PX4 parameter group: Multicopter Rate Control

This page lists named parameter set commands in the PX4 Multicopter Rate Control group. All commands use PARAM_SET and are governed by PX4_COMMAND_MODE, operator guard, and PX4_PARAMETER_WRITE_ALLOWLIST.

Metric	Count
Parameters	20
`FLOAT`	19
`INT32`	1
`Standard`	20
`System`	0
`Developer`	0
Reboot required	0
`volatile`	0

Parameters

PX4 Parameter	Command type	Category	Type	Default	Range	Unit	Shape	Reboot	Volatile	PX4 short description
`MC_BAT_SCALE_EN`	`px4.parameter.mc_bat_scale_en.set`	Standard	Int32	0	-	-	enum 2	no	no	Battery power level scaler
`MC_PITCHRATE_D`	`px4.parameter.mc_pitchrate_d.set`	Standard	Float	0.003	>= 0.0	-	-	no	no	Pitch rate D gain
`MC_PITCHRATE_FF`	`px4.parameter.mc_pitchrate_ff.set`	Standard	Float	0.0	>= 0.0	-	-	no	no	Pitch rate feedforward
`MC_PITCHRATE_I`	`px4.parameter.mc_pitchrate_i.set`	Standard	Float	0.2	>= 0.0	-	-	no	no	Pitch rate I gain
`MC_PITCHRATE_K`	`px4.parameter.mc_pitchrate_k.set`	Standard	Float	1.0	0.01..5.0	-	-	no	no	Pitch rate controller gain
`MC_PITCHRATE_P`	`px4.parameter.mc_pitchrate_p.set`	Standard	Float	0.15	0.01..0.6	-	-	no	no	Pitch rate P gain
`MC_PR_INT_LIM`	`px4.parameter.mc_pr_int_lim.set`	Standard	Float	0.3	>= 0.0	-	-	no	no	Pitch rate integrator limit
`MC_ROLLRATE_D`	`px4.parameter.mc_rollrate_d.set`	Standard	Float	0.003	0.0..0.01	-	-	no	no	Roll rate D gain
`MC_ROLLRATE_FF`	`px4.parameter.mc_rollrate_ff.set`	Standard	Float	0.0	>= 0.0	-	-	no	no	Roll rate feedforward
`MC_ROLLRATE_I`	`px4.parameter.mc_rollrate_i.set`	Standard	Float	0.2	>= 0.0	-	-	no	no	Roll rate I gain
`MC_ROLLRATE_K`	`px4.parameter.mc_rollrate_k.set`	Standard	Float	1.0	0.01..5.0	-	-	no	no	Roll rate controller gain
`MC_ROLLRATE_P`	`px4.parameter.mc_rollrate_p.set`	Standard	Float	0.15	0.01..0.5	-	-	no	no	Roll rate P gain
`MC_RR_INT_LIM`	`px4.parameter.mc_rr_int_lim.set`	Standard	Float	0.3	>= 0.0	-	-	no	no	Roll rate integrator limit
`MC_YAWRATE_D`	`px4.parameter.mc_yawrate_d.set`	Standard	Float	0.0	>= 0.0	-	-	no	no	Yaw rate D gain
`MC_YAWRATE_FF`	`px4.parameter.mc_yawrate_ff.set`	Standard	Float	0.0	>= 0.0	-	-	no	no	Yaw rate feedforward
`MC_YAWRATE_I`	`px4.parameter.mc_yawrate_i.set`	Standard	Float	0.1	>= 0.0	-	-	no	no	Yaw rate I gain
`MC_YAWRATE_K`	`px4.parameter.mc_yawrate_k.set`	Standard	Float	1.0	0.01..5.0	-	-	no	no	Yaw rate controller gain
`MC_YAWRATE_P`	`px4.parameter.mc_yawrate_p.set`	Standard	Float	0.2	0.0..0.6	-	-	no	no	Yaw rate P gain
`MC_YAW_TQ_CUTOFF`	`px4.parameter.mc_yaw_tq_cutoff.set`	Standard	Float	2.0	0.0..10.0	Hz	-	no	no	Low pass filter cutoff frequency for yaw torque setpoint
`MC_YR_INT_LIM`	`px4.parameter.mc_yr_int_lim.set`	Standard	Float	0.3	>= 0.0	-	-	no	no	Yaw rate integrator limit

​PX4 parameter group: Multicopter Rate Control

​Parameters

PX4 parameter group: Multicopter Rate Control

Parameters