4.7:32147/WPNAV param rename

Author: Hwurzburg

common/source/docs/common-oa-dijkstras.rst

@@ -24,7 +24,7 @@ Configuration
 
 -  :ref:`OA_TYPE <OA_TYPE>` = 2 (Dijkstra).  You may need to refresh parameters after changing this to see the parameters below.
 -  :ref:`OA_MARGIN_MAX <OA_MARGIN_MAX>`: the distance (in meters) that the vehicle should stay away from the fences and stay-out zones
--  :ref:`OA_OPTIONS<OA_OPTIONS>` bit 2 (+4 to the value) can be set to use S-Curves around fence corners in the planned path to speed up turns. Note that using S-Curves, instead of the normal "approach,stop, turn, proceed" method of path planning around sharp fence corners, could still result in a fence breach.To avoid this ``WPNAV_RADIUS`` should be set smaller than :ref:`FENCE_MARGIN<FENCE_MARGIN>`. Also waypoints should also be placed at least 10m from fence boundaries.
+-  :ref:`OA_OPTIONS<OA_OPTIONS>` bit 2 (+4 to the value) can be set to use S-Curves around fence corners in the planned path to speed up turns. Note that using S-Curves, instead of the normal "approach,stop, turn, proceed" method of path planning around sharp fence corners, could still result in a fence breach.To avoid this :ref:`WP_RADIUS_M<WP_RADIUS_M>` should be set smaller than :ref:`FENCE_MARGIN<FENCE_MARGIN>`. Also waypoints should also be placed at least 10m from fence boundaries.
 [site wiki="copter"]
 - For use in :ref:`Guided mode <ac2_guidedmode>`, set :ref:`GUID_OPTIONS<GUID_OPTIONS>` bit 6 (e.g. 64)
 [/site]

common/source/docs/common-transmitter-tuning.rst

@@ -340,7 +340,7 @@ The :ref:`TUNE_MAX<TUNE_MAX>` parameter determines the maximum value of the para
 +--------+-------------------------+----------------------------------------------------------------------+
 |28      |Velocity XY kI           |  ``PSC_VELXY_I``                                                     |
 +--------+-------------------------+----------------------------------------------------------------------+
-|10      |WP Speed                 |  ``WPNAV_SPEED``                                                     |
+|10      |WP Speed                 |  :ref:`WP_SPD<WP_SPD>`                                                     |
 +--------+-------------------------+----------------------------------------------------------------------+
 |25      |Acro RollPitch kP        | :ref:`ACRO_RP_RATE<ACRO_RP_RATE>`                                    |
 +--------+-------------------------+----------------------------------------------------------------------+

copter/source/docs/ac2_guidedmode.rst

@@ -71,13 +71,13 @@ Speed Control
 =============
 
 The maximum horizontal speed of the copter can be adjusted with the
-**Speed** (``WPNAV_SPEED``) parameter from the Mission Planner's
+**Speed** (:ref:`WP_SPD<WP_SPD>`) parameter from the Mission Planner's
 Config/Tuning >> Copter Pids screen (see blue box above).  The default
 is 1000 meaning 10m/s.  A typical copter can reach top speeds of 10m/s ~
 13m/s (i.e. 1000 ~ 1300) before it becomes unable to both maintain
 altitude and horizontal speed.
 
-The vertical speeds up and down can similar be adjusted with the **Speed Up** (``WPNAV_SPEED_UP``) and **Speed Dn** (``WPNAV_SPEED_DN``) parameters. ``WPNAV_ACCEL_Z`` determines how fast the speed can change.
+The vertical speeds up and down can similar be adjusted with the **Speed Up** (:ref:`WP_SPD_UP<WP_SPD_UP>`) and **Speed Dn** (:ref:`WP_SPD_DN<WP_SPD_DN>`) parameters. :ref:`WP_ACC_Z<WP_ACC_Z>` determines how fast the speed can change.
 
