<long_desc>0 disables the trigger, 1 sets it to enabled on command, 2 time based and always on, 3 distance based and always on, 4 distance based and started / stopped via mission or command.</long_desc>
<min>0</min>
<max>4</max>
<reboot_required>true</reboot_required>
<scope>drivers/camera_trigger</scope>
<values>
<valuecode="1">On invididual commands</value>
<valuecode="1">On individual commands</value>
<valuecode="0">Disable</value>
<valuecode="3">Distance based, always on</value>
<valuecode="2">Time based, always on</value>
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@@ -530,8 +528,9 @@ velocity</short_desc>
<long_desc>Engine failure triggers only above this throttle value</long_desc>
<short_desc>Time-out for auto disarm after landing</short_desc>
<long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled.</long_desc>
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@@ -630,7 +636,10 @@ velocity</short_desc>
<short_desc>Comms hold wait time</short_desc>
<long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
<short_desc>Integer bitmask controlling which external aiding sources will be used</short_desc>
<long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available</long_desc>
<short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
<long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation</long_desc>
<short_desc>Time constant of the velocity output prediction and smoothing filter. Controls how tightly the velocity output tracks the EKF states. Set to a negative number to disable the EKF velocity state tracking. This will cause the output velocity to track the output position time derivative</short_desc>
<long_desc>An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.</long_desc>
<long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach.</long_desc>
<short_desc>Min. airspeed scaling factor for landing</short_desc>
<long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC</long_desc>
<long_desc>This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.</long_desc>
<long_desc>This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</long_desc>
<long_desc>This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.</long_desc>
<long_desc>This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</long_desc>
<short_desc>TECS Throttle time constant</short_desc>
<long_desc>This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.</long_desc>
<long_desc>This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot.</long_desc>
<long_desc>This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</long_desc>
<short_desc>Complementary filter "omega" parameter for height</short_desc>
<long_desc>This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
<short_desc>Complementary filter "omega" parameter for speed</short_desc>
<long_desc>This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
<long_desc>This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
<long_desc>Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.</long_desc>
@@ -1657,24 +1849,99 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).</long_desc>
<long_desc>This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.</long_desc>
<short_desc>Dump GPS communication to a file</short_desc>
<long_desc>If this is set to 1, all GPS communication data will be written to a file. Two files will be created, for reading and writing. All communication from startup until device disarm will be dumped.</long_desc>
<min>0</min>
<max>1</max>
<scope>drivers/gps</scope>
<values>
<valuecode="1">Enable</value>
<valuecode="0">Disable</value>
</values>
</parameter>
</group>
<groupname="GPS Failure Navigation">
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@@ -1682,7 +1949,10 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<short_desc>Loiter time</short_desc>
<long_desc>The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.</long_desc>
<long_desc>Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate</long_desc>
<short_desc>Maximum pitch before the throttle is powered up (during motor delay phase)</short_desc>
<long_desc>This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).</long_desc>
<long_desc>When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults.</long_desc>
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@@ -2180,13 +2474,48 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
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@@ -3147,7 +3516,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</long_desc>
<long_desc>A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).</long_desc>
<long_desc>A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming).</long_desc>
<long_desc>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</long_desc>
<short_desc>Enable TELEM2 as companion computer link</short_desc>
<long_desc>CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface. Set to zero to disable, set to these values to enable (NO OTHER VALUES SUPPORTED!).</long_desc>
<short_desc>TELEM2 as companion computer link</short_desc>
<long_desc>CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface.</long_desc>
<min>0</min>
<max>1921600</max>
<reboot_required>true</reboot_required>
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@@ -5932,11 +6368,76 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>Allowed values: 0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.</long_desc>
<short_desc>UAVCAN mode</short_desc>
<long_desc>0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update.</long_desc>
<min>0</min>
<max>3</max>
<scope>modules/uavcan</scope>
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@@ -6177,12 +6678,7 @@ to accelerate forward if necessary</short_desc>
