Update ConfigureArducopter and FlightPlanner to accomodate new param names and units/scales by EosBandi · Pull Request #3685 · ArduPilot/MissionPlanner

EosBandi · 2026-03-18T23:32:03Z

Support for ArduCopter 4.7 Parameter Changes:

Adds class paramchanges47 to utilities, mapping old parameter names to new ones, describes unit changes, and adds helper methods to look up mappings and warnings.
Updated parameter setup calls in ConfigArducopter.cs
Updated FlightPlanner to handle WP_RADIUS_M
Adds a warning in the ConfigArducopter to warn users about parameter renames and unit changes when editing parameters affected by the 4.7 update.

Note: Changes in ConfigArducopter.Designer are :

Adding a label to display a warning
add event handler to all NumUpDown controls' Enter event.

…on the change description

EosBandi · 2026-03-18T23:39:11Z

These are the obvoius ones, still combing through the full code for possible impacts....

rmackay9 · 2026-03-18T23:43:29Z

@EosBandi thank you so much!!

meee1 · 2026-04-13T05:17:14Z

for those that looked over this, are we all happy?

rmackay9 · 2026-04-17T23:35:54Z

+            { "Q_LOIT_BRK_ACC_M", "Q_LOIT_BRK_ACCEL → Q_LOIT_BRK_ACC_M: units changed from cm/s/s to m/s/s" },
+            { "Q_LOIT_BRK_JRK_M", "Q_LOIT_BRK_JERK → Q_LOIT_BRK_JRK_M: units changed from cm/s/s/s to m/s/s/s" },
+            // Q_PILOT (Plane QuadPlane)
+            { "Q_PILOT_ACCEL_Z", "Q_PILOT_ACCEL_Z → Q_PILOT_ACCEL_Z: units changed from cm/s/s to m/s/s" },


Sorry, we can remove these lines because the parameters were not changed between 4.6 and 4.7. This mistake actually originates from my incorrect release notes, sorry!

`
{ "Q_PILOT_ACCEL_Z", "Q_PILOT_ACCEL_Z → Q_PILOT_ACCEL_Z: units changed from cm/s/s to m/s/s" },
{ "Q_PILOT_SPD_UP", "Q_PILOT_SPEED_UP → Q_PILOT_SPD_UP: units changed from cm/s to m/s" },
{ "Q_PILOT_SPD_DN", "Q_PILOT_SPEED_DN → Q_PILOT_SPD_DN: units changed from cm/s to m/s" },
{ "Q_PILOT_TKO_ALT_M", "Q_PILOT_TKOFF_ALT → Q_PILOT_TKO_ALT_M: units changed from cm to m" },

`

Copilot

Pull request overview

Note

Copilot was unable to run its full agentic suite in this review.

Updates Mission Planner UI/configuration logic to handle ArduCopter 4.7 parameter renames and unit/scale changes, including adding a central mapping helper and extending several views to read/write the newer parameters.

Changes:

Add paramchanges47 utility mapping old↔new 4.7 parameter names and unit-change descriptions.
Update multiple UI/config flows to prefer new 4.7 parameters (with fallback to legacy names) and apply unit conversions.
Add UI warning behavior when editing parameters affected by 4.7 renames/unit changes.

Reviewed changes

Copilot reviewed 9 out of 10 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
plugins/FaceMap/FaceMapUI.cs	Use `WP_SPD` fallback and ensure speed is in m/s for DO_CHANGE_SPEED.
Swarm/WaypointLeader/DroneGroup.cs	Update RTL/WPNAV accel parameter sets to support 4.7 names/units.
Grid/GridUI.cs	Same `WP_SPD` fallback logic as FaceMap for speed changes.
GCSViews/FlightPlanner.cs	Support `WP_RADIUS_M` and 4.7 WPNAV speed/accel param changes with unit conversions.
GCSViews/ConfigurationView/ConfigInitialParams.cs	Handle ATC accel param rename/unit scaling and update user guidance text.
GCSViews/ConfigurationView/ConfigArducopter.cs	Expand supported param aliases and add enter-warning for 4.7 param changes.
GCSViews/ConfigurationView/ConfigAC_Fence.cs	Prefer `RTL_ALT_M` when present and adjust displayed/default scaling.
ExtLibs/Utilities/paramchanges47.cs	New mapping helper for 4.7 param renames and warnings.

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Copilot · 2026-04-18T00:09:01Z

+                                // rtl at current alt
+                                if (MAV.param.ContainsKey("RTL_ALT"))
+                                    MAV.parent.setParam(MAV.sysid, MAV.compid, "RTL_ALT", 0);
+                                else if (MAV.param.ContainsKey("RTL_ALT_M"))
+                                    MAV.parent.setParam(MAV.sysid, MAV.compid, "RTL_ALT_M", 0);


This changes behavior from explicitly fetching parameters (GetParam) to relying on MAV.param.ContainsKey(...). If the param dictionary is not populated/complete at this point, these blocks will silently skip setting RTL altitude / accel (no attempt to set or to fetch). Fix by either (a) fetching the relevant param(s) before checking (GetParam for both possible names), or (b) attempting setParam for the preferred name and falling back to the alternate name on failure (with a targeted exception check), rather than gating the write on ContainsKey.

