STorM32 Parameters

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

Dashboard Tab

[Change Name]:

[Share 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.

Rc Inputs Tab

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

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.

Acc Compensation Method:
Selects the algorithm which is used to account for residual accelerations in the attitude estimation.

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.

Rc Pitch Offset, Rc Roll Offset, Rc Yaw Offset:
Allows to add 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 of the Imu1 or Imu2.

Pitch Motor Poles, Roll Motor Poles, Yaw Motor Poles:
Number of magnet poles of the pitch, roll and yaw motors.

Pitch Motor Direction, Roll Motor Direction, Yaw Motor Direction:
Rotation direction of the pitch, roll and yaw motors.

Pitch Startup Motor Pos, Roll Startup Motor Pos, Yaw Startup Motor Pos:
Orientation of the pitch, roll and yaw motors at power up.

Pitch Offset, Roll Offset, Yaw Offset:
Coefficients to correct for slight inaccuracies of the 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 pitch = MOT0, roll = MOT1, yaw = MOT2.

Imu Mapping:
Allows to swap the Imu1 and Imu2.

ADC Calibration:

NT Logging:

Imu3 Configuration:

Imu3 Orientation:

Mavlink configuration, Mavlink System ID, Mavlink Component ID: