GPS stamp

mk/source.mk

@@ -24,6 +24,7 @@ PG_SRC = \
             pg/piniobox.c \
             pg/pinio.c \
             pg/pin_pull_up_down.c \
+            pg/pos_hold.c \
             pg/rcdevice.c \
             pg/rpm_filter.c \
             pg/rx.c \
@@ -172,6 +173,7 @@ COMMON_SRC = \
             flight/pid.c \
             flight/pid_init.c \
             flight/position.c \
+            flight/pos_hold.c \
             flight/rpm_filter.c \
             flight/servos.c \
             flight/servos_tricopter.c \

src/main/blackbox/blackbox.c

@@ -69,6 +69,7 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
+#include "flight/pos_hold.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
@@ -1627,25 +1628,32 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ACC_HARDWARE, "%d",            accelerometerConfig()->acc_hardware);
 #endif
 #ifdef USE_BARO
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_BARO_HARDWARE, "%d",           barometerConfig()->baro_hardware);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_BARO_HARDWARE, "%d",        barometerConfig()->baro_hardware);
 #endif
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_SOURCE, "%d",      positionConfig()->altitude_source);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_PREFER_BARO, "%d", positionConfig()->altitude_prefer_baro);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_LPF, "%d",         positionConfig()->altitude_lpf);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d",       positionConfig()->altitude_d_lpf);
 
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d",         autopilotConfig()->landing_altitude_m);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d",           autopilotConfig()->hover_throttle);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d",             autopilotConfig()->throttle_min);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MAX, "%d",             autopilotConfig()->throttle_max);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_P, "%d",               autopilotConfig()->altitude_P);
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_I, "%d",               autopilotConfig()->altitude_I);;
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D, "%d",               autopilotConfig()->altitude_D);;
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_F, "%d",               autopilotConfig()->altitude_F);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d",     autopilotConfig()->landing_altitude_m);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d",       autopilotConfig()->hover_throttle);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d",         autopilotConfig()->throttle_min);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MAX, "%d",         autopilotConfig()->throttle_max);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_P, "%d",           autopilotConfig()->altitude_P);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_I, "%d",           autopilotConfig()->altitude_I);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D, "%d",           autopilotConfig()->altitude_D);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_F, "%d",           autopilotConfig()->altitude_F);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_P, "%d",           autopilotConfig()->position_P);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_I, "%d",           autopilotConfig()->position_I);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_D, "%d",           autopilotConfig()->position_D);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_A, "%d",           autopilotConfig()->position_A);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_CUTOFF, "%d",      autopilotConfig()->position_cutoff);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d",         autopilotConfig()->max_angle);
 
 #ifdef USE_MAG
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MAG_HARDWARE, "%d",           compassConfig()->mag_hardware);
 #endif
+
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GYRO_CAL_ON_FIRST_ARM, "%d",  armingConfig()->gyro_cal_on_first_arm);
         BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d",       rxConfig()->airModeActivateThreshold);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_SERIAL_RX_PROVIDER, "%d",     rxConfig()->serialrx_provider);
@@ -1749,7 +1757,13 @@ static bool blackboxWriteSysinfo(void)
 #endif // USE_GPS
 
 #ifdef USE_ALT_HOLD_MODE
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_TARGET_ADJUST_RATE, "%d", altholdConfig()->alt_hold_target_adjust_rate);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", altHoldConfig()->alt_hold_deadband);
+#endif
+
+#ifdef USE_POS_HOLD_MODE
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", posHoldConfig()->pos_hold_deadband);
 #endif
 
 #ifdef USE_WING

src/main/build/debug.c

@@ -120,4 +120,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     [DEBUG_S_TERM] = "S_TERM",
     [DEBUG_SPA] = "SPA",
     [DEBUG_TASK] = "TASK",
+    [DEBUG_AUTOPILOT_POSITION] = "AUTOPILOT_POSITION",
 };

src/main/build/debug.h

@@ -122,6 +122,7 @@ typedef enum {
     DEBUG_S_TERM,
     DEBUG_SPA,
     DEBUG_TASK,
+    DEBUG_AUTOPILOT_POSITION,
     DEBUG_COUNT
 } debugType_e;
 

src/main/cli/cli.c

@@ -104,7 +104,6 @@ bool cliMode = false;
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
-#include "flight/autopilot.h"
 #include "flight/failsafe.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"

src/main/cli/settings.c

@@ -56,8 +56,6 @@
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 
-#include "flight/alt_hold.h"
-#include "flight/autopilot.h"
 #include "flight/failsafe.h"
 #include "flight/gps_rescue.h"
 #include "flight/imu.h"
@@ -80,6 +78,8 @@
 #include "osd/osd.h"
 
