From 313b372c70c91335a92a4742a0bb13d8fbbebf04 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 Jun 2017 15:08:40 +0200 Subject: [PATCH] Update PX4 airframe and parameter meta data from master --- .../PX4/AirframeFactMetaData.xml | 298 ++-- .../PX4/PX4ParameterFactMetaData.xml | 1395 +++++++++-------- 2 files changed, 910 insertions(+), 783 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index 73762647a..ab7acd0a2 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -18,45 +18,45 @@ Simon Wilks <simon@px4.io> Flying Wing https://pixhawk.org/platforms/planes/bormatec_camflyer_q - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel left aileron right aileron throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Simon Wilks <simon@px4.io> Flying Wing https://pixhawk.org/platforms/planes/z-84_wing_wing - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel left aileron right aileron throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io> Flying Wing https://pixhawk.org/platforms/planes/skywalker_x5 - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel left aileron right aileron throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> Flying Wing https://pixhawk.org/platforms/planes/z-84_wing_wing - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel left aileron right aileron throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Simon Wilks <simon@px4.io> @@ -70,12 +70,12 @@ Simon Wilks <simon@px4.io> Flying Wing http://www.sparkletech.hk/ - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel left aileron right aileron throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> @@ -97,30 +97,42 @@ Anton Babushkin <anton@px4.io> Hexarotor + + motor1 + motor2 + motor3 + motor4 + motor5 + motor6 feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Lorenz Meier <lorenz@px4.io> Hexarotor Coaxial - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel front right top, CW front right bottom, CCW back top, CW back bottom, CCW front left top, CW front left bottom, CCW + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Anton Babushkin <anton@px4.io> Hexarotor x + motor 1 + motor 2 + motor 3 + motor 4 + motor 5 + motor 6 feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -130,12 +142,28 @@ Simon Wilks <simon@uaventure.com> Octo Coax Wide + motor 1 + motor 2 + motor 3 + motor 4 + motor 5 + motor 6 + motor 7 + motor 8 Anton Babushkin <anton@px4.io> Octorotor + + motor 1 + motor 2 + motor 3 + motor 4 + motor 5 + motor 6 + motor 7 + motor 8 feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -145,12 +173,28 @@ Lorenz Meier <lorenz@px4.io> Octorotor Coaxial + motor 1 + motor 2 + motor 3 + motor 4 + motor 5 + motor 6 + motor 7 + motor 8 Anton Babushkin <anton@px4.io> Octorotor x + motor 1 + motor 2 + motor 3 + motor 4 + motor 5 + motor 6 + motor 7 + motor 8 feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -160,9 +204,6 @@ Andreas Antener <andreas@uaventure.com> Plane A-Tail - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron right aileron left v-tail right @@ -171,30 +212,81 @@ wheel flaps right flaps left + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Anton Babushkin <anton@px4.io> Quadrotor + + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> Quadrotor Wide + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel Anton Babushkin <anton@px4.io> Quadrotor Wide + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel Thomas Gubler <thomas@px4.io> Quadrotor Wide + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel Simon Wilks <simon@px4.io> Quadrotor Wide + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel @@ -221,46 +313,46 @@ Lorenz Meier <lorenz@px4.io> Quadrotor x + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - - - James Goppert <james.goppert@gmail.com> - Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel + feed-through of RC FLAPS channel Leon Mueller <thedevleon> Quadrotor x + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + Mount pitch + Mount roll + Mount yaw + Mount retract + + + James Goppert <james.goppert@gmail.com> + Quadrotor x Mark Whitehorn <kd0aij@gmail.com> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - feed-through of RC FLAPS channel - motor1 (front right: CCW) - motor2 (back left: CCW) - motor3 (front left: CW) - motor4 (back right: CW) Lorenz Meier <lorenz@px4.io> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel Pavel Kirienko <pavel@px4.io> @@ -273,32 +365,34 @@ Mark Whitehorn <kd0aij@gmail.com> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - feed-through of RC FLAPS channel - motor1 (front right: CCW) - motor2 (back left: CCW) - motor3 (front left: CW) - motor4 (back right: CW) James Goppert <james.goppert@gmail.com> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel Anton Matosov <anton.matosov@gmail.com> Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel Rover + pass-through of control group 0, channel 0 + pass-through of control group 0, channel 1 + pass-through of control group 0, channel 2 + pass-through of control group 0, channel 3 + pass-through of control group 0, channel 4 + pass-through