â˜ ī¸
smadi0x86 Playground
  • 💀Welcome to smadi0x86 Playground
    • 🍷Resources
    • đŸšŦProjects
    • 🎓Certifications
    • 📌Pinned
    • ❓Questions
    • 📞Contact
  • đŸžī¸Cloud Native
    • Docker
      • Quick Reference
      • Introduction
      • Containers
      • Images
      • Storage & Volumes
      • Security
      • Cheatsheet
    • Git
    • Serverless Framework
    • YAML
  • 🔨Software Engineering
    • System Design
    • Environment Variables
    • JSON Web Tokens
  • 👾Architecture
    • C Language
      • Introduction
      • Calling Conventions
      • GCC Compilation
      • Libraries & Linking
      • I/O
      • Files
      • Pointers
      • Dynamic Memory Allocation
      • Data Types
      • Strings Manipulation
      • Bit Manipulation
      • Pre-processors
      • Macros
      • Type Qualifiers
    • C/C++ Build Systems
      • Fundamentals for Linking
      • Symbolic Linking
      • Cross-Platform Compilation
      • CMake for Building and Linking
      • Shared Libraries
      • Dynamic Linking and Dependency Management
    • Operating Systems
      • OS & Architecture
      • Processes
      • CPU Scheduling
      • Memory Management
  • đŸ›Šī¸Cyber Warfare
    • Flight Physics
    • Communication
      • PWM & PPM
      • MAVLink
  • đŸ´â€â˜ ī¸Offensive Security
    • Active Directory
      • Introduction
    • Web Attacks
      • Server Side
        • OS Command Injection
        • Information Disclosure
        • Directory Traversal
        • Business Logic
        • Authentication
        • File Upload
        • SSRF
      • Client Side
        • CSRF
        • XSS
    • Recon
      • Active
        • Host discovery
        • Nmap
        • Mass Scan
      • Passive
        • Metadata
      • Web Applications
        • Discovery
        • Subdomains & Directories
        • SSL Certs
        • CMS
        • WAF Detection
      • Firewall Evasion
  • Binary Exploitation
    • Stack Smashing
      • x86
      • x86_64
    • pwntools
      • Processes and Communication
      • Logging and Context
      • Cyclic
      • Packing
      • ELF
      • ROP
  • 😈Advanced Persistent Threat
    • C2
      • Sliver
    • Malware
      • Windows Internals
        • PEB
      • Academy
        • Basics
      • Sektor7
        • Essentials
  • 💌Certifications
    • AWS Certified Cloud Practitioner (CLF-C01)
      • Cloud Foundations
      • Domain 1: Cloud Concepts
      • Domain 2: Security and Compliance
      • Domain 3: Technology
      • Domain 4: Billing and Pricing
    • AWS Certified Solutions Architect - Associate (SAA-C03)
      • Foundation
    • Certified Kubernetes Administrator (CKA)
      • Core Concepts
      • Scheduling
      • Logging & Monitoring
      • Application Lifecycle Management
      • Cluster Maintenance
      • Security
      • Storage
      • Networking
      • Design Kubernetes Cluster
      • Kubernetes The Kubeadm Way
      • Troubleshooting
      • JSONPATH
      • Lightning Lab
      • Mock Exams
      • Killer Shell
    • Certified Kubernetes Security (CKS)
      • Foundation
      • Cluster Setup
      • Cluster Hardening
      • Supply Chain Security
      • Runtime Security
      • System Hardening
      • Killer Shell
    • (KGAC-101) Kong Gateway Foundations
      • Introduction to APIs and API Management
      • Introduction to Kong Gateway
      • Getting Started with Kong Enterprise
      • Getting Started with Kong Konnect
      • Introduction to Kong Plugins
  • 📜Blog Posts
    • Modern Solutions For Preventing Ransomware Attacks
Powered by GitBook
On this page
  • Inertial Measurement Unit (IMU)
  • MEAS Barometer
  • GPS Module
  • Compass
  • RC Control and Receiver
  • Motors and Electronic Speed Controllers (ESCs)
  • Battery Monitoring
  • Flight Modes
  • Fail-safes and Safety Features
  • Tuning Parameters (PID Control)
  • Altitude Control Parameters
  • Advanced IMU Parameters
  • Summary of Key Parameters
  1. Cyber Warfare

Flight Physics

PreviousMemory ManagementNextCommunication

Last updated 7 months ago

Inertial Measurement Unit (IMU)

The IMU provides data about the quadcopter’s orientation, movement, and position by combining gyroscopes, accelerometers, and magnetometers.

