From 3416f722b9abd55156b91938639b9ac2cf47800a Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Mon, 27 Apr 2015 16:36:03 -0700 Subject: [PATCH] Resource based parameter meta data out of date --- .../PX4/PX4ParameterLoader.cc | 2 +- .../PX4/ParameterFactMetaData.xml | 6844 +++++++++-------- 2 files changed, 3428 insertions(+), 3418 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc index daa2d44f7..ef55e933c 100644 --- a/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc +++ b/src/AutoPilotPlugins/PX4/PX4ParameterLoader.cc @@ -148,7 +148,7 @@ void PX4ParameterLoader::loadParameterFactMetaData(void) } if (intVersion <= 2) { // We can't read these old files - qDebug() << "Parameter version stamp too old, skipping load" << parameterFilename; + qDebug() << "Parameter version stamp too old, skipping load. Found:" << intVersion << "Want: 3 File:" << parameterFilename; return; } diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index 9d65e6210..409dd5180 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -1,3419 +1,3429 @@ - 2 - - - Moment of inertia matrix diagonal entry (1, 1) - kg*m^2 - - - Moment of inertia matrix diagonal entry (2, 2) - kg*m^2 - - - Moment of inertia matrix diagonal entry (3, 3) - kg*m^2 - - - Moment of inertia enabled in estimator - If set to != 0 the moment of inertia will be used in the estimator - 0 - 1 - - - Body angular rate process noise - - - Body angular acceleration process noise - - - Acceleration process noise - - - Magnet field vector process noise - - - Gyro measurement noise - - - Accel measurement noise - - - Mag measurement noise - - - - - Battery capacity - Defines the capacity of the attached battery. - mA - - - Scaling factor for battery current sensor - - - Number of cells - Defines the number of cells the attached battery consists of. - S - - - Full cell voltage - Defines the voltage where a single cell of the battery is considered full. - V - - - Empty cell voltage - Defines the voltage where a single cell of the battery is considered empty. - V - - - Voltage drop per cell on 100% load - This implicitely defines the internal resistance -to maximum current ratio and assumes linearity. - V - - - Scaling factor for battery voltage sensor on PX4IO - - - Scaling factor for battery voltage sensor on FMU v2 - - - Scaling factor for battery voltage sensor on AeroCore - For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 - - - Scaling factor for battery voltage sensor on FMU v1 - FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 -FMUv1 with PX4IO: 0.00459340659 -FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 - - - - - Circuit breaker for airspeed sensor - Setting this parameter to 162128 will disable the check for an airspeed sensor. -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 162128 - - - Circuit breaker for engine failure detection - Setting this parameter to 284953 will disable the engine failure detection. -If the aircraft is in engine failure mode the enine failure flag will be -set to healthy -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 284953 - - - Circuit breaker for flight termination - Setting this parameter to 121212 will disable the flight termination action. ---> The IO driver will not do flight termination if requested by the FMU -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 121212 - - - Circuit breaker for IO safety - Setting this parameter to 894281 will disable IO safety. -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 22027 - - - Circuit breaker for rate controller output - Setting this parameter to 140253 will disable the rate -controller uORB publication. -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 140253 - - - Circuit breaker for power supply check - Setting this parameter to 894281 will disable the power valid -checks in the commander. -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 894281 - - - - - If not equal to zero the commander will automatically save parameters to persistent storage once changed. -Default is on, as the interoperability with currently deployed GCS solutions depends on parameters -being sticky. Developers can default it to off - 0 - 1 - - - Datalink loss mode enabled - Set to 1 to enable actions triggered when the datalink is lost. - 0 - 1 - - - After this amount of seconds without datalink the data link lost mode triggers - 0 - 30 - second - - - After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' -flag is set back to false - 0 - 30 - second - - - Engine failure triggers only below this current/throttle value - 0.0 - 7.0 - - - Engine failure triggers only above this throttle value - 0.0 - 1.0 - - - Engine failure triggers only if the throttle threshold and the -current to throttle threshold are violated for this time - 0.0 - 7.0 - second - - - After this amount of seconds without RC connection the rc lost flag is set to true - 0 - 35 - second - - - - - Airfield home alt - Altitude of airfield home waypoint - 0.0 - m - - - Airfield home Lat - Latitude of airfield home waypoint - 0 - degrees * 1e7 - - - Airfield home Lon - Longitude of airfield home waypoint - 0 - degrees * 1e7 - - - Aifield hole wait time - The amount of time in seconds the system should wait at the airfield home waypoint - 0.0 - seconds - - - Skip comms hold wp - If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to -airfield home - 0 - 1 - - - Comms hold alt - Altitude of comms hold waypoint - 0.0 - m - - - Comms hold Lat - Latitude of comms hold waypoint - 0 - degrees * 1e7 - - - Comms hold Lon - Longitude of comms hold waypoint - 0 - degrees * 1e7 - - - Comms hold wait time - The amount of time in seconds the system should wait at the comms hold waypoint - 0.0 - seconds - - - Number of allowed Datalink timeouts - After more than this number of data link timeouts the aircraft returns home directly - 0 - 1000 - - - - - Maximum Airspeed - If the airspeed is above this value, the TECS controller will try to decrease -airspeed more aggressively. - 0.0 - 40 - m/s - - - Minimum Airspeed - If the airspeed falls below this value, the TECS controller will try to -increase airspeed more aggressively. - 0.0 - 40 - m/s - - - Trim Airspeed - The TECS controller tries to fly at this airspeed. - 0.0 - 40 - m/s - - - Attitude Time Constant - This defines the latency between a 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 - seconds - - - Max Manual Pitch - Max pitch for manual control in attitude stabilized mode - 0.0 - 90.0 - deg - - - Max Manual Roll - Max roll for manual control in attitude stabilized mode - 0.0 - 90.0 - deg - - - Pitch rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - - - Pitch rate integrator gain - This gain defines how much control response will result out of a steady -state error. It trims any constant error. - 0.0 - 50.0 - - - Pitch rate integrator limit - The portion of the integrator part in the control surface deflection is -limited to this value - 0.0 - 1.0 - - - Pitch rate proportional gain - This defines how much the elevator input will be commanded depending on the -current body angular rate error. - - - Pitch Setpoint Offset - An airframe specific offset of the pitch setpoint in degrees, the value is -added to the pitch setpoint and should correspond to the typical cruise -speed of the airframe. - -90.0 - 90.0 - deg - - - Maximum negative / down pitch rate - This limits the maximum pitch down up angular rate the controller will -output (in degrees per second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - - - Maximum positive / up pitch rate - This limits the maximum pitch up angular rate the controller will output (in -degrees per second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - - - Roll rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - - - Roll rate integrator Gain - This gain defines how much control response will result out of a steady -state error. It trims any constant error. - 0.0 - 100.0 - - - Roll Integrator Anti-Windup - The portion of the integrator part in the control surface deflection is limited to this value. - 0.0 - 1.0 - - - Roll rate proportional Gain - This defines how much the aileron input will be commanded depending on the -current body angular rate error. - - - Roll Setpoint Offset - 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. - -90.0 - 90.0 - deg - - - Maximum Roll Rate - This limits the maximum roll rate the controller will output (in degrees per -second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - - - Method used for yaw coordination - The param value sets the method used to calculate the yaw rate -0: open-loop zero lateral acceleration based on kinematic constraints -1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration - 0 - 1 - m/s - - - Minimal speed for yaw coordination - For airspeeds above this value, the yaw rate is calculated for a coordinated -turn. Set to a very high value to disable. - m/s - - - Yaw rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - - - Yaw rate integrator gain - This gain defines how much control response will result out of a steady -state error. It trims any constant error. - 0.0 - 50.0 - - - Yaw rate integrator limit - The portion of the integrator part in the