 Speed can also be controlled while in GUIDED mode with :ref:`MAVLink commands <common-mavlink-mission-command-messages-mav_cmd>` like :ref:`DO_CHANGE_SPEED<mav_cmd_do_change_speed>`.
 

copter/source/docs/auto-mode.rst

@@ -27,11 +27,11 @@ Overview
 .. image:: ../images/auto.jpg
     :target: ../_images/auto.jpg
 
-AUTO mode navigates between each waypoint in a straight line and as it approaches each waypoint follows a smooth curving path towards the next waypoint (S-Curve). It controls the path as it approaches a waypoint to be within the ``WPNAV_RADIUS`` of each waypoint. The speed is lowered below ``WPNAV_SPEED``, as necessary, to keep the vehicle within the configured acceleration limits (``WPNAV_ACCEL`` and ``WPNAV_ACCEL_C``).
+AUTO mode navigates between each waypoint in a straight line and as it approaches each waypoint follows a smooth curving path towards the next waypoint (S-Curve). It controls the path as it approaches a waypoint to be within the :ref:`WP_RADIUS_M<WP_RADIUS_M>` of each waypoint. The speed is lowered below :ref:`WP_SPD<WP_SPD>`, as necessary, to keep the vehicle within the configured acceleration limits (:ref:`WP_ACC<WP_ACC>` and :ref:`WP_ACC_CNR<WP_ACC_CNR>`).
 
 This smooth curving path as it changes direction to the next waypoint will not occur if the next mission command after the waypoint is anything other than a normal waypoint (e.g LAND, LOITER_TURNS, RTL, etc). In these cases the copter will approach the waypoint, stop, and then proceed to the next navigation waypoint instead of smoothly curving in front of it and proceeding to that next navigation waypoint.
 
-Also, small ``WPNAV_RADIUS`` values will require that the curve be very small, effectively appearing like the non-S-Curve behavior explained above.
+Also, small :ref:`WP_RADIUS_M<WP_RADIUS_M>` values will require that the curve be very small, effectively appearing like the non-S-Curve behavior explained above.
 
 Starting a Mission
 ==================
@@ -92,17 +92,17 @@ AUTO mode incorporates the altitude control from :ref:`AltHold mode <altholdmode
 
 Commonly adjusted settings are listed below.  Most of these can be adjusted from the Mission Planner's Config, Extended Tuning screen (see above).
 
-- ``WPNAV_SPEED`` is the maximum horizontal speed (in cm/s) during missions.  The default is 1000 which is 10m/s.  A typical copter can reach top speeds of 10m/s ~ 20m/s (e.g. 1000 ~ 2000) before it becomes unable to maintain both altitude and horizontal speed
-- ``WPNAV_ACCEL`` determines how quickly the horizontal speed can change (in cm/s/s).  Lower values result in smoother acceleration and deceleration and may also cause the vehicle to cut the corners more.  Higher values will lead to more aggressive movements and tighter cornering
-- ``WPNAV_SPEED_UP`` determines the max speed up in cm/s.  Low values may lead to the vehicle's horizontal speed slowing during diagonal climbing waypoint segments
-- ``WPNAV_SPEED_DN`` determines the max speed down in cm/s.  Low values may lead to the vehicle's horizontal speed slowing during diagonal descending waypoint segments.  High values (above 150) may lead to unstable vertical descents as the vehicle passes through its own prop wash
-- ``WPNAV_RADIUS`` allows you to control how close the copter must come to the waypoint before it is considered "complete" and the copter moves onto the next waypoint.  Setting this to a larger value may cause the vehicle to cut the corners more leading to a smoother path
+- :ref:`WP_SPD<WP_SPD>` is the maximum horizontal speed (in cm/s) during missions.  The default is 1000 which is 10m/s.  A typical copter can reach top speeds of 10m/s ~ 20m/s (e.g. 1000 ~ 2000) before it becomes unable to maintain both altitude and horizontal speed
+- :ref:`WP_ACC<WP_ACC>` determines how quickly the horizontal speed can change (in cm/s/s).  Lower values result in smoother acceleration and deceleration and may also cause the vehicle to cut the corners more.  Higher values will lead to more aggressive movements and tighter cornering
+- :ref:`WP_SPD_UP<WP_SPD_UP>` determines the max speed up in cm/s.  Low values may lead to the vehicle's horizontal speed slowing during diagonal climbing waypoint segments
+- :ref:`WP_SPD_DN<WP_SPD_DN>` determines the max speed down in cm/s.  Low values may lead to the vehicle's horizontal speed slowing during diagonal descending waypoint segments.  High values (above 150) may lead to unstable vertical descents as the vehicle passes through its own prop wash
+- :ref:`WP_RADIUS_M<WP_RADIUS_M>` allows you to control how close the copter must come to the waypoint before it is considered "complete" and the copter moves onto the next waypoint.  Setting this to a larger value may cause the vehicle to cut the corners more leading to a smoother path
 