 #include "pg/adc.h"
+#include "pg/alt_hold.h"
+#include "pg/autopilot.h"
 #include "pg/beeper.h"
 #include "pg/beeper_dev.h"
 #include "pg/bus_i2c.h"
@@ -96,6 +96,7 @@
 #include "pg/pg_ids.h"
 #include "pg/pinio.h"
 #include "pg/piniobox.h"
+#include "pg/pos_hold.h"
 #include "pg/rx.h"
 #include "pg/rx_pwm.h"
 #include "pg/rx_spi.h"
@@ -1104,7 +1105,13 @@ const clivalue_t valueTable[] = {
     { "yaw_control_reversed",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
 
 #ifdef USE_ALT_HOLD_MODE
-    { PARAM_NAME_ALT_HOLD_TARGET_ADJUST_RATE,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altholdConfig_t, alt_hold_target_adjust_rate) },
+    { PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
+    { PARAM_NAME_ALT_HOLD_DEADBAND,          VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 },  PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
+#endif
+
+#ifdef USE_POS_HOLD_MODE
+    { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
+    { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
 #endif
 
 // PG_PID_CONFIG
@@ -1194,7 +1201,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_ANGLE_P_GAIN,          VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].P) },
     { PARAM_NAME_ANGLE_FEEDFORWARD,     VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].F) },
     { PARAM_NAME_ANGLE_FF_SMOOTHING_MS, VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, angle_feedforward_smoothing_ms) },
-    { PARAM_NAME_ANGLE_LIMIT,           VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 85 }, PG_PID_PROFILE, offsetof(pidProfile_t, angle_limit) },
+    { PARAM_NAME_ANGLE_LIMIT,           VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 80 }, PG_PID_PROFILE, offsetof(pidProfile_t, angle_limit) },
     { PARAM_NAME_ANGLE_EARTH_REF,       VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, angle_earth_ref) },
 
     { PARAM_NAME_HORIZON_LEVEL_STRENGTH, VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, pid[PID_LEVEL].I) },
@@ -1845,6 +1852,12 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_ALTITUDE_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitude_I) },
     { PARAM_NAME_ALTITUDE_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitude_D) },
     { PARAM_NAME_ALTITUDE_F,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, altitude_F) },
+    { PARAM_NAME_POSITION_P,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, position_P) },
+    { PARAM_NAME_POSITION_I,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, position_I) },
+    { PARAM_NAME_POSITION_D,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, position_D) },
+    { PARAM_NAME_POSITION_A,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, position_A) },
+    { PARAM_NAME_POSITION_CUTOFF,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 },    PG_AUTOPILOT, offsetof(autopilotConfig_t, position_cutoff) },
+    { PARAM_NAME_AP_MAX_ANGLE,        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 },     PG_AUTOPILOT, offsetof(autopilotConfig_t, max_angle) },
 
 // PG_MODE_ACTIVATION_CONFIG
 #if defined(USE_CUSTOM_BOX_NAMES)

src/main/common/axis.h

@@ -42,6 +42,4 @@ typedef enum {
     AI_PITCH
 } angle_index_t;
 
-#define ANGLE_INDEX_COUNT 2
-
 #define GET_DIRECTION(isReversed) ((isReversed) ? -1 : 1)

src/main/common/maths.c

@@ -49,14 +49,21 @@
 #define sinPolyCoef7 -1.980661520e-4f                                          // Double: -1.980661520135080504411629636078917643846e-4
 #define sinPolyCoef9  2.600054768e-6f                                          // Double:  2.600054767890361277123254766503271638682e-6
 #endif
+
 float sin_approx(float x)
 {
-    int32_t xint = x;
-    if (xint < -32 || xint > 32) return 0.0f;                               // Stop here on error input (5 * 360 Deg)
-    while (x >  M_PIf) x -= (2.0f * M_PIf);                                 // always wrap input angle to -PI..PI
-    while (x < -M_PIf) x += (2.0f * M_PIf);
-    if (x >  (0.5f * M_PIf)) x =  (0.5f * M_PIf) - (x - (0.5f * M_PIf));   // We just pick -90..+90 Degree
-    else if (x < -(0.5f * M_PIf)) x = -(0.5f * M_PIf) - ((0.5f * M_PIf) + x);
+    // Wrap angle to 2π with range [-π π]
+    x = fmodf(x, 2.0f * M_PIf);
+    if (x <= -M_PIf) x += 2.0f * M_PIf;
+    if (x > M_PIf) x -= 2.0f * M_PIf;
+
+    // Use axis symmetry around x = ±π/2 for polynomial outside of range [-π/2 π/2]
+    if (x > M_PIf / 2) {
+        x = M_PIf - x; // Reflect
+    } else if (x < -M_PIf / 2) {
+        x = -M_PIf - x; // Reflect
+    }
+
     float x2 = x * x;
     return x + x * x2 * (sinPolyCoef3 + x2 * (sinPolyCoef5 + x2 * (sinPolyCoef7 + x2 * sinPolyCoef9)));
 }