control surface deflection is -limited to this value - 0.0 - 1.0 - - - Yaw rate proportional gain - This defines how much the rudder input will be commanded depending on the -current body angular rate error. - - - Maximum Yaw Rate - This limits the maximum yaw rate the controller will output (in degrees per -second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - - - - - Complementary filter "omega" parameter for height - 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. - - - Height rate FF factor - - - Height rate P factor - - - Integrator gain - 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. - - - Pitch damping factor - 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. - - - Roll -> Throttle feedforward - 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. - - - Maximum descent rate - 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. - - - Minimum descent rate - 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. - - - Speed <--> Altitude priority - 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). - - - Complementary filter "omega" parameter for speed - 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. - - - Speed rate P factor - - - TECS Throttle time constant - 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. - - - Throttle damping factor - This is the damping gain for the throttle demand loop. -Increase to add damping to correct for oscillations in speed and height. - - - TECS time constant - 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. - - - Maximum vertical acceleration - This is the maximum vertical acceleration (in metres/second square) -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. - - - - - 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 - seconds - - - Open loop loiter pitch - Pitch in degrees during the open loop loiter - -30.0 - 30.0 - deg - - - Open loop loiter roll - Roll in degrees during the open loop loiter - 0.0 - 30.0 - deg - - - Open loop loiter thrust - Thrust value which is set during the open loop loiter - 0.0 - 1.0 - - - - - Geofence altitude mode - Select which altitude reference should be used -0 = WGS84, 1 = AMSL - 0 - 1 - - - Geofence counter limit - Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered - -1 - 10 - - - Max horizontal distance in meters - Set to > 0 to activate RTL if horizontal distance to home exceeds this value. - - - Max vertical distance in meters - Set to > 0 to activate RTL if vertical distance to home exceeds this value. - - - Geofence mode - 0 = disabled, 1 = geofence file only, 2 = max horizontal (GF_MAX_HOR_DIST) and vertical (GF_MAX_VER_DIST) distances, 3 = both - 0 - 3 - - - 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 - - - - - Climbout Altitude difference - If the altitude error exceeds this parameter, the system will climb out -with maximum throttle and minimum airspeed until it is closer than this -distance to the desired altitude. Mostly used for takeoff waypoints / modes. -Set to zero to disable climbout mode (not recommended). - - - L1 damping - Damping factor for L1 control. - 0.6 - 0.9 - - - L1 period - This is the L1 distance and defines the tracking -point ahead of the aircraft its following. -A value of 25 meters works for most aircraft. Shorten -slowly during tuning until response is sharp without oscillation. - 1.0 - 100.0 - - - Landing slope angle - - - Landing flare altitude (relative to landing altitude) - meter - - - Landing heading hold horizontal distance - - - FW_LND_HVIRT - - - Landing throttle limit altitude (relative landing altitude) - Default of -1.0f lets the system default to applying throttle -limiting at 2/3 of the flare altitude. - meter - - - Enable or disable usage of terrain estimate during landing - 0: disabled, 1: enabled - - - Positive pitch limit - The maximum positive pitch the controller will output. - 0.0 - 60.0 - degrees - - - Negative pitch limit - The minimum negative pitch the controller will output. - -60.0 - 0.0 - degrees - - - Controller roll limit - The maximum roll the controller will output. - 0.0 - degrees - - - Cruise throttle - This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. - 0.0 - 1.0 - - - Throttle limit value before flare - This throttle value will be set as throttle limit at FW_LND_TLALT, -before arcraft will flare. - - - Throttle limit max - This is the maximum throttle % that can be used by the controller. -For overpowered aircraft, this should be reduced to a value that -provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. - - - Throttle limit min - This is the minimum throttle % that can be used by the controller. -For electric aircraft this will normally be set to zero, but can be set -to a small non-zero value if a folding prop is fitted to prevent the -prop from folding and unfolding repeatedly in-flight or to provide -some aerodynamic drag from a turning prop to improve the descent rate. -For aircraft with internal combustion engine this parameter should be set -for desired idle rpm. - - - Throttle max slew rate - Maximum slew rate for the commanded throttle - 0.0 - 1.0 - - - Maximum climb rate - 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. - - - - - Airspeed max - Maximum airspeed allowed to trigger a land (m/s) - - - Fixedwing max horizontal velocity - Maximum horizontal velocity allowed to trigger a land (m/s) - - - Fixedwing max climb rate - Maximum vertical velocity allowed to trigger a land (m/s up and down) - - - Multicopter max rotation - Maximum allowed around each axis to trigger a land (degrees per second) - - - Multicopter max throttle - Maximum actuator output on throttle before triggering a land - - - Multicopter max horizontal velocity - Maximum horizontal velocity allowed to trigger a land (m/s) - - - Multicopter max climb rate - Maximum vertical velocity allowed to trigger a land (m/s up and down) - - - - - Enable launch detection - 0 - 1 - - - Catapult accelerometer theshold - LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 0 - - - 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 LAUN_THR_PRE, set to 0 to deactivate - 0 - seconds - - - 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 - 45 - deg - - - Catapult time theshold - LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 0 - - - Throttle setting while detecting launch - The throttle is set to this value while the system is waiting for the take-off. - 0 - 1 - - - - - MAVLink component ID - - - Forward external setpoint messages - If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard -control mode - - - MAVLink system ID - - - MAVLink type - - - Use/Accept HIL GPS message (even if not in HIL mode) - If set to 1 incomming HIL GPS messages are parsed. - - - - - Enables testmode (Identify) of MKBLCTRL Driver - - - - - Altitude setpoint mode - 0: the system will follow a zero order hold altitude setpoint -1: the system will follow a first order hold altitude setpoint -values follow the definition in enum mission_altitude_mode - 0 - 1 - - - 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. - 0 - 1000 - - - Enable persistent onboard mission storage - When enabled, missions that have been uploaded by the GCS are stored -and reloaded after reboot persistently. - 0 - 1 - - - Take-off altitude - Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to -MIS_TAKEOFF_ALT on takeoff, then go to waypoint. - meters - - - Multirotor only. Yaw setpoint mode - 0: Set the yaw heading to the yaw value specified for the destination waypoint. -1: Maintain a yaw heading pointing towards the next waypoint. -2: Maintain a yaw heading that always points to the home location. -3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). -The values are defined in the enum mission_altitude_mode - 0 - 3 - - - Acceptance Radius - Default acceptance radius, overridden by acceptance radius of waypoint if set. - 0.05 - 200 - meters - - - Set OBC mode for data link loss - If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 - - - Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 20 - 200 - meters - - - Set OBC mode for rc loss - If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 - - - - - Max acro pitch rate - 0.0 - 360.0 - deg/s - - - Max acro pitch rate - 0.0 - 360.0 - deg/s - - - Max acro roll rate - 0.0 - 360.0 - deg/s - - - Max acro roll rate - 0.0 - 360.0 - deg/s - - - Max acro yaw rate - 0.0 - deg/s - - - Max acro yaw rate - 0.0 - deg/s - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Pitch rate feedforward - Improves tracking performance. - 0.0 - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Max pitch rate - Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Roll rate feedforward - Improves tracking performance. - 0.0 - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Max roll rate - Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - - - Yaw rate feedforward - Improves tracking performance. - 0.0 - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - - - Max yaw rate - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - - - Max yaw rate - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - - - Yaw feed forward - 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 - - - Yaw feed forward - 