of control group 0, channel 5 + pass-through of control group 0, channel 6 + pass-through of control group 0, channel 7 + + + Marco Zorzi + Rover + https://traxxas.com/products/models/electric/stampede-vxl-tsm + steering + throttle @@ -323,59 +417,60 @@ Lorenz Meier <lorenz@px4.io> Standard Plane + aileron + elevator + rudder + throttle Lorenz Meier <lorenz@px4.io> Standard Plane - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron elevator rudder throttle flaps + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> Standard Plane - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron elevator throttle rudder flaps + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> Standard Plane - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron elevator throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Lorenz Meier <lorenz@px4.io> Standard Plane - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron elevator throttle rudder flaps + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Andreas Antener <andreas@uaventure.com> Standard Plane - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel aileron aileron elevator @@ -383,32 +478,35 @@ throttle wheel flaps + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Simon Wilks <simon@uaventure.com> Standard VTOL + motor 1 + motor 2 + motor 3 + motor 4 Aileron 1 Aileron 2 Elevator Rudder Throttle - Front right motor: CCW - Back left motor: CCW - Front left motor: CW - Back right motor: CW Simon Wilks <simon@uaventure.com> Standard VTOL + motor 1 + motor 2 + motor 3 + motor 4 Right elevon Left elevon Motor - Front right motor: CCW - Back left motor: CCW - Front left motor: CW - Back right motor: CW Sander Smeets <sander@droneslab.com> @@ -422,38 +520,46 @@ Andreas Antener <andreas@uaventure.com> Standard VTOL - + Sander Smeets <sander@droneslab.com> Standard VTOL + motor 1 + motor 2 + motor 3 + motor 4 Right elevon Left elevon Motor - Front right motor: CCW - Back left motor: CCW - Front left motor: CW - Back right motor: CW Trent Lukaczyk <aerialhedgehog@gmail.com> Tricopter Y+ + motor 1 + motor 2 + motor 3 + yaw servo Trent Lukaczyk <aerialhedgehog@gmail.com> Tricopter Y- + motor 1 + motor 2 + motor 3 + yaw servo Roman Bapst <roman@px4.io> VTOL Duo Tailsitter - motor left - motor right - elevon left - elevon right + motor right + motor left + elevon right + elevon left @@ -464,22 +570,30 @@ Roman Bapst <roman@px4.io> VTOL Quad Tailsitter + motor 1 + motor 2 + motor 4 + motor 5 + elevon left + elevon right + canard surface + rudder Roman Bapst <roman@uaventure.com> VTOL Tiltrotor - Tilt servo - Elevon 1 - Elevon 2 - Gear Front right motor bottom Front right motor top Back motor bottom Back motor top Front left motor bottom Front left motor top + Tilt servo + Elevon 1 + Elevon 2 + Gear Samay Siga <samay_s@icloud.com> diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index d13163e97..753da16bc 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -361,8 +361,21 @@ velocity modules/systemlib + + + Camera feedback mode + Sets the camera feedback mode. + 0 + 1 + modules/camera_feedback + + Feedback on trigger + Disabled + + + - + Camera trigger Interface Selects the trigger interface true @@ -370,7 +383,8 @@ velocity GPIO MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE) - Seagull MAP2 (PWM) + Seagull MAP2 (over PWM) + Generic PWM (IR trigger, servo) @@ -393,7 +407,7 @@ velocity Active low - + Camera trigger activation time This parameter sets the time the trigger needs to pulled high or low. 0.1 @@ -409,11 +423,11 @@ velocity true drivers/camera_trigger - On individual commands + Time based, on command Disable Distance based, always on Time based, always on - Distance, mission controlled + Distance based, on command (Survey mode) @@ -508,6 +522,14 @@ velocity true modules/systemlib + + Circuit breaker for position error check + Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 201607 + true + modules/systemlib + @@ -622,13 +644,8 @@ velocity Allow arming without GPS The default allows to arm the vehicle without GPS signal. - 0 - 1 + modules/commander - - Allow arming without GPS - Don't allow arming without GPS - Arm switch is only a button @@ -650,7 +667,7 @@ velocity Return to land Warning - RTL, land immediately if battery too low + Return to land at critically low level, land at current position if reaching dangerously low levels Land at current position @@ -726,15 +743,26 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 0.05 modules/commander - + Maximum rate gyro inconsistency between IMU units that will allow arming 0.02 - 0.2 + 0.3 rad/s 3 0.01 modules/commander + + Enable RC stick override of auto modes + + modules/commander + + + Require valid mission to arm + The default allows to arm the vehicle without a valid mission. + + modules/commander + @@ -847,7 +875,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will 1 modules/ekf2 - + GPS measurement delay relative to IMU measurements 0 300 @@ -872,7 +900,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 modules/ekf2 - + Airspeed measurement delay relative to IMU