Configuration Reference
This page explains the meaning of important parameters in the THAP Engine to allow you to tune your robot accurately and safely.
⚙️ Serial System (Connectivity)
Communication port settings between AT32 and external devices (such as ESP32 or GPS).
| Parameter | Default | Description |
|---|---|---|
SERIAL1_BAUD |
115200 | Baudrate for Telemetry Port 1 (typically connected to ESP32). |
SERIAL2_BAUD |
115200 | Baudrate for Telemetry Port 2 (typically used for GPS). |
SERIAL_ORDER |
OTG1, USART1, USART2 | The order of ports in the system (modifiable in hwdef.dat). |
📈 PID Tuning
The core of motion control, divided into Roll, Pitch, and Yaw axes.
🟠 Rate Control
| Parameter | Recommended Range | Description |
|---|---|---|
ATC_RAT_RLL_P |
0.1 - 0.5 | Proportional: Response strength. If too high, the robot vibrates; if too low, it feels sluggish. |
ATC_RAT_RLL_I |
0.01 - 0.1 | Integral: Corrects accumulated errors (e.g., wind pushing the robot). |
ATC_RAT_RLL_D |
0.001 - 0.1 | Derivative: Dampens movement to prevent oscillating when stopping suddenly. |
🏎️ ROVER Specific Settings (Ground Vehicle)
| Parameter | Default | Description |
|---|---|---|
MOT_STR_THR_MIX |
0.5 | Mixing ratio between Steering and Throttle. |
CRUISE_SPEED |
1.5 | Target speed in automatic modes (unit: m/s). |
WP_RADIUS |
2.0 | Radius around a Waypoint for it to be considered "reached". |
🛡️ Safety System (Failsafe)
| Parameter | Recommended | Description |
|---|---|---|
FS_THR_ENABLE |
1 (Enabled) | Enables Failsafe when the RC signal is lost. |
FS_THR_VALUE |
950 | PWM value of the throttle channel that triggers Failsafe. |
BATT_LOW_VOLT |
10.5 | Minimum voltage to trigger Low Battery warning (for 3S Lipo). |
🛠️ Correct Configuration Steps
- Connect: Plug the USB cable or connect via 5G to the THAP Configurator.
- Read Current Values: Click READ PARAMS to see the factory settings.
- Modify: Enter the new values in the desired fields.
- Save: Click WRITE PARAMS (values are saved to Flash immediately).
- Test: Experiment with the robot in a safe area. If it vibrates, reduce the P gain slightly.
[!IMPORTANT] Warning: Do not increase PID values too much at once, as it may cause the motors to spin excessively fast and cause damage.