 Less commonly adjusted parameters include:
 
-- ``WPNAV_ACCEL_C`` determines the maximum cornering acceleration in cm/s/s.  Higher values will cause the vehicle to make sharper corners meaning it will cut the corners less
-- ``WPNAV_ACCEL_Z`` determines how quickly the vertical speed can change
-- ``WPNAV_JERK`` determines how quickly the horizontal acceleration can change (in m/s/s/s).  Lower values will lead to a smoother acceleration and deceleration but will also lead to the mission taking slightly longer to complete
+- :ref:`WP_ACC_CNR<WP_ACC_CNR>` determines the maximum cornering acceleration in cm/s/s.  Higher values will cause the vehicle to make sharper corners meaning it will cut the corners less
+- :ref:`WP_ACC_Z<WP_ACC_Z>` determines how quickly the vertical speed can change
+- :ref:`WP_JERK<WP_JERK>` determines how quickly the horizontal acceleration can change (in m/s/s/s).  Lower values will lead to a smoother acceleration and deceleration but will also lead to the mission taking slightly longer to complete
 
 Common Problems
 ===============
@@ -111,18 +111,18 @@ Below are a list of commonly reported problems and recommendations
 
 1. The vehicle does not cut the corners as much as I would like and/or stops at each waypoint
 
-   - Increase ``WPNAV_RADIUS`` to allow the vehicle to pass further from each waypoint
-   - Increase ``WPNAV_SPEED`` to cause the vehicle to start turning earlier in order that it not surpass the max acceleration
-   - Decrease ``WPNAV_ACCEL`` to cause the vehicle to start turning earlier and more gradually
-   - Decrease ``WPNAV_ACCEL_C`` or reset to the default of zero
+   - Increase :ref:`WP_RADIUS_M<WP_RADIUS_M>` to allow the vehicle to pass further from each waypoint
+   - Increase :ref:`WP_SPD<WP_SPD>` to cause the vehicle to start turning earlier in order that it not surpass the max acceleration
+   - Decrease :ref:`WP_ACC<WP_ACC>` to cause the vehicle to start turning earlier and more gradually
+   - Decrease :ref:`WP_ACC_CNR<WP_ACC_CNR>` or reset to the default of zero
    - Ensure the waypoint command's Delay field is 0.  A delay of even 1 second will cause the vehicle to stop at the waypoint
    - If :ref:`Dijkstras object avoidance <common-oa-dijkstras>` is enabled, by default the vehicle will stop at each waypoint.  This can be avoided by setting the :ref:`OA_OPTIONS <OA_OPTIONS>` parameter
 
-2. The vehicle does not reach the configured maximum horizontal speed (e.g. ``WPNAV_SPEED``)
+2. The vehicle does not reach the configured maximum horizontal speed (e.g. :ref:`WP_SPD<WP_SPD>`)
 
-   - Increase ``WPNAV_ACCEL`` to allow the vehicle to accelerate to its maximum speed more quickly
-   - Increase ``WPNAV_JERK`` to allow the vehicle to get to its maximum acceleration more quickly
-   - If the waypoint includes a climb or descent the vehicle's horizontal speed may be limited by ``WPNAV_SPEED_UP`` or ``WPNAV_SPEED_DN``
+   - Increase :ref:`WP_ACC<WP_ACC>` to allow the vehicle to accelerate to its maximum speed more quickly
+   - Increase :ref:`WP_JERK<WP_JERK>` to allow the vehicle to get to its maximum acceleration more quickly
+   - If the waypoint includes a climb or descent the vehicle's horizontal speed may be limited by :ref:`WP_SPD_UP<WP_SPD_UP>` or :ref:`WP_SPD_DN<WP_SPD_DN>`
    - Ensure the vehicle's maximum lean angle (e.g. ``ANGLE_MAX``) is sufficient to reach the desired speed
    - Ensure the vehicle has enough power to maintain both altitude and the desired speed
    - If the mission command uses :ref:`terrain following <terrain-following>` the vehicle may need to slow horizontally to maintain the desired altitude above terrain

copter/source/docs/circle-mode.rst

@@ -18,7 +18,7 @@ The speed of the vehicle (in deg/second) can be modified by changing the
 :ref:`CIRCLE_RATE<CIRCLE_RATE>` parameter.  A positive value means rotate clockwise, a
 negative means counter clockwise.  The vehicle may not achieve the
 desired rate if this requires the acceleration towards the center of the
-circle to surpass the maximum acceleration held in the ``WPNAV_ACCEL``
+circle to surpass the maximum acceleration held in the :ref:`WP_ACC<WP_ACC>`
 parameter (units are cm/s/s).
 