src/main/fc/core.c

@@ -62,6 +62,7 @@
 #include "flight/failsafe.h"
 #include "flight/gps_rescue.h"
 #include "flight/alt_hold.h"
+#include "flight/pos_hold.h"
 
 #if defined(USE_DYN_NOTCH_FILTER)
 #include "flight/dyn_notch_filter.h"
@@ -243,6 +244,7 @@ static bool accNeedsCalibration(void)
         if (isModeActivationConditionPresent(BOXANGLE) ||
             isModeActivationConditionPresent(BOXHORIZON) ||
             isModeActivationConditionPresent(BOXALTHOLD) ||
+            isModeActivationConditionPresent(BOXPOSHOLD) ||
             isModeActivationConditionPresent(BOXGPSRESCUE) ||
             isModeActivationConditionPresent(BOXCAMSTAB) ||
             isModeActivationConditionPresent(BOXCALIB) ||
@@ -319,6 +321,18 @@ void updateArmingStatus(void)
             unsetArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
         }
 
+        if (IS_RC_MODE_ACTIVE(BOXALTHOLD)) {
+            setArmingDisabled(ARMING_DISABLED_ALTHOLD);
+        } else {
+            unsetArmingDisabled(ARMING_DISABLED_ALTHOLD);
+        }
+
+        if (IS_RC_MODE_ACTIVE(BOXPOSHOLD)) {
+            setArmingDisabled(ARMING_DISABLED_POSHOLD);
+        } else {
+            unsetArmingDisabled(ARMING_DISABLED_POSHOLD);
+        }
+
         if (calculateThrottleStatus() != THROTTLE_LOW) {
             setArmingDisabled(ARMING_DISABLED_THROTTLE);
         } else {
@@ -611,7 +625,7 @@ void tryArm(void)
         //beep to indicate arming
         if (featureIsEnabled(FEATURE_GPS)) {
             GPS_reset_home_position();
-
+            canUseGPSHeading = false; // block use of GPS Heading in position hold after each arm, until quad can set IMU to GPS COG
             if (STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
                 beeper(BEEPER_ARMING_GPS_FIX);
             } else {
@@ -770,7 +784,6 @@ uint8_t calculateThrottlePercentAbs(void)
 }
 
 static bool throttleRaised = false;
-
 bool wasThrottleRaised(void)
 {
     return throttleRaised;
@@ -1007,6 +1020,9 @@ void processRxModes(timeUs_t currentTimeUs)
         || failsafeIsActive() 
 #ifdef USE_ALT_HOLD_MODE
         || FLIGHT_MODE(ALT_HOLD_MODE)
+#endif
+#ifdef USE_POS_HOLD_MODE
+        || FLIGHT_MODE(POS_HOLD_MODE)
 #endif
         ) && (sensors(SENSOR_ACC))) {
         // bumpless transfer to Level mode
@@ -1020,17 +1036,17 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 
 #ifdef USE_ALT_HOLD_MODE
-    // only if armed
+    // only if armed; can coexist with position hold
     if (ARMING_FLAG(ARMED) 
-        // and either the alt_hold switch is activated, or are in failsafe
-        && (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive())
-        // but not in GPS_RESCUE_MODE, ie if failsafe is active, must be in Landing Mode
+        // and not in GPS_RESCUE_MODE, to give it priority over Altitude Hold
         && !FLIGHT_MODE(GPS_RESCUE_MODE)
+        // and either the alt_hold switch is activated, or are in failsafe landing mode
+        && (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive())
         // and we have Acc for self-levelling
         && sensors(SENSOR_ACC)
         // and we have altitude data
         && isAltitudeAvailable()
-        // prevent activation until after takeoff
+        // but not until throttle is raised
         && wasThrottleRaised()) {
         if (!FLIGHT_MODE(ALT_HOLD_MODE)) {
             ENABLE_FLIGHT_MODE(ALT_HOLD_MODE);
@@ -1040,6 +1056,25 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 #endif
 