measurements 0 300 @@ -1113,7 +1141,7 @@ Assumes measurement is timestamped at trailing edge of integration period Type of magnetometer fusion - Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight + Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable. modules/ekf2 Magnetic heading @@ -1122,6 +1150,24 @@ Assumes measurement is timestamped at trailing edge of integration period3-axis fusion + + Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. +This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion + 0.0 + 5.0 + m/s**2 + 2 + modules/ekf2 + + + Yaw rate threshold used by automatic selection of magnetometer fusion method. +This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion + 0.0 + 0.5 + rad/s + 2 + modules/ekf2 + Gate size for barometric height fusion 1.0 @@ -1430,6 +1476,52 @@ value will determine the minimum airspeed which will still be fused 3 modules/ekf2 + + Learned value of magnetometer X axis bias. +This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + modules/ekf2 + + + Learned value of magnetometer Y axis bias. +This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + modules/ekf2 + + + Learned value of magnetometer Z axis bias. +This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + modules/ekf2 + + + ID of Magnetometer the learned bias is for + modules/ekf2 + + + State variance assumed for magnetometer bias storage. +This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster + mGauss**2 + 8 + modules/ekf2 + + + Maximum fraction of learned mag bias saved at each disarm. +Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0 + 0.0 + 1.0 + 2 + modules/ekf2 + @@ -1829,6 +1921,16 @@ value will determine the minimum airspeed which will still be fused 0.01 modules/fw_att_control + + Attitude Wheel Time Constant + This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.4 + 1.0 + s + 2 + 0.05 + modules/gnd_att_control + @@ -2029,6 +2131,52 @@ value will determine the minimum airspeed which will still be fused modules/fw_pos_control_l1 + + + Launch detection + + lib/launchdetection + + + Catapult accelerometer threshold + LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. + 0 + m/s/s + 1 + 0.5 + lib/launchdetection + + + Catapult time threshold + LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. + 0.0 + 5.0 + s + 2 + 0.05 + lib/launchdetection + + + Motor delay + 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 + 0.0 + 10.0 + s + 1 + 0.5 + lib/launchdetection + + + Maximum pitch before the throttle is powered up (during motor delay phase) + 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). + 0.0 + 45.0 + deg + 1 + 0.5 + lib/launchdetection + + Cruise Airspeed @@ -2209,6 +2357,24 @@ value will determine the minimum airspeed which will still be fused 0.01 modules/fw_pos_control_l1 + + Trim ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + @@ -2244,111 +2410,327 @@ but also ignore less noise modules/navigator - - - Dump GPS communication to a file - If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. - 0 - 1 - drivers/gps - - Enable - Disable - + + + Wheel steering rate proportional gain + This defines how much the wheel steering input will be commanded depending on the current body angular rate error. + 0.005 + 1.0 + %/rad/s + 3 + 0.005 + modules/gnd_att_control - - - - Loiter time - The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination. + + Wheel steering rate integrator gain + This gain defines how much control response will result out of a steady state error. It trims any constant error. + 0.00 + 0.5 + %/rad + 3 + 0.005 + modules/gnd_att_control + + + Wheel steering rate integrator gain + 0.00 + 30 + %/rad + 3 + 0.005 + modules/gnd_att_control + + + Wheel steering rate integrator limit + The portion of the integrator part in the control surface deflection is limited to this value 0.0 - 3600.0 - s - 0 - 1 - modules/navigator + 1.0 + 2 + 0.05 + modules/gnd_att_control - - Open loop loiter roll - Roll in degrees during the open loop loiter + + Maximum wheel steering rate + This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 - 30.0 - deg + 90.0 + deg/s 1 0.5 - modules/navigator + modules/gnd_att_control - - Open loop loiter pitch - Pitch in degrees during the open loop loiter - -30.0 - 30.0 - deg - 1 - 0.5 - modules/navigator + + Wheel steering rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 + %/rad/s + 2 + 0.05 + modules/gnd_att_control - - Open loop loiter thrust - Thrust value which is set during the open loop loiter + + Manual yaw scale + Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 - 1.0 norm 2 - 0.05 - modules/navigator + 0.01 + modules/gnd_att_control - - - - Geofence violation action - Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system. - 0 - 4 - modules/navigator - - Warning - None - Return to Land - Loiter - Flight terminate - + + Groundspeed speed trim + This allows to scale the turning radius depending on the speed. + 0.0 + norm + 2 + 0.1 + modules/gnd_att_control - - Geofence altitude mode - Select which altitude reference should be used 0 = WGS84, 1 = AMSL - 0 - 1 - modules/navigator - - AMSL - WGS84 - + + Whether to scale throttle by battery power level + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + modules/gnd_att_control - - Geofence source - Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS + + Control mode for speed + This allows the user to choose between closed loop gps speed or open loop cruise throttle speed 0 1 - modules/navigator + modules/gnd_pos_control - GPS - GPOS + close the loop with gps speed + open loop control - - Geofence counter limit - Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered - -1 - 10 - 1 - modules/navigator + + Speed proportional gain + This is the proportional gain for the speed closed loop controller + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control - - Max horizontal distance in meters - Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. - 0 - 10000 + + Speed Integral gain + This is the integral gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed proportional gain + This is the derivative gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed integral maximum value + This is the maxim value the integral can reach to prevent wind-up. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed to throttle scaler + This is a gain to map the speed control output to the throttle linearly. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + + + L1 distance + This is the waypoint radius + 0.0 + 100.0 + m + 1 + 0.1 + modules/gnd_pos_control + + + L1 period + This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation. + 0.0 + 50.0 + m + 1 + 0.5 + modules/gnd_pos_control + + + L1 damping + Damping factor for L1 control. + 0.6 + 0.9 + 2 + 0.05 + modules/gnd_pos_control + + + Cruise throttle + This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode + 0.0 + 1.0 + norm + 2 + 0.01 + modules/gnd_pos_control + + + Throttle limit max + This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough + 0.0 + 1.0 + norm + 2 + 0.01 + modules/gnd_pos_control + + + Throttle limit min + This is the minimum throttle % that can be used by the controller. Set to 0 for rover + 0.0 + 1.0 + norm + 2 + 0.01 + modules/gnd_pos_control + + + Idle throttle + This is the minimum throttle while on the ground, it should be 0 for a rover + 0.0 + 0.4 + norm + 2 + 0.01 + modules/gnd_pos_control + + + + + Dump GPS communication to a file + If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. + 0 + 1 + drivers/gps + + Enable + Disable + + + + + + Loiter time + The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination. + 0.0 + 3600.0 + s + 0 + 1 + modules/navigator + + + Open loop loiter roll + Roll in degrees during the open loop loiter + 0.0 + 30.0 + deg + 1 + 0.5 + modules/navigator + + + Open loop loiter pitch + Pitch in degrees during the open loop loiter + -30.0 + 30.0 + deg + 1 + 0.5 + modules/navigator + + + Open loop loiter thrust + Thrust value which is set during the open loop loiter + 0.0 + 1.0 + norm + 2 + 0.05 + modules/navigator + + + + + Geofence violation action + Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system. + 0 + 4 + modules/navigator + + Warning + None + Return to Land + Loiter + Flight terminate + + + + Geofence altitude mode + Select which altitude reference should be used 0 = WGS84, 1 = AMSL + 0 + 1 + modules/navigator + + AMSL + WGS84 + + + + Geofence source + Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS + 0 + 1 + modules/navigator + + GPS + GPOS + + + + Geofence counter limit + Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered + -1 + 10 + 1 + modules/navigator + + + Max horizontal distance in meters + Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. + 0 + 10000 m 1 modules/navigator @@ -2486,61 +2868,16 @@ but also ignore less noise 0 modules/land_detector - - Maximum altitude that can be reached prior to subconditions - 10 - 150 + + Maximum altitude for multicopters + The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. + 1.5 + 10000 m 2 modules/land_detector - - - Launch detection - - lib/launchdetection - - - Catapult accelerometer threshold - LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. - 0 - m/s/s - 1 - 0.5 - lib/launchdetection - - - Catapult time threshold - LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. - 0.0 - 5.0 - s - 2 - 0.05 - lib/launchdetection - - - Motor delay - 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 - 0.0 - 10.0 - s - 1 - 0.5 - lib/launchdetection - - - Maximum pitch before the throttle is powered up (during motor delay phase) - 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). - 0.0 - 45.0 - deg - 1 - 0.5 - lib/launchdetection - - Optical flow z offset from center @@ -2951,9 +3288,19 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat Position control Return to Land Manual + Loiter Land at current position + + Position control navigation loss response + This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. + modules/commander + + Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. + Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. + + Take-off altitude This is the minimum altitude the system will take off to. @@ -2964,10 +3311,10 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 0.5 modules/navigator - + Minimum Loiter altitude - This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. - 0 + This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude + -1 80 m 1 @@ -2982,7 +3329,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat Maximal horizontal distance from home to first waypoint - Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the current position. + Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position. 