Parameter
Example Value
Explanation & Effect

INS_GYRO_FILTER

26 Hz

Smooths gyro noise; a higher value reduces responsiveness but helps prevent oscillations. Lower values increase responsiveness but may allow noise.

INS_ACCEL_FILTER

10 Hz

Smooths accelerometer data; adjusting affects the responsiveness to tilt changes.

INS_USE

1

Enables IMU for flight control. If set to 0, the IMU inputs are ignored.

INS_ACCEL_OFFS_X, Y, Z

(calibrated values)

Stores offsets for calibrated accelerometer readings. Ensures accurate positioning.

INS_GYROFFS_X, Y, Z

(calibrated values)

Stores offsets for calibrated gyro readings. Minimizes drift and ensures stability.

MEAS Barometer

The barometer measures atmospheric pressure to estimate altitude. It plays a crucial role in altitude hold and flight stability.

Parameter
Example Value
Explanation & Effect

BARO_PRESS

(pressure reading)

Displays the current pressure reading from the barometer.

BARO_ENABLE

1

Enables the barometer for altitude estimation. Set to 0 to disable.

BARO_GND_ALT

0

Sets the ground altitude for altitude calibration. This can be adjusted based on local altitude.

AHRS_USE_BARO

1

Enables the use of barometric data for altitude estimation in navigation calculations.

GPS Module

GPS is essential for navigation, position hold, and maintaining altitude during flight.

Parameter
Example Value
Explanation & Effect

GPS_TYPE

1

Defines the type of GPS module used (e.g., u-blox).

GPS_AUTO_CONFIG

1

Enables automatic configuration of GPS parameters.

GPS_MINIMUM_HDOP

1.5

Sets the maximum horizontal dilution of precision for reliable GPS data.

Compass

The compass provides heading information, allowing the quadcopter to maintain its direction during flight. It is particularly important for navigation and orientation, especially when GPS is unavailable or unreliable.

Parameter
Example Value
Explanation & Effect

COMPASS_ENABLE

1

Enables the onboard compass. Set to 0 to disable.

COMPASS_TYPEMASK

0

Determines which compass to use (e.g., 1 for internal, 2 for external).

COMPASS_OFS_X, Y, Z

(calibrated values)

Stores offsets for the compass readings to account for magnetic interference. Proper calibration is essential for accurate heading.

COMPASS_LEARN

1

Enables compass learning, allowing the system to improve its accuracy over time by adjusting to magnetic anomalies.

COMPASS_USE

1

Enables the compass for navigation. Set to 0 to ignore compass inputs.

COMPASS_PRIMARY

1

Specifies which compass to use as the primary source if multiple compasses are available.

COMPASS_CAL

1

Enables automatic compass calibration during flight.

RC Control and Receiver

The RC control system allows the pilot to communicate with the quadcopter for manual and automatic control.

Parameter
Example Value
Explanation & Effect

RCMAP

0 1 2 3

Maps channels for throttle, roll, pitch, and yaw. Adjust based on your transmitter configuration.

RC_OPTIONS

0

Sets standard RC options. Modify if you need to change behavior.

Motors and Electronic Speed Controllers (ESCs)

Motors and ESCs are responsible for generating thrust and maneuverability.

Parameter
Example Value
Explanation & Effect

MOT_PWM_TYPE

1

Sets motor control type (e.g., PWM). Ensure compatibility with your ESCs.

MOT_THST_HOVER

0.5

Sets the throttle level required to maintain hover. Adjust based on your quad's weight and performance.

MOT_SPIN_ARM

1

Allows motors to spin up when armed. Be cautious with this setting for safety.