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 - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - - - Max manual pitch - 0.0 - 90.0 - deg - - - Max manual roll - 0.0 - 90.0 - deg - - - Max manual yaw rate - 0.0 - deg/s - - - - - Landing descend rate - 0.0 - m/s - - - Landing descend rate - 0.0 - m/s - - - Max manual pitch - 0.0 - 90.0 - deg - - - Max manual roll - 0.0 - 90.0 - deg - - - Max manual yaw rate - 0.0 - deg/s - - - Maximum thrust - Limit max allowed thrust. - 0.0 - 1.0 - - - Maximum thrust - Limit max allowed thrust. - 0.0 - 1.0 - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - 0.0 - 1.0 - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - 0.0 - 1.0 - - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. - 0.0 - 90.0 - deg - - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. - 0.0 - 90.0 - deg - - - Maximum tilt during landing - Limits maximum tilt angle on landing. - 0.0 - 90.0 - deg - - - Maximum tilt during landing - Limits maximum tilt angle on landing. - 0.0 - 90.0 - deg - - - Horizontal velocity feed forward - 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 - - - Horizontal velocity feed forward - 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 - - - Proportional gain for horizontal position error - 0.0 - - - Proportional gain for horizontal position error - 0.0 - - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.0 - - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.0 - - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.0 - - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.0 - - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). - 0.0 - m/s - - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). - 0.0 - m/s - - - Proportional gain for horizontal velocity error - 0.0 - - - Proportional gain for horizontal velocity error - 0.0 - - - Vertical velocity feed forward - 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 - - - Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.0 - 1.0 - - - Proportional gain for vertical position error - 0.0 - - - Proportional gain for vertical position error - 0.0 - - - Differential gain for vertical velocity error - 0.0 - - - Differential gain for vertical velocity error - 0.0 - - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.0 - - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.0 - - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). - 0.0 - m/s - - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). - 0.0 - m/s - - - Proportional gain for vertical velocity error - 0.0 - - - Proportional gain for vertical velocity error - 0.0 - - - - - Ground drag property - This parameter encodes the ground drag coefficient and the corresponding -decrease in wind speed from the plane altitude to ground altitude. - 0.001 - 0.1 - unknown - - - Payload drag coefficient of the dropped object - The drag coefficient (cd) is the typical drag -constant for air. It is in general object specific, -but the closest primitive shape to the actual object -should give good results: -http://en.wikipedia.org/wiki/Drag_coefficient - 0.08 - 1.5 - meter - - - Payload mass - A typical small toy ball: -0.025 kg -OBC water bottle: -0.6 kg - 0.001 - 5.0 - kilogram - - - Payload front surface area - A typical small toy ball: -(0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 -OBC water bottle: -(0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 - 0.001 - 0.5 - m^2 - - - Drop precision - If the system is closer than this distance on passing over the -drop position, it will release the payload. This is a safeguard -to prevent a drop out of the required accuracy. - 1.0 - 80.0 - meter - - - Plane turn radius - The planes known minimal turn radius - use a higher value -to make the plane maneuver more distant from the actual drop -position. This is to ensure the wings are level during the drop. - 30.0 - 500.0 - meter - - - - - Accelerometer bias estimate process noise - Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. -Increasing this value makes the bias estimation faster and noisier. - 0.00001 - 0.001 - - - Accelerometer process noise - Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. -Increasing this value makes the filter trust the accelerometer less -and other sensors more. - 0.05 - 1.0 - - - Airspeed measurement noise - Increasing this value will make the filter trust this sensor -less and trust other sensors more. - 0.5 - 5.0 - - - Gyro bias estimate process noise - Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. -Increasing this value will make the gyro bias converge faster but noisier. - 0.0000001 - 0.00001 - - - GPS vs. barometric altitude update weight - RE-CHECK this. - 0.0 - 1.0 - - - Gyro process noise - Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. -This noise controls how much the filter trusts the gyro measurements. -Increasing it makes the filter trust the gyro less and other sensors more. - 0.001 - 0.05 - - - Height estimate delay - The delay in milliseconds of the height estimate from the barometer. - 0 - 1000 - - - Magnetometer body frame offsets process noise - Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. -Increasing this value makes the magnetometer body bias estimate converge faster -but also noisier. - 0.0001 - 0.01 - - - Magnetometer earth frame offsets process noise - Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. -Increasing this value makes the magnetometer earth bias estimate converge -faster but also noisier. - 0.0001 - 0.01 - - - Mag estimate delay - The delay in milliseconds of the magnetic field estimate from -the magnetometer. - 0 - 1000 - - - Magnetometer measurement noise - Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - 0.1 - 10.0 - - - Threshold for filter initialization - If the standard deviation of the GPS position estimate is below this threshold -in meters, the filter will initialize. - 0.3 - 10.0 - - - Position noise in down (vertical) direction - Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 - 0.1 - 10.0 - - - Position noise in north-east (horizontal) direction - Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 - 0.1 - 10.0 - - - Position estimate delay - The delay in milliseconds of the position estimate from GPS. - 0 - 1000 - - - True airspeeed estimate delay - The delay in milliseconds of the airspeed estimate. - 0 - 1000 - - - Velocity noise in down (vertical) direction - Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 - 0.05 - 5.0 - - - Velocity measurement noise in north-east (horizontal) direction - Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 - 0.05 - 5.0 - - - Velocity estimate delay - The delay in milliseconds of the velocity estimate from GPS. - 0 - 1000 - - - - - Disable vision input - Set to the appropriate key (328754) to disable vision input. - 0 - 1 - - - GPS delay - GPS delay compensation - 0.0 - 1.0 - s - - - INAV enabled - If set to 1, use INAV for position estimation -the system uses the combined attitude / position -filter framework. - 0 - 1 - - - Optical flow scale factor - Factor to convert raw optical flow (in pixels) to radians [rad/px]. - 0.0 - 1.0 - rad/px - - - Minimal acceptable optical flow quality - 0 - lowest quality, 1 - best quality. - 0.0 - 1.0 - - - Land detector altitude dispersion threshold - Dispersion threshold for triggering land detector. - 0.0 - 10.0 - m - - - Land detector time - Vehicle assumed landed if no altitude changes happened during this time on low throttle. - 0.0 - 10.0 - s - - - Land detector throttle threshold - Value should be lower than minimal hovering thrust. Half of it is good choice. - 0.0 - 1.0 - - - Sonar maximal error for new surface - If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). - 0.0 - 1.0 - m - - - Weight for sonar filter - Sonar filter detects spikes on sonar measurements and used to detect new surface level. - 0.0 - 1.0 - - - Accelerometer bias estimation weight - Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. - 0.0 - 0.1 - - - XY axis weight factor for GPS when optical flow available - When optical flow data available, multiply GPS weights (for position and velocity) by this factor. - 0.0 - 1.0 - - - XY axis weight for optical flow - Weight (cutoff frequency) for optical flow (velocity) measurements. - 0.0 - 10.0 - - - XY axis weight for GPS position - Weight (cutoff frequency) for GPS position measurements. - 0.0 - 10.0 - - - XY axis weight for GPS velocity - Weight (cutoff frequency) for GPS velocity measurements. - 0.0 - 10.0 - - - XY axis weight for resetting velocity - When velocity sources lost slowly decrease estimated horizontal velocity with this weight. - 0.0 - 10.0 - - - XY axis weight for vision position - Weight (cutoff frequency) for vision position measurements. - 0.0 - 10.0 - - - XY axis weight for vision velocity - Weight (cutoff frequency) for vision velocity measurements. - 0.0 - 10.0 - - - Z axis weight for barometer - Weight (cutoff frequency) for barometer altitude measurements. - 0.0 - 10.0 - - - Z axis weight for GPS - Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. - 0.0 - 10.0 - - - Z velocity weight for GPS - Weight (cutoff frequency) for GPS altitude velocity measurements. - 0.0 - 10.0 - - - Z axis weight for sonar - Weight (cutoff frequency) for sonar measurements. - 0.0 - 10.0 - - - Z axis weight for vision - Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. - 0.0 - 10.0 - - - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 1 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 1 Maximum - Maximum value for RC channel 1 - 1500.0 - 2200.0 - - - RC Channel 1 Minimum - Minimum value for RC channel 1 - 800.0 - 1500.0 - - - RC Channel 1 Reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - - - RC Channel 1 Trim - Mid point value (same as min for throttle) - 800.0 - 2200.