Copilot · 2026-04-18T00:09:02Z

+                                // set accel to default
+                                if (MAV.param.ContainsKey("WPNAV_ACCEL"))
+                                    MAV.parent.setParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL", 100); // 100 cm/s/s
+                                else if (MAV.param.ContainsKey("WP_ACC"))
+                                    MAV.parent.setParam(MAV.sysid, MAV.compid, "WP_ACC", 1); // 1 m/s/s


This changes behavior from explicitly fetching parameters (GetParam) to relying on MAV.param.ContainsKey(...). If the param dictionary is not populated/complete at this point, these blocks will silently skip setting RTL altitude / accel (no attempt to set or to fetch). Fix by either (a) fetching the relevant param(s) before checking (GetParam for both possible names), or (b) attempting setParam for the preferred name and falling back to the alternate name on failure (with a targeted exception check), rather than gating the write on ContainsKey.

Copilot · 2026-04-18T00:09:02Z

+                // use brute force, for all three possible params
+
                // m
                port.setParam("WP_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);

+                // m
+                port.setParam("WP_RADIUS_M", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);
+
                // cm's
                port.setParam("WPNAV_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist * 100.0);



Unconditionally writing all three parameters can generate avoidable MAVLink PARAM_SET failures/noise (and potentially slow down or confuse users) on firmwares that only support one of these names. Prefer setting only the parameter(s) that exist on the connected vehicle (e.g., check the param dictionary for supported keys), or wrap each setParam in targeted error handling and only attempt fallbacks if the first write fails.

Suggested change

// use brute force, for all three possible params

// m

port.setParam("WP_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);

// m

port.setParam("WP_RADIUS_M", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);

// cm's

port.setParam("WPNAV_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist * 100.0);

var wpRadiusMeters = float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist;

var wpRadiusCentimeters = wpRadiusMeters * 100.0f;

// Try the supported waypoint-radius parameter name for the connected firmware,

// only falling back to alternatives if the previous write fails.

Exception wpRadiusSetException = null;

try

{

// m

port.setParam("WP_RADIUS", wpRadiusMeters);

}

catch (Exception ex1)

{

wpRadiusSetException = ex1;

try

{

// m

port.setParam("WP_RADIUS_M", wpRadiusMeters);

wpRadiusSetException = null;

}

catch (Exception ex2)

{

wpRadiusSetException = ex2;

try

{

// cm's

port.setParam("WPNAV_RADIUS", wpRadiusCentimeters);

wpRadiusSetException = null;

}

catch (Exception ex3)

{

wpRadiusSetException = ex3;

}

}

}

if (wpRadiusSetException != null)

throw wpRadiusSetException;

Copilot · 2026-04-18T00:09:03Z

+        private void OnEnter_NumUpDown(object sender, EventArgs e)
+        {
+            // show unit change warning for Copter 4.7 renamed parameters
+            if (VersionDetection.GetVersion(MainV2.comPort.MAV.VersionString) >= new Version(4, 7)
+                && sender is MavlinkNumericUpDown mnud)
+            {
+                var warning = paramchanges47.changedByNewParamWarning(mnud.ParamName);
+                if (warning != null)
+                {
+                    lblUnitWarning.Text = "Change in 4.7: " + warning;
+                    lblUnitWarning.Visible = true;
+                    lblUnitWarning.ForeColor = Color.Red;
+                    return;
+                }
+            }
+
+            lblUnitWarning.Visible = false;
+        }


The warning lookup only checks changedByNewParamWarning(mnud.ParamName). If the control is currently bound to a legacy (pre-4.7) parameter name (which is common since setup(...) lists both old/new aliases), mnud.ParamName may be the old name and no warning will display. Fix by supporting both directions: if no warning is found, first map old→new via changedByOldParam(mnud.ParamName) and then retrieve the warning for the mapped new name (or add a utility method that accepts either old or new).

Copilot · 2026-04-18T00:09:04Z

+        // reverse index: old param name → new param name
+        private static readonly Dictionary<string, string> _oldToNew = _byNewParam
+            .ToDictionary(
+                kv => kv.Value.Substring(0, kv.Value.IndexOf(" →")),
+                kv => kv.Key);


Building _oldToNew by parsing a human-readable string is brittle: if any entry format changes (missing ' →', different spacing, etc.) this will throw during type initialization and break the app at startup. Consider storing structured data (e.g., a small record/class with OldName, NewName, WarningText) and deriving both dictionaries from explicit fields; at minimum guard IndexOf results and fail gracefully.

Copilot · 2026-04-18T00:09:04Z

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;


New public API types in C# should follow PascalCase naming. Consider renaming paramchanges47 to ParamChanges47 (and similarly PascalCase for its public methods) to match standard .NET conventions. Also, using System.Text; is unused in this file and can be removed.

Copilot · 2026-04-18T00:09:05Z

+
+namespace MissionPlanner.Utilities
+{
+    public class paramchanges47


New public API types in C# should follow PascalCase naming. Consider renaming paramchanges47 to ParamChanges47 (and similarly PascalCase for its public methods) to match standard .NET conventions. Also, using System.Text; is unused in this file and can be removed.

Copilot · 2026-04-18T00:09:05Z

            if (paramCompareForm.DialogResult == DialogResult.OK)
            {
-                CustomMessageBox.Show("Initial Parameters succesfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");
+                CustomMessageBox.Show("Initial Parameters succesfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P/PSC_D_ACC_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I/PSC_D_ACC_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");


Correct spelling: change 'succesfully' to 'successfully' in the user-facing message.

Suggested change

CustomMessageBox.Show("Initial Parameters succesfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P/PSC_D_ACC_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I/PSC_D_ACC_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");

CustomMessageBox.Show("Initial Parameters successfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P/PSC_D_ACC_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I/PSC_D_ACC_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");

rmackay9 · 2026-04-21T01:35:17Z

@EosBandi, no huge pressure of course but could you update this PR when you get a chance? I'm just keen to clear up our AP 4.7 issues list!

EosBandi added 3 commits March 19, 2026 00:20

Add param change list with descriptions

edb3d74

Update parameters in ExtendedCopter Config, also add a warning based …

168be12

…on the change description

add changed WP_RADIUS_M to FlightPlanner

22d55ab

EosBandi mentioned this pull request Mar 18, 2026

Copter Extended Tuning updates for 4.7.0 #3678

Open

rmackay9 mentioned this pull request Mar 18, 2026

ArduPilot 4.7 issues list ArduPilot/ardupilot#32385

Open

57 tasks

EosBandi added 6 commits March 19, 2026 00:59

ConfigAC_Fence : Support both RTL_ALT and RTL_ALT_M for RTL altitude

a9280c5

ConfigInitialParam: ATC_ACC_* and help text for PSC_D_*

0db33ae

FlightPlanner: WP_ACC and WP_SPD for spline calc and bug in WP_RADIUS

de9bad1

GridUI: WP_SPD

ef48dda

FaceMap: WP_SPD

10c6285

DroneGroup: RTL_ALT_M and WP_ACC

5b49c5e

robertlong13 reviewed Mar 19, 2026

View reviewed changes

Comment thread GCSViews/ConfigurationView/ConfigArducopter.cs

rmackay9 reviewed Apr 17, 2026

View reviewed changes

meee1 requested a review from Copilot April 18, 2026 00:01

Copilot AI reviewed Apr 18, 2026

View reviewed changes

Copilot started reviewing on behalf of meee1 April 18, 2026 05:04 View session

-                // use brute force, for all three possible params
-                // m
-                port.setParam("WP_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);
-                // m
-                port.setParam("WP_RADIUS_M", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);
-                // cm's
-                port.setParam("WPNAV_RADIUS", float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist * 100.0);
+                var wpRadiusMeters = float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist;
+                var wpRadiusCentimeters = wpRadiusMeters * 100.0f;
+                // Try the supported waypoint-radius parameter name for the connected firmware,
+                // only falling back to alternatives if the previous write fails.
+                Exception wpRadiusSetException = null;
+                try
+                {
+                    // m
+                    port.setParam("WP_RADIUS", wpRadiusMeters);
+                }
+                catch (Exception ex1)
+                {
+                    wpRadiusSetException = ex1;
+                    try
+                    {
+                        // m
+                        port.setParam("WP_RADIUS_M", wpRadiusMeters);
+                        wpRadiusSetException = null;
+                    }
+                    catch (Exception ex2)
+                    {
+                        wpRadiusSetException = ex2;
+                        try
+                        {
+                            // cm's
+                            port.setParam("WPNAV_RADIUS", wpRadiusCentimeters);
+                            wpRadiusSetException = null;
+                        }
+                        catch (Exception ex3)
+                        {
+                            wpRadiusSetException = ex3;
+                        }
+                    }
+                }
+                if (wpRadiusSetException != null)
+                    throw wpRadiusSetException;

	CustomMessageBox.Show("Initial Parameters succesfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P/PSC_D_ACC_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I/PSC_D_ACC_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");
	CustomMessageBox.Show("Initial Parameters successfully updated.\r\nCheck parameters before flight!\r\n\r\nAfter test flight :\r\n\tSet ATC_THR_MIX_MAN to 0.5\r\n\tSet PSC_ACCZ_P/PSC_D_ACC_P to MOT_THST_HOVER\r\n\tSet PSC_ACCZ_I/PSC_D_ACC_I to 2*MOT_THST_HOVER\r\n\r\nHappy flying!", "Initial parameter calculator");

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EosBandi commented Mar 18, 2026

Uh oh!

EosBandi commented Mar 18, 2026

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rmackay9 commented Mar 18, 2026

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Pull request overview

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rmackay9 commented Apr 21, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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rmackay9 commented Apr 21, 2026 •

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