STorM32 Parameters

descriptions refer to firmware v2.43e

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

Comment: Which parameters are displayed and enabled depends on whether the GUI is in "conventional" or "T-STorM32" mode. The currently active mode can be inferred from the GUI's title. The mode will be set correctly upon a connection to a STorM32 controller.

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

In Conventional Mode:

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”.

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.

Controller:
Enables model-based controller. In conventional mode the settings “default” and “roll mixing” are available, there the first corresponds to the "old" behavior, and the second enables improved roll mixing.

In T-STorM32 Mode:

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

Foc Pitch P, Foc Roll P, Foc Yaw P:
Proportional term of the PID controller for the pitch, roll or yaw axis, respectively.

Foc Pitch I, Foc Roll I, Foc Yaw I:
Integral term of the PID controller for the pitch, roll or yaw axis, respectively.

Foc Pitch D, Foc Roll D, Foc Yaw D:
Derivative term of the PID controller for the pitch, roll or yaw axis, respectively.

Foc Pitch K, Foc Roll K, Foc Yaw K:
Factor which multiplies the P, I, and D values.

All Modes:

Roll Yaw PD Mixing:
Mixes the Roll P and D values with the Yaw P and D values depending on the pitch angles.

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

D Source:
Enables the "new" lag-free and less noisier controller D-term calculation. Is enabled per default. This parameter may be removed in upcoming firmwares.

[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.

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.

Camera Control, Camera Control2, Camera Model, Camera Setting #1, Camera Setting #2, Time Interval, Camera ComPort:
See Advanced Functions: 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.

Startup Mode:
Selects the startup algorithm, can be set to “fast” for invoking fast startup. Comment: For fast startup to be activated, additional conditions have to be met: Imu2 must be present, the motor directions and positions must have been configured, and Imu1 and Imu2 must have be calibrated. The gimbal should also have been tuned.

Startup Delay:
Sets a startup delay time.

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).

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.

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

Esp Configuration:
Enables the ESP8266 Wifi support, see Advanced Functions: ESP8266 Wifi Support.

Uart1 Tx Configuration:
Enables OLed display support on pin RC1.

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

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

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

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.

Gimbal Configuration Tab

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

In Conventional Mode:

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.

In T-STorM32 Mode:

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

Foc Pitch Zero Pos, Foc Roll Zero Pos, Foc Yaw Zero Pos:
Motor position at zero Imu angle for the pitch, roll or yaw axis, respectively.

All Modes:

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

Interfaces Tool Window

Mavlink Gimbal, Mavlink Gimbal Stream, Mavlink ComPort, Mavlink System ID, Mavlink Version, Mavlink Camera:
Parameters for handling Mavlink messages, see MAVLink Communication.

Can Configuration, Uavcan Node ID:
Parameters for handling CAN bus messages. Currently UAVCAN and DJI CAN for Naza V2 are supported. See CAN Bus Communication.

STorM32Link Configuration, STorM32Link AHRS Factor:
Parameters for handling the STorM32 Link, see STorM32-Link.

Uart Baudrate, Uart2 Baudrate, Usb Baudrate:
Baudrates used for the UART, USB, and UART#2 ports. The default baudrates are 115200 bps.

Expert Tool Window

In Conventional Mode:

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).

All Modes:

Imu Mapping:
Allows to swap Imu1 and Imu2 (this swaps NT Imu1 and NT Imu2, not the on-board IMU, which always will be Imu2 if used) .

Lipo Cells:
Allows to set the number of cells of the battery. Default is “auto”, which determines the number of cells from the battery voltage at power up.

Lipo Voltage per Cell:
Full charge voltage of a battery cell. Default is 4.20 V, appropriate for a LIPO.

ADC Calibration:
Calibration constant for voltage measurement.

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. Has currently no effect. Will probably be deprecated.

The following parameters should be set with care. Normally, there should be no reason to modify them.

Acc LPF:
Low pass filter for the accelerometer data. It also affects the AHRS behavior.

Rc Adc LPF:
Low pass filter for the Rc Input values. Might be helpful for very noisy RC transmitters.

Hold To Pan Transition Time:
Smoothing of the transition from hold-to-pan or pan-to-hold.

The following parameters affect the AHRS, and should be set with understanding. These posts might be useful: [1], [2], [3].

Acc Compensation Method:
Sets the algorithm which is used for fusing the accelerometer and gyro data. Can be “standard” or “advanced”.

Gimbal Model Tool Window

In T-STorM32 Mode:

T1 Pitch, T1 Roll, T1 Yaw:
Relative moments of inertia of the camera along the pitch, roll and yaw directions.

T2 Roll, T2 Yaw:
Relative moments of inertia of the roll arm along the roll and yaw directions.

T3 Yaw:
Relative moment of inertia of the yaw arm along the yaw directions.

Servo Tool Window

In T-STorM32 Mode:

Servo Pitch P, Servo Pitch I, Servo Pitch D, Servo Pitch DLPF:
Parameters for the position PID controller in servo mode for the pitch axis.

Servo Roll P, Servo Roll I, Servo Roll D, Servo Roll DLPF:
Parameters for the position PID controller in servo mode for the roll axis.

Servo Yaw P, Servo Yaw I, Servo Yaw D, Servo Yaw DLPF:
Parameters for the position PID controller in servo mode for the yaw axis.