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 Maximum - Maximum value for RC channel 2 - 1500.0 - 2200.0 - - - RC Channel 2 Minimum - Minimum value for RC channel 2 - 800.0 - 1500.0 - - - RC Channel 2 Reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - - - RC Channel 2 Trim - Mid point value (same as min for throttle) - 800.0 - 2200.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - - - RC channel count - This parameter is used by Ground Station software to save the number -of channels which were used during RC calibration. It is only meant -for ground station use. - 0 - 18 - - - DSM binding trigger - -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind - - - Failsafe channel PWM threshold - 800 - 2200 - - - Auxiliary switch 1 channel mapping - Default function: Camera pitch - 0 - 18 - - - Auxiliary switch 2 channel mapping - Default function: Camera roll - 0 - 18 - - - Auxiliary switch 3 channel mapping - Default function: Camera azimuth / yaw - 0 - 18 - - - Channel which changes a parameter - Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. -Set to 0 to deactivate * - 0 - 18 - - - Channel which changes a parameter - Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. -Set to 0 to deactivate * - 0 - 18 - - - Channel which changes a parameter - Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. -Set to 0 to deactivate * - 0 - 18 - - - Pitch control channel mapping - The channel index (starting from 1 for channel 1) indicates -which channel should be used for reading pitch inputs from. -A value of zero indicates the switch is not assigned. - 0 - 18 - - - Roll control channel mapping - The channel index (starting from 1 for channel 1) indicates -which channel should be used for reading roll inputs from. -A value of zero indicates the switch is not assigned. - 0 - 18 - - - Throttle control channel mapping - The channel index (starting from 1 for channel 1) indicates -which channel should be used for reading throttle inputs from. -A value of zero indicates the switch is not assigned. - 0 - 18 - - - Yaw control channel mapping - The channel index (starting from 1 for channel 1) indicates -which channel should be used for reading yaw inputs from. -A value of zero indicates the switch is not assigned. - 0 - 18 - - - RC mode switch threshold automaic distribution - This parameter is used by Ground Station software to specify whether -the threshold values for flight mode switches were automatically calculated. -0 indicates that the threshold values were set by the user. Any other value -indicates that the threshold value where automatically set by the ground -station software. It is only meant for ground station use. - 0 - 1 - - - - - Loiter Time - The amount of time in seconds the system should loiter at current position before termination -Set to -1 to make the system skip loitering - -1.0 - seconds - - - - - Threshold for selecting acro mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - Threshold for selecting assist mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - Threshold for selecting auto mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - Threshold for selecting loiter mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - Acro switch channel mapping - 0 - 18 - - - Flaps channel mapping - 0 - 18 - - - Loiter switch channel mapping - 0 - 18 - - - Mode switch channel mapping - This is the main flight mode selector. -The channel index (starting from 1 for channel 1) indicates -which channel should be used for deciding about the main mode. -A value of zero indicates the switch is not assigned. - 0 - 18 - - - Offboard switch channel mapping - 0 - 18 - - - Posctl switch channel mapping - 0 - 18 - - - Return switch channel mapping - 0 - 18 - - - Threshold for selecting offboard mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - Threshold for selecting return to launch mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - - - RTL loiter altitude - Stay at this altitude above home position after RTL descending. -Land (i.e. slowly descend) from this altitude if autolanding allowed. - 2 - 100 - meters - - - RTL delay - Delay after descend before landing in RTL mode. -If set to -1 the system will not land but loiter at NAV_LAND_ALT. - -1 - 300 - seconds - - - Loiter radius after RTL (FW only) - Default value of loiter radius after RTL (fixedwing only). - 20 - 200 - meters - - - RTL altitude - Altitude to fly back in RTL in meters - 0 - 150 - meters - - - - - Enable extended logging mode - A value of -1 indicates the commandline 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). - -1 - 1 - - - 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). - -1 - 1 - - - - - ID of the Accelerometer that the calibration is for - - - Accelerometer X-axis offset - - - Accelerometer X-axis scaling factor - - - Accelerometer Y-axis offset - - - Accelerometer Y-axis scaling factor - - - Accelerometer Z-axis offset - - - Accelerometer Z-axis scaling factor - - - ID of the Accelerometer that the calibration is for - - - Accelerometer X-axis offset - - - Accelerometer X-axis scaling factor - - - Accelerometer Y-axis offset - - - Accelerometer Y-axis scaling factor - - - Accelerometer Z-axis offset - - - Accelerometer Z-axis scaling factor - - - ID of the Accelerometer that the calibration is for - - - Accelerometer X-axis offset - - - Accelerometer X-axis scaling factor - - - Accelerometer Y-axis offset - - - Accelerometer Y-axis scaling factor - - - Accelerometer Z-axis offset - - - Accelerometer Z-axis scaling factor - - - ID of the board this parameter set was calibrated on - - - ID of the Gyro that the calibration is for - - - Gyro X-axis offset - -10.0 - 10.0 - - - Gyro X-axis scaling factor - -1.5 - 1.5 - - - Gyro Y-axis offset - -10.0 - 10.0 - - - Gyro Y-axis scaling factor - -1.5 - 1.5 - - - Gyro Z-axis offset - -5.0 - 5.0 - - - Gyro Z-axis scaling factor - -1.5 - 1.5 - - - ID of the Gyro that the calibration is for - - - Gyro X-axis offset - -10.0 - 10.0 - - - Gyro X-axis scaling factor - -1.5 - 1.5 - - - Gyro Y-axis offset - -10.0 - 10.0 - - - Gyro Y-axis scaling factor - -1.5 - 1.5 - - - Gyro Z-axis offset - -5.0 - 5.0 - - - Gyro Z-axis scaling factor - -1.5 - 1.5 - - - ID of the Gyro that the calibration is for - - - Gyro X-axis offset - -10.0 - 10.0 - - - Gyro X-axis scaling factor - -1.5 - 1.5 - - - Gyro Y-axis offset - -10.0 - 10.0 - - - Gyro Y-axis scaling factor - -1.5 - 1.5 - - - Gyro Z-axis offset - -5.0 - 5.0 - - - Gyro Z-axis scaling factor - -1.5 - 1.5 - - - ID of Magnetometer the calibration is for - - - Rotation of magnetometer 0 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 - - - Magnetometer X-axis offset - -500.0 - 500.0 - - - Magnetometer X-axis scaling factor - - - Magnetometer Y-axis offset - -500.0 - 500.0 - - - Magnetometer Y-axis scaling factor - - - Magnetometer Z-axis offset - -500.0 - 500.0 - - - Magnetometer Z-axis scaling factor - - - ID of Magnetometer the calibration is for - - - Rotation of magnetometer 1 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 - - - Magnetometer X-axis offset - -500.0 - 500.0 - - - Magnetometer X-axis scaling factor - - - Magnetometer Y-axis offset - -500.0 - 500.0 - - - Magnetometer Y-axis scaling factor - - - Magnetometer Z-axis offset - -500.0 - 500.0 - - - Magnetometer Z-axis scaling factor - - - ID of Magnetometer the calibration is for - - - 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 - - - Magnetometer X-axis offset - -500.0 - 500.0 - - - Magnetometer X-axis scaling factor - - - Magnetometer Y-axis offset - -500.0 - 500.0 - - - Magnetometer Y-axis scaling factor - - - Magnetometer Z-axis offset - -500.0 - 500.0 - - - Magnetometer Z-axis scaling factor - - - QNH for barometer - 500 - 1500 - hPa - - - Board rotation - This parameter defines the rotation of the FMU board relative to the platform. -Possible values are: -0 = No rotation -1 = Yaw 45° -2 = Yaw 90° -3 = Yaw 135° -4 = Yaw 180° -5 = Yaw 225° -6 = Yaw 270° -7 = Yaw 315° -8 = Roll 180° -9 = Roll 180°, Yaw 45° -10 = Roll 180°, Yaw 90° -11 = Roll 180°, Yaw 135° -12 = Pitch 180° -13 = Roll 180°, Yaw 225° -14 = Roll 180°, Yaw 270° -15 = Roll 180°, Yaw 315° -16 = Roll 90° -17 = Roll 90°, Yaw 45° -18 = Roll 90°, Yaw 90° -19 = Roll 90°, Yaw 135° -20 = Roll 270° -21 = Roll 270°, Yaw 45° -22 = Roll 270°, Yaw 90° -23 = Roll 270°, Yaw 135° -24 = Pitch 90° -25 = Pitch 270° - - - Board rotation X (Roll) offset - This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user -to fine tune the board offset in the event of misalignment. - - - Board rotation Y (Pitch) offset - This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user -to fine tune the board offset in the event of misalignment. - - - Board rotation Z (YAW) offset - This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user -to fine tune the board offset in the event of misalignment. - - - Differential pressure sensor analog scaling - Pick the appropriate scaling from the datasheet. -this number defines the (linear) conversion from voltage -to Pascal (pa). For the MPXV7002DP this is 1000. -NOTE: If the sensor always registers zero, try switching -the static and dynamic tubes. - - - Differential pressure sensor offset - The offset (zero-reading) in Pascal - - - Set usage of external magnetometer - * Set to 0 (default) to auto-detect (will try to get the external as primary) -* Set to 1 to force the external magnetometer as primary -* Set to 2 to force the internal magnetometer as primary - 0 - 2 - - - External magnetometer rotation - This parameter defines the rotation of the external magnetometer relative -to the platform (not relative to the FMU). -See SENS_BOARD_ROT for possible values. - - - PX4Flow board rotation - This parameter defines the rotation of the PX4FLOW board relative to the platform. -Zero rotation is defined as Y on flow board pointing towards front of vehicle -Possible values are: -0 = No rotation -1 = Yaw 45° -2 = Yaw 90° -3 = Yaw 135° -4 = Yaw 180° -5 = Yaw 225° -6 = Yaw 270° -7 = Yaw 315° - - - - - Interval of one subscriber in the example in ms - - - Float Demonstration Parameter in the Example - - - - - Automatically configure default values - Set to 1 to reset parameters on next system startup (setting defaults). -Platform-specific values are used if available. -RC* parameters are preserved. - 0 - 1 - - - Auto-start script index - Defines the auto-start script used to bootstrap the system. - - - Companion computer interface - Configures the baud rate of the companion computer interface. -Set to zero to disable, set to 921600 to enable. -CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for -other baud rates. - 0 - 921600 - - - Parameter version - This monotonically increasing number encodes the parameter compatibility set. -whenever it increases parameters might not be backwards compatible and -ground control stations should suggest a fresh configuration. - 0 - - - Set restart type - Set by px4io to indicate type of restart - 0 - 2 - - - Set usage of IO board - Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. - 0 - 1 - - - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - - - Enable UAVCAN - Enables support for UAVCAN-interfaced actuators and sensors. - 0 - 1 - - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - - - - - Total airspeed estimate low-pass filter gain - Gain for tuning the low-pass filter for the total airspeed estimate - 0.0 - 0.99 - - - Permanent stabilization in fw mode - If set to one this parameter will cause permanent attitude stabilization in fw mode. -This parameter has been introduced for pure convenience sake. - 0 - 1 - - - Fixed wing pitch trim - This parameter allows to adjust the neutral elevon position in fixed wing mode. - -1 - 1 - - - Idle speed of VTOL when in multicopter mode - 900 - - - Maximum airspeed in multicopter mode - This is the maximum speed of the air flowing over the control surfaces. - 0.0 - - - Minimum airspeed in multicopter mode - This is the minimum speed of the air flowing over the control surfaces. - 0.0 - - - Trim airspeed when in multicopter mode - This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. - 0.0 - - - VTOL number of engines - 1 - - - Motor max power - Indicates the maximum power the motor is able to produce. Used to calculate -propeller efficiency map. - 1 - - - Propeller efficiency parameter - Influences propeller efficiency at different power settings. Should be tuned beforehand. - 0.5 - 0.9 - - - - - D gain for the airspeed control -Maps the change of airspeed error to the acceleration setpoint - 0.0 - 10.0 - - - Lowpass for ACC error derivative calculation (see MT_ACC_D) - - - Maximal acceleration (air) - m/s^2 - - - Minimal acceleration (air) - m/s^2 - - - P gain for the airspeed control -Maps the airspeed error to the acceleration setpoint - 0.0 - 10.0 - - - Airspeed derivative calculation lowpass - - - Lowpass (cutoff freq.) for altitude - - - Lowpass (cutoff freq.) for airspeed - - - mTECS enabled - Set to 1 to enable mTECS - 0 - 1 - - - D gain for the altitude control -Maps the change of altitude error to the flight path angle setpoint - 0.0 - 10.0 - - - Lowpass for FPA error derivative calculation (see MT_FPA_D) - - - Lowpass (cutoff freq.) for the flight path angle - - - Maximal flight path angle setpoint - -90.0 - 90.0 - deg - - - Minimal flight path angle setpoint - -90.0 - 90.0 - deg - - - P gain for the altitude control -Maps the altitude error to the flight path angle setpoint - 0.0 - 10.0 - - - Maximal pitch in landing mode - -90.0 - 90.0 - deg - - - Minimal pitch in landing mode - -90.0 - 90.0 - deg - - - Maximal throttle in landing mode (only last phase of landing) - 0.0 - 1.0 - - - Minimal throttle in landing mode (only last phase of landing) - 0.0 - 1.0 - - - Energy Distribution Rate Control Feedforward -Maps the energy distribution rate setpoint to the pitch setpoint - 0.0 - 10.0 - - - Energy Distribution Rate Control I -Maps the integrated energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - - - Integrator Limit for Energy Distribution Rate Control - 0.0 - 10.0 - - - Maximal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - - - Minimal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - - - Total Energy Distribution Offset (Cruise pitch sp) - 0.0 - 10.0 - - - Energy Distribution Rate Control P -Maps the energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - - - Total Energy Rate Control Feedforward -Maps the total energy rate setpoint to the throttle setpoint - 0.0 - 10.0 - - - Total Energy Rate Control I -Maps the integrated total energy rate to the throttle setpoint - 0.0 - 10.0 - - - Integrator Limit for Total Energy Rate Control - 0.0 - 10.0 - - - Maximal Throttle Setpoint - 0.0 - 1.0 - - - Minimal Throttle Setpoint - 0.0 - 1.0 - - - Total Energy Rate Control Offset (Cruise throttle sp) - 0.0 - 10.0 - - - Total Energy Rate Control P -Maps the total energy rate error to the throttle setpoint - 0.0 - 10.0 - - - Maximal pitch during takeoff - -90.0 - 90.0 - deg - - - Minimal pitch during takeoff - -90.0 - 90.0 - deg - - - Maximal throttle during takeoff - 0.0 - 1.0 - - - Minimal throttle during takeoff - 0.0 - 1.0 - - - Maximal pitch in underspeed mode - -90.0 - 90.0 - deg - - - Minimal pitch in underspeed mode - -90.0 - 90.0 - deg - - - Maximal throttle in underspeed mode - 0.0 - 1.0 - - - Minimal throttle in underspeed mode - 0.0 - 1.0 - - - - - ATT_ACC_COMP - - - ATT_MAG_DECL - - - EXFW_HDNG_P - - - EXFW_PITCH_P - - - EXFW_ROLL_P - - - FPE_DEBUG - - - FPE_LO_THRUST - - - FPE_SONAR_LP_L - - - FPE_SONAR_LP_U - - - FWB_CR2THR_D - - - FWB_CR2THR_D_LP - - - FWB_CR2THR_I - - - FWB_CR2THR_I_MAX - - - FWB_CR2THR_P - - - FWB_CR_MAX - - - FWB_H2THR_D - - - FWB_H2THR_D_LP - - - FWB_H2THR_I - - - FWB_H2THR_I_MAX - - - FWB_H2THR_P - - - FWB_P2AIL - - - FWB_PHI2P - - - FWB_PHI_LIM_MAX - - - FWB_PSI2PHI - - - FWB_P_LP - - - FWB_Q2ELV - - - FWB_Q_LP - - - FWB_R2RDR - - - FWB_R_HP - - - FWB_R_LP - - - FWB_THE2Q_D - - - FWB_THE2Q_D_LP - - - FWB_THE2Q_I - - - FWB_THE2Q_I_MAX - - - FWB_THE2Q_P - - - FWB_THE_MAX - - - FWB_THE_MIN - - - FWB_TRIM_THR - - - FWB_TRIM_V - - - FWB_V2THE_D - - - FWB_V2THE_D_LP - - - FWB_V2THE_I - - - FWB_V2THE_I_MAX - - - FWB_V2THE_P - - - FWB_V_CMD - - - FWB_V_MAX - - - FWB_V_MIN - - - FWB_XT2YAW - - - FWB_XT2YAW_MAX - - - Flare, maximum pitch - Maximum pitch during flare, a positive sign means nose up -Applied once FW_LND_TLALT is reached - - - Flare, minimum pitch - Minimum pitch during flare, a positive sign means nose up -Applied once FW_LND_TLALT is reached - - - Failsafe channel mapping - The RC mapping index indicates which channel is used for failsafe -If 0, whichever channel is mapped to throttle is used -otherwise the value indicates the specific rc channel to use - 0 - 18 - - - Threshold for selecting posctl mode - 0-1 indicate where in the full channel range the threshold sits -0 : min -1 : max -sign indicates polarity of comparison -positive : true when channel>th -negative : true when channel<th - -1 - 1 - - - RC_RL1_DSM_VCC - - - RV_YAW_P - - - SEG_Q2V - - - SEG_TH2V_I - - - SEG_TH2V_I_MAX - - - SEG_TH2V_P - - - SO3_COMP_KI - - - SO3_COMP_KP - - - SO3_PITCH_OFFS - - - SO3_ROLL_OFFS - - - SO3_YAW_OFFS - - - TEST_D - - - TEST_DEV - - - TEST_D_LP - - - TEST_HP - - - TEST_I - - - TEST_I_MAX - - - TEST_LP - - - TEST_MAX - - - TEST_MEAN - - - TEST_MIN - - - TEST_P - - - TEST_TRIM - - - TRIM_PITCH - - - TRIM_ROLL - - - TRIM_YAW - - + 3 + + + Body angular rate process noise + + + Body angular acceleration process noise + + + Acceleration process noise + + + Magnet field vector process noise + + + Gyro measurement noise + + + Accel measurement noise + + + Mag measurement noise + + + Moment of inertia matrix diagonal entry (1, 1) + kg*m^2 + + + Moment of inertia matrix diagonal entry (2, 2) + kg*m^2 + + + Moment of inertia matrix diagonal