 The circle rate set above can be dynamically adjusted in flight by two methods. The first is the use of RC Channel 6 if the :ref:`TUNE<TUNE>` option is set to 39, allowing decreasing the rate 50% or increasing it by 100%, at the channel min and max. The other is by enabling the ``CIRCLE_CONTROL`` parameter to allow stick adjustment of radius and speed.

copter/source/docs/follow-mode.rst

@@ -19,6 +19,6 @@ The following parameters can be used to tune Follow Mode's performance:
 -  :ref:`FOLL_OFS_X <FOLL_OFS_X>`, :ref:`FOLL_OFS_Y <FOLL_OFS_Y>`, :ref:`FOLL_OFS_Z <FOLL_OFS_Z>`: 3D offset (in meters) from the lead vehicle
 -  :ref:`FOLL_OFS_TYPE <FOLL_OFS_TYPE>`: set to 0 if offsets are North-East-Down, 1 if offsets are relative to lead vehicle's heading
 -  :ref:`FOLL_YAW_BEHAVE <FOLL_YAW_BEHAVE>`: controls whether follow points in the same direction as lead vehicle or always towards it
--  :ref:`FOLL_POS_P <FOLL_POS_P>`: gain which controls how aggressively this vehicle moves towards lead vehicle (limited by ``WPNAV_SPEED``)
+-  :ref:`FOLL_POS_P <FOLL_POS_P>`: gain which controls how aggressively this vehicle moves towards lead vehicle (limited by :ref:`WP_SPD<WP_SPD>`)
 -  :ref:`FOLL_ALT_TYPE <FOLL_ALT_TYPE>`: allows selecting whether to use lead vehicle's relative-to-home or relative-to-sea-level altitude
 -  :ref:`FOLL_OPTIONS<FOLL_OPTIONS>`: set bit 0 to "1" to enable the :ref:`common-mount-targeting` to follow the target vehicle.

copter/source/docs/land-mode.rst

@@ -7,7 +7,7 @@ Land Mode
 LAND Mode attempts to bring the copter straight down and has these
 features:
 
--  descends at ``LAND_SPEED_HIGH``, if non-zero, (or ``WPNAV_SPEED_DN`` if zero) using the regular Altitude Hold controller.
+-  descends at ``LAND_SPEED_HIGH``, if non-zero, (or :ref:`WP_SPD_DN<WP_SPD_DN>` if zero) using the regular Altitude Hold controller.
 -  the pilot can reposition the vehicle using the pitch and roll sticks. The throttle stick has no effect.
 -  if a rangefinder is being used, or :ref:`TERRAIN_ENABLE<TERRAIN_ENABLE>` =1 and terrain data is available, the descent speed will then switch to ``LAND_SPEED`` at ``LAND_ALT_LOW`` altitude (default is 10m) above ground until landing occurs. If neither terrain data or rangefinder data is available, then altitude above HOME will be used for the speed switch point (if reached).
 

copter/source/docs/mission-command-list.rst

@@ -45,9 +45,9 @@ before proceeding to the next command
 
 **Hit Rad** - not supported - meant to hold the distance (in meters)
 from the target point that will qualify the waypoint as complete. This
-command is not supported. Instead, the ``WPNAV_RADIUS`` parameter should be
+command is not supported. Instead, the :ref:`WP_RADIUS_M<WP_RADIUS_M>` parameter should be
 used (see "WP Radius" field in the above screenshot or adjust through the
-Standard Parameters List).  Even the ``WPNAV_RADIUS`` is only used when the
+Standard Parameters List).  Even the :ref:`WP_RADIUS_M<WP_RADIUS_M>` is only used when the
 waypoint has a Delay. With no delay specified the waypoint will be
 considered complete when the virtual point that the vehicle is chasing
 reaches the waypoint. This can be 10m (or more) ahead of the vehicle

copter/source/docs/rtl-mode.rst

@@ -16,7 +16,7 @@ When RTL mode is selected, the copter will return to the home location, or if ra
 
 The copter will first rise a minimum of :ref:`RTL_CLIMB_MIN<RTL_CLIMB_MIN>` or to  ``RTL_ALT``, whichever is higher, before returning home.  The default value for ``RTL_ALT`` is 15m. Under no circumstances will this altitude be below 30cm.
 
