<short_desc>Circuit breaker for position error check</short_desc>
<long_desc>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</long_desc>
<short_desc>Type of magnetometer fusion</short_desc>
<long_desc>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</long_desc>
<long_desc>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.</long_desc>
<scope>modules/ekf2</scope>
<values>
<valuecode="1">Magnetic heading</value>
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@@ -1122,6 +1150,24 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>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</short_desc>
<short_desc>Attitude Wheel Time Constant</short_desc>
<long_desc>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.</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>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>This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
<long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<long_desc>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.</long_desc>
<short_desc>Whether to scale throttle by battery power level</short_desc>
<long_desc>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.</long_desc>
<long_desc>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</long_desc>
<long_desc>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.</long_desc>
<long_desc>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</long_desc>
<long_desc>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</long_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>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.</long_desc>
<long_desc>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</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>
<short_desc>Position control navigation loss response</short_desc>
<long_desc>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.</long_desc>
<scope>modules/commander</scope>
<values>
<valuecode="1">Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION.</value>
<valuecode="0">Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL.</value>
<long_desc>This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.</long_desc>
<min>0</min>
<long_desc>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</long_desc>
<min>-1</min>
<max>80</max>
<unit>m</unit>
<decimal>1</decimal>
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@@ -2982,7 +3329,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<short_desc>Maximal horizontal distance from home to first waypoint</short_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<min>0</min>
<max>1000</max>
<unit>m</unit>
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@@ -3123,19 +3470,21 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<long_desc>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.</long_desc>
<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>
<min>0.0</min>
<max>1.0</max>
<decimal>2</decimal>
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@@ -3718,7 +4061,7 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<min>0.0</min>
<max>1.0</max>
<decimal>2</decimal>
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@@ -3757,16 +4100,8 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Position control smooth takeoff ramp time constant</short_desc>
<long_desc>Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over.</long_desc>
<short_desc>Set the PWM output frequency for the main outputs</short_desc>
<long_desc>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.</long_desc>
<short_desc>Set the PWM output frequency for the main outputs</short_desc>
<long_desc>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.</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>
<long_desc>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).</long_desc>
<min>0</min>
<max>3</max>
<reboot_required>true</reboot_required>
<scope>modules/logger</scope>
<values>
<valuecode="1">from boot until disarm</value>
<valuecode="0">when armed until disarm (default)</value>
<valuecode="3">from boot until shutdown - IMU and Baro data only (used for thermal calibration)</value>
<short_desc>Maximum number of log directories to keep</short_desc>
<long_desc>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.</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>
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@@ -6467,6 +6647,42 @@ This is used for gathering replay logs for the ekf2 module</short_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>
<long_desc>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).</long_desc>
<min>0</min>
<max>3</max>
<reboot_required>true</reboot_required>
<scope>modules/logger</scope>
<values>
<valuecode="1">from boot until disarm</value>
<valuecode="0">when armed until disarm (default)</value>
<valuecode="3">from boot until shutdown - IMU and Baro data only (used for thermal calibration)</value>
<short_desc>Maximum number of log directories to keep</short_desc>
<long_desc>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.</long_desc>
@@ -6522,6 +6738,7 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>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.</long_desc>
<min>-1</min>
<max>30</max>
<reboot_required>true</reboot_required>
<scope>modules/sensors</scope>
<values>
<valuecode="24">Pitch 90°</value>
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@@ -6660,6 +6877,7 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>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.</long_desc>
<min>-1</min>
<max>30</max>
<reboot_required>true</reboot_required>
<scope>modules/sensors</scope>
<values>
<valuecode="24">Pitch 90°</value>
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@@ -6798,6 +7016,7 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>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.</long_desc>
<min>-1</min>
<max>30</max>
<reboot_required>true</reboot_required>
<scope>modules/sensors</scope>
<values>
<valuecode="24">Pitch 90°</value>
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@@ -6887,6 +7106,77 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
<long_desc>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.</long_desc>
@@ -7920,11 +8201,12 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>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.</long_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>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.</long_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>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.</long_desc>