entry (3, 3) + kg*m^2 + + + Moment of inertia enabled in estimator + If set to != 0 the moment of inertia will be used in the estimator + 0 + 1 + + + + + Empty cell voltage + Defines the voltage where a single cell of the battery is considered empty. + V + + + Full cell voltage + Defines the voltage where a single cell of the battery is considered full. + V + + + Voltage drop per cell on 100% load + This implicitely defines the internal resistance + to maximum current ratio and assumes linearity. + V + + + Number of cells + Defines the number of cells the attached battery consists of. + S + + + Battery capacity + Defines the capacity of the attached battery. + mA + + + Scaling factor for battery voltage sensor on PX4IO + + + CONFIG_ARCH_BOARD_PX4FMU_V2 + Scaling factor for battery voltage sensor on FMU v2 + + + Scaling factor for battery current sensor + + + + + Circuit breaker for power supply check + Setting this parameter to 894281 will disable the power valid + checks in the commander. + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 894281 + + + Circuit breaker for rate controller output + Setting this parameter to 140253 will disable the rate + controller uORB publication. + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 140253 + + + Circuit breaker for IO safety + Setting this parameter to 894281 will disable IO safety. + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 22027 + + + Circuit breaker for airspeed sensor + Setting this parameter to 162128 will disable the check for an airspeed sensor. + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 162128 + + + Circuit breaker for flight termination + Setting this parameter to 121212 will disable the flight termination action. + --> The IO driver will not do flight termination if requested by the FMU + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 121212 + + + Circuit breaker for engine failure detection + Setting this parameter to 284953 will disable the engine failure detection. + If the aircraft is in engine failure mode the enine failure flag will be + set to healthy + WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 284953 + + + + + Datalink loss mode enabled + Set to 1 to enable actions triggered when the datalink is lost. + 0 + 1 + + + After this amount of seconds without datalink the data link lost mode triggers + 0 + 30 + second + + + After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' + flag is set back to false + 0 + 30 + second + + + Engine failure triggers only above this throttle value + 0.0 + 1.0 + + + Engine failure triggers only below this current/throttle value + 0.0 + 7.0 + + + Engine failure triggers only if the throttle threshold and the + current to throttle threshold are violated for this time + 0.0 + 7.0 + second + + + After this amount of seconds without RC connection the rc lost flag is set to true + 0 + 35 + second + + + If not equal to zero the commander will automatically save parameters to persistent storage once changed. + Default is on, as the interoperability with currently deployed GCS solutions depends on parameters + being sticky. Developers can default it to off + 0 + 1 + + + + + Comms hold wait time + The amount of time in seconds the system should wait at the comms hold waypoint + 0.0 + seconds + + + Comms hold Lat + Latitude of comms hold waypoint + 0 + degrees * 1e7 + + + Comms hold Lon + Longitude of comms hold waypoint + 0 + degrees * 1e7 + + + Comms hold alt + Altitude of comms hold waypoint + 0.0 + m + + + Aifield hole wait time + The amount of time in seconds the system should wait at the airfield home waypoint + 0.0 + seconds + + + Number of allowed Datalink timeouts + After more than this number of data link timeouts the aircraft returns home directly + 0 + 1000 + + + Skip comms hold wp + If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to + airfield home + 0 + 1 + + + Airfield home Lat + Latitude of airfield home waypoint + 0 + degrees * 1e7 + + + Airfield home Lon + Longitude of airfield home waypoint + 0 + degrees * 1e7 + + + Airfield home alt + Altitude of airfield home waypoint + 0.0 + m + + + + + Attitude Time Constant + This defines the latency between a 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 + seconds + + + Pitch rate proportional gain + This defines how much the elevator input will be commanded depending on the + current body angular rate error. + + + Pitch rate integrator gain + This gain defines how much control response will result out of a steady + state error. It trims any constant error. + 0.0 + 50.0 + + + Maximum positive / up pitch rate + This limits the maximum pitch up angular rate the controller will output (in + degrees per second). Setting a value of zero disables the limit. + 0.0 + 90.0 + deg/s + + + Maximum negative / down pitch rate + This limits the maximum pitch down up angular rate the controller will + output (in degrees per second). Setting a value of zero disables the limit. + 0.0 + 90.0 + deg/s + + + Pitch rate integrator limit + The portion of the integrator part in the control surface deflection is + limited to this value + 0.0 + 1.0 + + + Roll to Pitch feedforward gain + This compensates during turns and ensures the nose stays level. + 0.0 + 2.0 + + + Roll rate proportional Gain + This defines how much the aileron input will be commanded depending on the + current body angular rate error. + + + Roll rate integrator Gain + This gain defines how much control response will result out of a steady + state error. It trims any constant error. + 0.0 + 100.0 + + + Roll Integrator Anti-Windup + The portion of the integrator part in the control surface deflection is limited to this value. + 0.0 + 1.0 + + + Maximum Roll Rate + This limits the maximum roll rate the controller will output (in degrees per + second). Setting a value of zero disables the limit. + 0.0 + 90.0 + deg/s + + + Yaw rate proportional gain + This defines how much the rudder input will be commanded depending on the + current body angular rate error. + + + Yaw rate integrator gain + This gain defines how much control response will result out of a steady + state error. It trims any constant error. + 0.0 + 50.0 + + + Yaw rate integrator limit + The portion of the integrator part in the control surface deflection is + limited to this value + 0.0 + 1.0 + + + Maximum Yaw Rate + This limits the maximum yaw rate the controller will output (in degrees per + second). Setting a value of zero disables the limit. + 0.0 + 90.0 + deg/s + + + Roll rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 + + + Pitch rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 + + + Yaw rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 + + + Minimal speed for yaw coordination + For airspeeds above this value, the yaw rate is calculated for a coordinated + turn. Set to a very high value to disable. + m/s + + + Method used for yaw coordination + The param value sets the method used to calculate the yaw rate + 0: open-loop zero lateral acceleration based on kinematic constraints + 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration + 0 + 1 + m/s + + + Minimum Airspeed + If the airspeed falls below this value, the TECS controller will try to + increase airspeed more aggressively. + 0.0 + 40 + m/s + + + Trim Airspeed + The TECS controller tries to fly at this airspeed. + 0.0 + 40 + m/s + + + Maximum Airspeed + If the airspeed is above this value, the TECS controller will try to decrease + airspeed more aggressively. + 0.0 + 40 + m/s + + + Roll Setpoint Offset + 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. + -90.0 + 90.0 + deg + + + Pitch Setpoint Offset + An airframe specific offset of the pitch setpoint in degrees, the value is + added to the pitch setpoint and should correspond to the typical cruise + speed of the airframe. + -90.0 + 90.0 + deg + + + Max Manual Roll + Max roll for manual control in attitude stabilized mode + 0.0 + 90.0 + deg + + + Max Manual Pitch + Max pitch for manual control in attitude stabilized mode + 0.0 + 90.0 + deg + + + + + Minimum descent rate + 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. + + + Maximum descent rate + 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. + + + TECS time constant + 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. + + + TECS Throttle time constant + 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. + + + Throttle damping factor + This is the damping gain for the throttle demand loop. + Increase to add damping to correct for oscillations in speed and height. + + + Integrator gain + 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. + + + Maximum vertical acceleration + This is the maximum vertical acceleration (in metres/second square) + 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. + + + Complementary filter "omega" parameter for height + 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. + + + Complementary filter "omega" parameter for speed + 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. + + + Roll -> Throttle feedforward + 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. + + + Speed <--> Altitude priority + 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). + + + Pitch damping