the RC Input: Wiring for SUM-PPM Signals and Configure the RC Input: Wiring for Digital Signals for typical use cases.

Pwm Out Configuration:
Enables the pwm out function, see Advanced Functions: Pwm Out.

Pitch Motor Usage, Roll Motor Usage, Yaw Motor Usage:
Selects the operation mode of the pitch, roll, or yaw motor, respectively. When “disabled” is selected, the motor does not receive any power.

Startup Mode:
Selects the startup algorithm, can be set to “fast” for invoking fast leveling.

Imu AHRS:
Adjusts how strongly the accelerometer data is included in the data fusing for the attitude estimation. The shorter the time the stronger the accelerometer data is weighted (0 = accelerometer only, 20 = gyro only).

Rc Pitch Offset, Rc Roll Offset, Rc Yaw Offset:
Adds a permanent offset to the camera orientation.

Beep with Motors:
Enables the emission of beeps by the motors, see Advanced Functions: Beeps.

Gimbal Configuration Tab

Imu Orientation, Imu2 Orientation:
Orientation number of the Imu1 or Imu2, respectively.

Pitch Motor Poles, Roll Motor Poles, Yaw Motor Poles:
Number of magnet poles of the pitch, roll or yaw motor, respectively.

Pitch Motor Direction, Roll Motor Direction, Yaw Motor Direction:
Rotation direction of the pitch, roll or yaw motor, respectively.

Pitch Startup Motor Pos, Roll Startup Motor Pos, Yaw Startup Motor Pos:
Orientation of the pitch, roll or yaw motor at power up, respectively.

Pitch Offset, Roll Offset, Yaw Offset:
Coefficients to correct for slight inaccuracies inthe calibration of the Imu1 accelerometer.

Expert Tool Window

Motor Mapping:
Allows to modify the assignment of the pitch, roll and yaw motors to the motor ports MOT0, MOT1, MOT2 from the default assignment (which is pitch = MOT0, roll = MOT1, yaw = MOT2).

Imu Mapping:
Allows to swap Imu1 and Imu2.

ADC Calibration:
Calibration constant for voltage measurement.

NT Logging:
Adjusts which parameters are logged, see NT Data Logging: GUI Settings.

Imu3 Configuration:
Selects which IMU is used as 3rd IMU, see Evaluating Vibrations and Optimizing Damper Systems: 3rd IMU.

Imu3 Orientation:
Orientation of a 3rd IMU.

Mavlink configuration, Mavlink System ID, Mavlink Component ID:
Parameters for handling Mavlink messages, see Advanced Functions: MAVLink.