+#ifdef USE_POS_HOLD_MODE
+    // only if armed; can coexist with altitude hold
+    if (ARMING_FLAG(ARMED) 
+        // and not in GPS_RESCUE_MODE, to give it priority over Position Hold
+        && !FLIGHT_MODE(GPS_RESCUE_MODE)
+        // and either the alt_hold switch is activated, or are in failsafe landing mode
+        && (IS_RC_MODE_ACTIVE(BOXPOSHOLD) || failsafeIsActive())
+        // and we have Acc for self-levelling
+        && sensors(SENSOR_ACC)
+        // but not until throttle is raised
+        && wasThrottleRaised()) {
+        if (!FLIGHT_MODE(POS_HOLD_MODE)) {
+            ENABLE_FLIGHT_MODE(POS_HOLD_MODE);
+        }
+    } else {
+        DISABLE_FLIGHT_MODE(POS_HOLD_MODE);
+    }
+#endif
+
     if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode && sensors(SENSOR_ACC)) {
         DISABLE_FLIGHT_MODE(ANGLE_MODE);
         if (!FLIGHT_MODE(HORIZON_MODE)) {
@@ -1059,7 +1094,7 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 #endif
 
-    if (FLIGHT_MODE(ANGLE_MODE | ALT_HOLD_MODE | HORIZON_MODE)) {
+    if (FLIGHT_MODE(ANGLE_MODE | ALT_HOLD_MODE | POS_HOLD_MODE | HORIZON_MODE)) {
         LED1_ON;
         // increase frequency of attitude task to reduce drift when in angle or horizon mode
         rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(acc.sampleRateHz / (float)imuConfig()->imu_process_denom));

src/main/fc/init.c

@@ -103,6 +103,7 @@
 #include "flight/pid.h"
 #include "flight/pid_init.h"
 #include "flight/position.h"
+#include "flight/pos_hold.h"
 #include "flight/servos.h"
 
 #include "io/asyncfatfs/asyncfatfs.h"
@@ -1009,6 +1010,10 @@ void init(void)
     altHoldInit();
 #endif
 
+#ifdef USE_POS_HOLD_MODE
+    posHoldInit();
+#endif
+
 #ifdef USE_GPS_RESCUE
     if (featureIsEnabled(FEATURE_GPS)) {
         gpsRescueInit();

src/main/fc/parameter_names.h

@@ -168,6 +168,12 @@
 #define PARAM_NAME_ALTITUDE_I "autopilot_altitude_I"
 #define PARAM_NAME_ALTITUDE_D "autopilot_altitude_D"
 #define PARAM_NAME_ALTITUDE_F "autopilot_altitude_F"
+#define PARAM_NAME_POSITION_P "autopilot_position_P"
+#define PARAM_NAME_POSITION_I "autopilot_position_I"
+#define PARAM_NAME_POSITION_D "autopilot_position_D"
+#define PARAM_NAME_POSITION_A "autopilot_position_A"
+#define PARAM_NAME_POSITION_CUTOFF "autopilot_position_cutoff"
+#define PARAM_NAME_AP_MAX_ANGLE "autopilot_max_angle"
 
 #define PARAM_NAME_ANGLE_FEEDFORWARD "angle_feedforward"
 #define PARAM_NAME_ANGLE_FF_SMOOTHING_MS "angle_feedforward_smoothing_ms"
@@ -241,8 +247,14 @@
 #endif // USE_GPS
 
 #ifdef USE_ALT_HOLD_MODE
-#define PARAM_NAME_ALT_HOLD_TARGET_ADJUST_RATE "alt_hold_target_adjust_rate"
-#endif // USE_ALT_HOLD_MODE
+#define PARAM_NAME_ALT_HOLD_DEADBAND "alt_hold_deadband"
+#define PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE "alt_hold_throttle_response"
+#endif
+
+#ifdef USE_POS_HOLD_MODE
+#define PARAM_NAME_POS_HOLD_WITHOUT_MAG "pos_hold_without_mag"
+#define PARAM_NAME_POS_HOLD_DEADBAND "pos_hold_deadband"
+#endif
 
 #define PARAM_NAME_IMU_DCM_KP "imu_dcm_kp"
 #define PARAM_NAME_IMU_DCM_KI "imu_dcm_ki"