factor + 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. + + + Height rate P factor + + + Height rate FF factor + + + Speed rate P factor + + + + + 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 + seconds + + + Open loop loiter roll + Roll in degrees during the open loop loiter + 0.0 + 30.0 + deg + + + Open loop loiter pitch + Pitch in degrees during the open loop loiter + -30.0 + 30.0 + deg + + + Open loop loiter thrust + Thrust value which is set during the open loop loiter + 0.0 + 1.0 + + + + + Geofence mode + 0 = disabled, 1 = geofence file only, 2 = max horizontal (GF_MAX_HOR_DIST) and vertical (GF_MAX_VER_DIST) distances, 3 = both + 0 + 3 + + + Geofence altitude mode + Select which altitude reference should be used + 0 = WGS84, 1 = AMSL + 0 + 1 + + + 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 + + + Geofence counter limit + Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered + -1 + 10 + + + Max horizontal distance in meters + Set to > 0 to activate RTL if horizontal distance to home exceeds this value. + + + Max vertical distance in meters + Set to > 0 to activate RTL if vertical distance to home exceeds this value. + + + + + L1 period + This is the L1 distance and defines the tracking + point ahead of the aircraft its following. + A value of 25 meters works for most aircraft. Shorten + slowly during tuning until response is sharp without oscillation. + 1.0 + 100.0 + + + L1 damping + Damping factor for L1 control. + 0.6 + 0.9 + + + Cruise throttle + This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. + 0.0 + 1.0 + + + Throttle max slew rate + Maximum slew rate for the commanded throttle + 0.0 + 1.0 + + + Negative pitch limit + The minimum negative pitch the controller will output. + -60.0 + 0.0 + degrees + + + Positive pitch limit + The maximum positive pitch the controller will output. + 0.0 + 60.0 + degrees + + + Controller roll limit + The maximum roll the controller will output. + 0.0 + degrees + + + Throttle limit max + This is the maximum throttle % that can be used by the controller. + For overpowered aircraft, this should be reduced to a value that + provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. + + + Throttle limit min + This is the minimum throttle % that can be used by the controller. + For electric aircraft this will normally be set to zero, but can be set + to a small non-zero value if a folding prop is fitted to prevent the + prop from folding and unfolding repeatedly in-flight or to provide + some aerodynamic drag from a turning prop to improve the descent rate. + For aircraft with internal combustion engine this parameter should be set + for desired idle rpm. + + + Throttle limit value before flare + This throttle value will be set as throttle limit at FW_LND_TLALT, + before arcraft will flare. + + + Climbout Altitude difference + If the altitude error exceeds this parameter, the system will climb out + with maximum throttle and minimum airspeed until it is closer than this + distance to the desired altitude. Mostly used for takeoff waypoints / modes. + Set to zero to disable climbout mode (not recommended). + + + Maximum climb rate + 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. + + + Landing slope angle + + + FW_LND_HVIRT + + + Landing flare altitude (relative to landing altitude) + meter + + + Landing throttle limit altitude (relative landing altitude) + Default of -1.0f lets the system default to applying throttle + limiting at 2/3 of the flare altitude. + meter + + + Landing heading hold horizontal distance + + + Enable or disable usage of terrain estimate during landing + 0: disabled, 1: enabled + + + + + Multicopter max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + + + Multicopter max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + + + Multicopter max rotation + Maximum allowed around each axis to trigger a land (degrees per second) + + + Multicopter max throttle + Maximum actuator output on throttle before triggering a land + + + Fixedwing max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + + + Fixedwing max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + + + Airspeed max + Maximum airspeed allowed to trigger a land (m/s) + + + + + Enable launch detection + 0 + 1 + + + Catapult accelerometer theshold + LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + 0 + + + Catapult time theshold + LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + 0 + + + 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 LAUN_THR_PRE, set to 0 to deactivate + 0 + seconds + + + 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 + 45 + deg + + + Throttle setting while detecting launch + The throttle is set to this value while the system is waiting for the take-off. + 0 + 1 + + + + + MAVLink system ID + + + MAVLink component ID + + + MAVLink type + + + Use/Accept HIL GPS message (even if not in HIL mode) + If set to 1 incomming HIL GPS messages are parsed. + + + Forward external setpoint messages + If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard + control mode + + + + + Enables testmode (Identify) of MKBLCTRL Driver + + + + + Take-off altitude + Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to + MIS_TAKEOFF_ALT on takeoff, then go to waypoint. + meters + + + Enable persistent onboard mission storage + When enabled, missions that have been uploaded by the GCS are stored + and reloaded after reboot persistently. + 0 + 1 + + + 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. + 0 + 1000 + + + Altitude setpoint mode + 0: the system will follow a zero order hold altitude setpoint + 1: the system will follow a first order hold altitude setpoint + values follow the definition in enum mission_altitude_mode + 0 + 1 + + + Multirotor only. Yaw setpoint mode + 0: Set the yaw heading to the yaw value specified for the destination waypoint. + 1: Maintain a yaw heading pointing towards the next waypoint. + 2: Maintain a yaw heading that always points to the home location. + 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). + The values are defined in the enum mission_altitude_mode + 0 + 3 + + + Loiter radius (FW only) + Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + 20 + 200 + meters + + + Acceptance Radius + Default acceptance radius, overridden by acceptance radius of waypoint if set. + 0.05 + 200 + meters + + + Set OBC mode for data link loss + If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + 0 + + + Set OBC mode for rc loss + If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + 0 + + + + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Roll rate feedforward + Improves tracking performance. + 0.0 + + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Pitch rate feedforward + Improves tracking performance. + 0.0 + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Yaw rate feedforward + Improves tracking performance. + 0.0 + + + Yaw feed forward + 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 + + + Max roll rate + Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + + Max pitch rate + Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + + Max acro roll rate + 0.0 + 360.0 + deg/s + + + Max acro pitch rate + 0.0 + 360.0 + deg/s + + + Max acro yaw rate + 0.0 + deg/s + + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + + + Yaw feed forward + 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 + + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + + + Max acro roll rate + 0.0 + 360.0 + deg/s + + + Max acro pitch rate + 0.0 + 360.0 + deg/s + + + Max acro yaw rate + 0.0 + deg/s + + + Max manual roll + 0.0 + 90.0 + deg + + + Max manual pitch + 0.0 + 90.0 + deg + + + Max manual yaw rate + 0.0 + deg/s + + + + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 + + + Proportional gain for vertical position error + 0.0 + + + Proportional gain for vertical velocity error + 0.0 + + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + + + Differential gain for vertical velocity error + 0.0 + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). + 0.0 + m/s + + + Vertical velocity feed forward + 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 + + + Proportional gain for horizontal position error + 0.0 + + + Proportional gain for horizontal velocity error + 0.0 + + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.0 + + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + + + Horizontal velocity feed forward + 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 + + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + + + Landing descend rate + 0.0 + m/s + + + Max manual roll + 0.0 + 90.0 + deg + + + Max manual pitch + 0.0 + 90.0 + deg + + + Max manual yaw rate + 0.0 + deg/s + + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 + + + Proportional gain for vertical position error + 0.0 + + + Proportional gain for vertical velocity error + 0.0 + + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + + + Differential gain for vertical velocity error + 0.0 + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + 0.0 + m/s + + + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + + + Proportional gain for horizontal position error + 0.0 + + + Proportional gain for horizontal velocity error + 