Battery Monitoring

Proper battery management is critical for flight safety and preventing damage from over-discharge or over-charge.

Parameter
Example Value
Explanation & Effect

BATT_VOLT_MIN

10.5 V

Sets the minimum battery voltage to avoid damaging the battery (for a 3S LiPo).

BATT_VOLT_MAX

12.6 V

Sets the maximum battery voltage to prevent overcharging.

BATT_CURR_MAX

30

Sets the maximum current draw, protecting the battery from excessive discharge.

Flight Modes

Different flight modes allow the quadcopter to perform various tasks, from manual control to autonomous missions.

Parameter
Example Value
Explanation & Effect

FLTMODE

3

Sets the default flight mode (e.g., Stabilize, AltHold, Loiter).

FLTMODE2, FLTMODE3

Adjust based on preference

Configures additional flight modes as needed.

Fail-safes and Safety Features

Fail-safes ensure the quadcopter can safely respond to issues like loss of signal or low battery.

Parameter
Example Value
Explanation & Effect

FS_THR_VALUE

975

Defines the throttle threshold for triggering fail-safe.

FS_GCS_ENABLE

1

Enables fail-safe if communication with the ground control station is lost.

Tuning Parameters (PID Control)

Fine-tuning PID values is essential for ensuring stable and responsive flight characteristics.

Parameter
Example Value
Explanation & Effect

ATC_RAT_PIT_P

0.15

Controls pitch responsiveness. Increase for faster response; decrease if oscillations occur.

ATC_RAT_PIT_I

0.05

Integral gain for pitch; helps eliminate steady-state error. Adjust carefully to avoid instability.

ATC_RAT_PIT_D

0.03

Derivative gain for pitch; dampens oscillations. Increase for smoother flight; decrease if overshoot occurs.

ATC_RAT_RLL_P

0.15

Controls roll responsiveness, similar to pitch.

ATC_RAT_RLL_I

0.05

Integral gain for roll.

ATC_RAT_RLL_D

0.03

Derivative gain for roll.

ATC_RAT_YAW_P

0.2

Controls yaw responsiveness. Adjust similarly based on performance.

ATC_RAT_YAW_I

0.1

Integral gain for yaw.

ATC_RAT_YAW_D

0.05

Derivative gain for yaw.

Altitude Control Parameters

Parameter
Example Value
Explanation & Effect

PSC_ACCZ_P

0.3

Controls altitude responsiveness; increase for faster altitude changes but ensure stability.

PSC_ACCZ_I

0.1

Integral gain for altitude; helps eliminate steady-state error.

Advanced IMU Parameters

Parameter
Example Value
Explanation & Effect

AHRS_EKF_TYPE

3

Specifies which type of sensor fusion algorithm to use for estimating position and orientation. EKF2 is common and robust.

AHRS_YAW_P

0.15

Proportional gain for yaw in the EKF; adjust based on response.

Summary of Key Parameters

Category
Parameter
Example Value
Effect

IMU

INS_GYRO_FILTER

26 Hz

Filters gyro noise.

INS_ACCEL_FILTER

10 Hz

Smooths accelerometer data.

GPS

GPS_TYPE

1

Defines GPS module type.

GPS_AUTO_CONFIG

1

Enables automatic GPS configuration.

RC Control

RCMAP

0 1 2 3

Maps channels for control inputs.

Motors/ESCs

MOT_PWM_TYPE

1

Sets motor control type.

MOT_THST_HOVER

0.5

Sets hover throttle level.

Battery

BATT_VOLT_MIN

10.5 V

Minimum battery voltage.

BATT_VOLT_MAX

12.6 V

Maximum battery voltage.

Flight Modes

FLTMODE

3

Default flight mode.

Fail-safes

FS_THR_VALUE

975

Throttle threshold for fail-safe.

Tuning

ATC_RAT_PIT_P

0.15

Pitch control responsiveness.

ATC_RAT_RLL_P

0.15

Roll control responsiveness.

Altitude Control

PSC_ACCZ_P

0.3

Altitude control responsiveness.

đŸ›Šī¸
Initial Tuning Flight — Copter documentation
Logo