-The altitude reference frame is set by either the rally point, if proceeding to one of those, or by :ref:`RTL_ALT_TYPE<RTL_ALT_TYPE>` to select relative to HOME, or Terrain. If ``WPNAV_RFND_USE`` = 1 and Terrain is selected, then rangefinder will be used.
+The altitude reference frame is set by either the rally point, if proceeding to one of those, or by :ref:`RTL_ALT_TYPE<RTL_ALT_TYPE>` to select relative to HOME, or Terrain. If :ref:`WP_RFND_USE<WP_RFND_USE>` = 1 and Terrain is selected, then rangefinder will be used.
 
 .. image:: ../images/RTL.jpg
     :target: ../_images/RTL.jpg
@@ -89,7 +89,7 @@ Options (User Adjustable Parameters)
 -  :ref:`RTL_SPEED <RTL_SPEED>`:
    The horizontal speed (in cm/s) at which the vehicle will return to
    home.  By default this value is zero meaning it will use
-   ``WPNAV_SPEED``.
+   :ref:`WP_SPD<WP_SPD>`.
 
 -  :ref:`RTL_CONE_SLOPE <RTL_CONE_SLOPE>`:
    Defines the slope of an inverted cone above home which is used
@@ -102,9 +102,9 @@ Notes
 
 -  Other navigation settings also have an influence over RTL mode:
 
-   -  ``WPNAV_ACCEL``
-   -  ``WPNAV_SPEED_DN``
-   -  ``WPNAV_SPEED_UP``
+   -  :ref:`WP_ACC<WP_ACC>`
+   -  :ref:`WP_SPD_DN<WP_SPD_DN>`
+   -  :ref:`WP_SPD_UP<WP_SPD_UP>`
 
 -  To use RTL, GPS lock needs to be achieved (Blue GPS LED and Blue APM
    LED on solid not blinking) before arming and takeoff to establish the
@@ -115,6 +115,6 @@ Notes
    set at the location of lock.
 -  If you set the ``RTL_ALT`` to a number at other than 0 it will go to
    and maintain that altitude while returning.
--  RTL uses ``WPNAV_SPEED`` to determine how fast it travels.
+-  RTL uses :ref:`WP_SPD<WP_SPD>` to determine how fast it travels.
 -  Once the copter arrives at the home location the copter will pause
    for ``RTL_LOIT_TIME`` milliseconds, timeout (AUTO_LAND), then land.

copter/source/docs/smartrtl-mode.rst

@@ -25,7 +25,7 @@ Additional Failsafes that may be set to switch to SmartRTL are: :ref:`BATT_FS_CR
 SmartRTL Parameters
 ===================
 
--  :ref:`RTL_SPEED <RTL_SPEED>` can be used to set the speed (in meters/second) at which the vehicle will return to home.  By default this parameter is zero meaning the ``WPNAV_SPEED``  parameter value will be used.
+-  :ref:`RTL_SPEED <RTL_SPEED>` can be used to set the speed (in meters/second) at which the vehicle will return to home.  By default this parameter is zero meaning the :ref:`WP_SPD<WP_SPD>`  parameter value will be used.
 -  ``RTL_ALT_FINAL`` if set to 0, will land at home, otherwise will stop and hover above home at this altitude upon completion of the return.
 -  :ref:`SRTL_ACCURACY <SRTL_ACCURACY>` controls the accuracy (in meters) of the simplification and pruning performed.  The simplify algorithm will turn curved paths into straight lines but the line should never be more than this distance from the original path.  The pruning algorithm will cut paths that come within this many meters of each other.
 -  :ref:`SRTL_POINTS <SRTL_POINTS>` controls the maximum number of points that can be stored.  Each additional 100 points requires about 3k of RAM and the image below shows how to check the autopilot's available memory (most autopilots have enough memory for 500 points). If the maximum number of points is exhausted, "SmartRTL deactivated: buffer full" will be sent to the ground station and the user will not be able to switch into SmartRTL.