0 1000 m @@ -3123,19 +3470,21 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - + Mount input mode RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount - 0 + -1 3 + true drivers/vmount RC - DISABLE + AUTO MAVLINK_DO_MOUNT MAVLINK_ROI + DISABLED @@ -3175,12 +3524,6 @@ if required for the gimbal (only in AUX output mode) 3 drivers/vmount - - This enables the mount to be manually controlled when no ROI is set - If set to 1, the mount will be controlled by the AUX channels below when no ROI is set. - - drivers/vmount - Auxiliary channel to control roll (in AUX input or manual mode) 0 @@ -3399,7 +3742,7 @@ if required for the gimbal (only in AUX output mode) Yaw feed forward - Feed forward weight for manual yaw control. 0 will give slow response and no overshot, 1 - fast response and big overshot. + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 2 @@ -3642,7 +3985,7 @@ if required for the gimbal (only in AUX output mode) Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow response and no overshot, 1 - fast response and big overshot. + 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. 0.0 1.0 2 @@ -3718,7 +4061,7 @@ if required for the gimbal (only in AUX output mode) Horizontal velocity feed forward - Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow response and no overshot, 1 - fast response and big overshot. + Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 2 @@ -3757,16 +4100,8 @@ if required for the gimbal (only in AUX output mode) 2 modules/mc_pos_control - - Max manual roll - 0.0 - 90.0 - deg - 1 - modules/mc_pos_control - - - Max manual pitch + + Maximal tilt angle in manual or altitude mode 0.0 90.0 deg @@ -3892,6 +4227,13 @@ if required for the gimbal (only in AUX output mode) 1 modules/mc_pos_control + + Position control smooth takeoff ramp time constant + Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. + 0.1 + 1 + modules/mc_pos_control + @@ -3984,140 +4326,14 @@ if required for the gimbal (only in AUX output mode) 2 drivers/px4fmu - - Invert direction of main output channel 1 - Set to 1 to invert the channel, 0 for default direction. - + + Set the PWM output frequency for the main outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. + -1 + 2000 + Hz true - drivers/px4io - - - Invert direction of main output channel 2 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 3 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 4 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 5 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 6 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 7 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 8 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Trim value for main output channel 1 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 2 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 3 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 4 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 5 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 6 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 7 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 8 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - S.BUS out - Set to 1 to enable S.BUS version 1 output instead of RSSI. - - drivers/px4io - - - Set the PWM output frequency for the main outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for industry default or 1000 for high frequency ESCs. - -1 - 2000 - Hz - true - modules/sensors + modules/sensors Set the minimum PWM for the main outputs @@ -6391,42 +6607,6 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL - - UTC offset (unit: min) - 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 - -1000 - 1000 - min - modules/logger - - - Logging Mode - Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). - 0 - 3 - true - modules/logger - - from boot until disarm - when armed until disarm (default) - from boot until shutdown - IMU and Baro data only (used for thermal calibration) - from boot until shutdown - - - - Maximum number of log directories to keep - If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. - 0 - 1000 - true - modules/logger - - - Log UUID - If set to 1, add an ID to the log, which uniquely identifies the vehicle - - modules/logger - Logging rate 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). @@ -6467,6 +6647,42 @@ This is used for gathering replay logs for the ekf2 module Medium priority + + UTC offset (unit: min) + 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 + -1000 + 1000 + min + modules/logger + + + Logging Mode + Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). + 0 + 3 + true + modules/logger + + from boot until disarm + when armed until disarm (default) + from boot until shutdown - IMU and Baro data only (used for thermal calibration) + from boot until shutdown + + + + Maximum number of log directories to keep + If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. + 0 + 1000 + true + modules/logger + + + Log UUID + If set to 1, add an ID to the log, which uniquely identifies the vehicle + + modules/logger + @@ -6522,6 +6738,7 @@ This is used for gathering replay logs for the ekf2 module An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 + true modules/sensors Pitch 90° @@ -6660,6 +6877,7 @@ This is used for gathering replay logs for the ekf2 module An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 + true modules/sensors Pitch 90° @@ -6798,6 +7016,7 @@ This is used for gathering replay logs for the ekf2 module An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 + true modules/sensors Pitch 90° @@ -6887,6 +7106,77 @@ This is used for gathering replay logs for the ekf2 module Accelerometer Z-axis scaling factor modules/sensors + + ID of Magnetometer the calibration is for + modules/sensors + + + Rotation of magnetometer 2 relative to airframe + An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + -1 + 30 + true + modules/sensors + + Pitch 90° + Pitch 270° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Yaw 45° + No rotation + Yaw 135° + Yaw 90° + Yaw 225° + Yaw 180° + Yaw 315° + Yaw 270° + Roll 180°, Yaw 45° + Roll 180° + Roll 180°, Yaw 135° + Roll 180°, Yaw 90° + Roll 180°, Yaw 225° + Pitch 180° + Roll 180°, Yaw 315° + Roll 180°, Yaw 270° + Roll 90°, Yaw 45° + Roll 90° + Roll 90°, Yaw 135° + Roll 90°, Yaw 90° + Internal mag + + + + Magnetometer X-axis offset + -500.0 + 500.0 + modules/sensors + + + Magnetometer Y-axis offset + -500.0 + 500.0 + modules/sensors + + + Magnetometer Z-axis offset + -500.0 + 500.0 + modules/sensors + + + Magnetometer X-axis scaling factor + modules/sensors + + + Magnetometer Y-axis scaling factor + modules/sensors + + + Magnetometer Z-axis scaling factor + modules/sensors + Primary accel ID modules/sensors @@ -6935,6 +7225,7 @@ This is used for gathering replay logs for the ekf2 module Board rotation This parameter defines the rotation of the FMU board relative to the platform. + true modules/sensors Pitch 90° @@ -6999,38 +7290,6 @@ This is used for gathering replay logs for the ekf2 module deg modules/sensors - - External magnetometer rotation - modules/sensors - - Pitch 90° - Pitch 270° - Roll 270° - Roll 270°, Yaw 45° - Roll 270°, Yaw 90° - Roll 270°, Yaw 135° - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - Roll 180°, Yaw 45° - Roll 180° - Roll 180°, Yaw 135° - Roll 180°, Yaw 90° - Roll 180°, Yaw 225° - Pitch 180° - Roll 180°, Yaw 315° - Roll 180°, Yaw 270° - Roll 90°, Yaw 45° - Roll 90° - Roll 90°, Yaw 135° - Roll 90°, Yaw 90° - - Select primary magnetometer 0 @@ -7052,10 +7311,16 @@ This is used for gathering replay logs for the ekf2 module - Lidar-Lite (LL40LS) PWM - + Lidar-Lite (LL40LS) + 0 + 2 true modules/sensors + + PWM + Disabled + I2C + Lightware laser rangefinder (serial) @@ -7803,15 +8068,15 @@ This is used for gathering replay logs for the ekf2 module 0 modules/systemlib - + SD logger 0 1 true modules/systemlib - new logger - sdlog2 (default) + logger (default) + sdlog2 (legacy) @@ -7863,51 +8128,67 @@ This is used for gathering replay logs for the ekf2 module TEST_MIN - modules/controllib_test + lib/controllib/controllib_test TEST_MAX - modules/controllib_test + lib/controllib/controllib_test TEST_TRIM - modules/controllib_test + lib/controllib/controllib_test TEST_HP - modules/controllib_test + lib/controllib/controllib_test TEST_LP - modules/controllib_test + lib/controllib/controllib_test TEST_P - modules/controllib_test + lib/controllib/controllib_test TEST_I - modules/controllib_test + lib/controllib/controllib_test TEST_I_MAX - modules/controllib_test + lib/controllib/controllib_test TEST_D - modules/controllib_test + lib/controllib/controllib_test TEST_D_LP - modules/controllib_test + lib/controllib/controllib_test TEST_MEAN - modules/controllib_test + lib/controllib/controllib_test TEST_DEV - modules/controllib_test + lib/controllib/controllib_test + + + TEST_1 + systemcmds/tests + + + TEST_2 + systemcmds/tests + + + TEST_RC_X + systemcmds/tests + + + TEST_RC2_X + systemcmds/tests TEST_PARAMS @@ -7920,11 +8201,12 @@ This is used for gathering replay logs for the ekf2 module 0 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full 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. 0 3 + true modules/uavcan Disabled Sensors and Motors - Sensors Enabled + Only Sensors @@ -7932,6 +8214,7 @@ This is used for gathering replay logs for the ekf2 module Read the specs at http://uavcan.org to learn more about Node ID. 1 125 + true modules/uavcan @@ -7939,6 +8222,7 @@ This is used for gathering replay logs for the ekf2 module 20000 1000000 bit/s + true modules/uavcan @@ -7949,6 +8233,29 @@ This is used for gathering replay logs for the ekf2 module + + Target throttle value for pusher/puller motor during the transition to fw mode + 0.0 + 1.0 + 3 + 0.01 + modules/vtol_att_control + + + Maximum allowed down-pitch the controller is able to demand. This prevents large, negative +lift values being created when facing strong winds. The vehicle will use the pusher motor +to accelerate forward if necessary + 0.0 + 45.0 + modules/vtol_att_control + + + Fixed wing thrust scale for hover forward flight + Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. + 0.0 + 2.0 + modules/vtol_att_control + Position of tilt servo in mc mode 0.0 @@ -8217,284 +8524,6 @@ This is used for gathering replay logs for the ekf2 module seconds modules/vtol_att_control - - Target throttle value for pusher/puller motor during the transition to fw mode - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - - - Maximum allowed down-pitch the controller is able to demand. This prevents large, negative -lift values being created when facing strong winds. The vehicle will use the pusher motor -to accelerate forward if necessary - 0.0 - 45.0 - modules/vtol_att_control - - - Fixed wing thrust scale for hover forward flight - Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. - 0.0 - 2.0 - modules/vtol_att_control - - - - - mTECS enabled - - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control Feedforward -Maps the total energy rate setpoint to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control P -Maps the total energy rate error to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control I -Maps the integrated total energy rate to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control Offset (Cruise throttle sp) - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control Feedforward -Maps the energy distribution rate setpoint to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control P -Maps the energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control I -Maps the integrated energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Distribution Offset (Cruise pitch sp) - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Minimal Throttle Setpoint - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal Throttle Setpoint - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for altitude - Hz - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for the flight path angle - Hz - modules/fw_pos_control_l1/mtecs - - - P gain for the altitude control -Maps the altitude error to the flight path angle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - D gain for the altitude control -Maps the change of altitude error to the flight path angle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Lowpass for FPA error derivative calculation (see MT_FPA_D) - modules/fw_pos_control_l1/mtecs - - - Minimal flight path angle setpoint - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal flight path angle setpoint - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for airspeed - modules/fw_pos_control_l1/mtecs - - - Airspeed derivative calculation lowpass - modules/fw_pos_control_l1/mtecs - - - P gain for the airspeed control -Maps the airspeed error to the acceleration setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - D gain for the airspeed control -Maps the change of airspeed error to the acceleration setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Lowpass for ACC error derivative calculation (see MT_ACC_D) - modules/fw_pos_control_l1/mtecs - - - Minimal acceleration (air) - m/s/s - modules/fw_pos_control_l1/mtecs - - - Maximal acceleration (air) - m/s/s - modules/fw_pos_control_l1/mtecs - - - Minimal throttle during takeoff - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle during takeoff - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch during takeoff - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch during takeoff - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Minimal throttle in underspeed mode - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle in underspeed mode - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch in underspeed mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch in underspeed mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Minimal throttle in landing mode (only last phase of landing) - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle in landing mode (only last phase of landing) - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch in landing mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch in landing mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Integrator Limit for Total Energy Rate Control - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Integrator Limit for Energy Distribution Rate Control - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - @@ -8659,22 +8688,6 @@ Maps the change of airspeed error to the acceleration setpoint RV_YAW_P examples/rover_steering_control - - SEG_TH2V_P - examples/segway - - - SEG_TH2V_I - examples/segway - - - SEG_TH2V_I_MAX - examples/segway - - - SEG_Q2V - examples/segway - EXFW_HDNG_P examples/fixedwing_control -- 2.22.0