0.0 + + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.0 + + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + + + Horizontal velocity feed forward + 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 + + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + + + Landing descend rate + 0.0 + m/s + + + + + Ground drag property + This parameter encodes the ground drag coefficient and the corresponding + decrease in wind speed from the plane altitude to ground altitude. + 0.001 + 0.1 + unknown + + + Plane turn radius + The planes known minimal turn radius - use a higher value + to make the plane maneuver more distant from the actual drop + position. This is to ensure the wings are level during the drop. + 30.0 + 500.0 + meter + + + Drop precision + If the system is closer than this distance on passing over the + drop position, it will release the payload. This is a safeguard + to prevent a drop out of the required accuracy. + 1.0 + 80.0 + meter + + + Payload drag coefficient of the dropped object + The drag coefficient (cd) is the typical drag + constant for air. It is in general object specific, + but the closest primitive shape to the actual object + should give good results: + http://en.wikipedia.org/wiki/Drag_coefficient + 0.08 + 1.5 + meter + + + Payload mass + A typical small toy ball: + 0.025 kg + OBC water bottle: + 0.6 kg + 0.001 + 5.0 + kilogram + + + Payload front surface area + A typical small toy ball: + (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 + OBC water bottle: + (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 + 0.001 + 0.5 + m^2 + + + + + Velocity estimate delay + The delay in milliseconds of the velocity estimate from GPS. + 0 + 1000 + + + Position estimate delay + The delay in milliseconds of the position estimate from GPS. + 0 + 1000 + + + Height estimate delay + The delay in milliseconds of the height estimate from the barometer. + 0 + 1000 + + + Mag estimate delay + The delay in milliseconds of the magnetic field estimate from + the magnetometer. + 0 + 1000 + + + True airspeeed estimate delay + The delay in milliseconds of the airspeed estimate. + 0 + 1000 + + + GPS vs. barometric altitude update weight + RE-CHECK this. + 0.0 + 1.0 + + + Airspeed measurement noise + Increasing this value will make the filter trust this sensor + less and trust other sensors more. + 0.5 + 5.0 + + + Velocity measurement noise in north-east (horizontal) direction + Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 + 0.05 + 5.0 + + + Velocity noise in down (vertical) direction + Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + 0.05 + 5.0 + + + Position noise in north-east (horizontal) direction + Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 + 0.1 + 10.0 + + + Position noise in down (vertical) direction + Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + 0.1 + 10.0 + + + Magnetometer measurement noise + Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 + 0.1 + 10.0 + + + Gyro process noise + Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. + This noise controls how much the filter trusts the gyro measurements. + Increasing it makes the filter trust the gyro less and other sensors more. + 0.001 + 0.05 + + + Accelerometer process noise + Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. + Increasing this value makes the filter trust the accelerometer less + and other sensors more. + 0.05 + 1.0 + + + Gyro bias estimate process noise + Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. + Increasing this value will make the gyro bias converge faster but noisier. + 0.0000001 + 0.00001 + + + Accelerometer bias estimate process noise + Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. + Increasing this value makes the bias estimation faster and noisier. + 0.00001 + 0.001 + + + Magnetometer earth frame offsets process noise + Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. + Increasing this value makes the magnetometer earth bias estimate converge + faster but also noisier. + 0.0001 + 0.01 + + + Magnetometer body frame offsets process noise + Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. + Increasing this value makes the magnetometer body bias estimate converge faster + but also noisier. + 0.0001 + 0.01 + + + Threshold for filter initialization + If the standard deviation of the GPS position estimate is below this threshold + in meters, the filter will initialize. + 0.3 + 10.0 + + + + + Z axis weight for barometer + Weight (cutoff frequency) for barometer altitude measurements. + 0.0 + 10.0 + + + Z axis weight for GPS + Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. + 0.0 + 10.0 + + + Z velocity weight for GPS + Weight (cutoff frequency) for GPS altitude velocity measurements. + 0.0 + 10.0 + + + Z axis weight for vision + Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. + 0.0 + 10.0 + + + Z axis weight for sonar + Weight (cutoff frequency) for sonar measurements. + 0.0 + 10.0 + + + XY axis weight for GPS position + Weight (cutoff frequency) for GPS position measurements. + 0.0 + 10.0 + + + XY axis weight for GPS velocity + Weight (cutoff frequency) for GPS velocity measurements. + 0.0 + 10.0 + + + XY axis weight for vision position + Weight (cutoff frequency) for vision position measurements. + 0.0 + 10.0 + + + XY axis weight for vision velocity + Weight (cutoff frequency) for vision velocity measurements. + 0.0 + 10.0 + + + XY axis weight for optical flow + Weight (cutoff frequency) for optical flow (velocity) measurements. + 0.0 + 10.0 + + + XY axis weight for resetting velocity + When velocity sources lost slowly decrease estimated horizontal velocity with this weight. + 0.0 + 10.0 + + + XY axis weight factor for GPS when optical flow available + When optical flow data available, multiply GPS weights (for position and velocity) by this factor. + 0.0 + 1.0 + + + Accelerometer bias estimation weight + Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. + 0.0 + 0.1 + + + Optical flow scale factor + Factor to convert raw optical flow (in pixels) to radians [rad/px]. + 0.0 + 1.0 + rad/px + + + Minimal acceptable optical flow quality + 0 - lowest quality, 1 - best quality. + 0.0 + 1.0 + + + Weight for sonar filter + Sonar filter detects spikes on sonar measurements and used to detect new surface level. + 0.0 + 1.0 + + + Sonar maximal error for new surface + If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). + 0.0 + 1.0 + m + + + Land detector time + Vehicle assumed landed if no altitude changes happened during this time on low throttle. + 0.0 + 10.0 + s + + + Land detector altitude dispersion threshold + Dispersion threshold for triggering land detector. + 0.0 + 10.0 + m + + + Land detector throttle threshold + Value should be lower than minimal hovering thrust. Half of it is good choice. + 0.0 + 1.0 + + + GPS delay + GPS delay compensation + 0.0 + 1.0 + s + + + Disable vision input + Set to the appropriate key (328754) to disable vision input. + 0 + 1 + + + INAV enabled + If set to 1, use INAV for position estimation + the system uses the combined attitude / position + filter framework. + 0 + 1 + + + + + RC Channel 1 Minimum + Minimum value for RC channel 1 + 800.0 + 1500.0 + + + RC Channel 1 Trim + Mid point value (same as min for throttle) + 800.0 + 2200.0 + + + RC Channel 1 Maximum + Maximum value for RC channel 1 + 1500.0 + 2200.0 + + + RC Channel 1 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + + + RC Channel 1 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 Minimum + Minimum value for RC channel 2 + 800.0 + 1500.0 + + + RC Channel 2 Trim + Mid point value (same as min for throttle) + 800.0 + 2200.0 + + + RC Channel 2 Maximum + Maximum value for RC channel 2 + 1500.0 + 2200.0 + + + RC Channel 2 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + + + DSM binding trigger + -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + + + RC channel count + This parameter is used by Ground Station software to save the number + of channels which were used during RC calibration. It is only meant + for ground station use. + 0 + 18 + + + RC mode switch threshold automaic distribution + This parameter is used by Ground Station software to specify whether + the threshold values for flight mode switches were automatically calculated. + 0 indicates that the threshold values were set by the user. Any other value + indicates that the threshold value where automatically set by the ground + station software. It is only meant for ground station use. + 0 + 1 + + + Roll control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading roll inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Pitch control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading pitch inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Throttle control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading throttle inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Yaw control channel mapping + The channel index (starting from 1 for channel 1) indicates + which channel should be used for reading yaw inputs from. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Auxiliary switch 1 channel mapping + Default function: Camera pitch + 0 + 18 + + + Auxiliary switch 2 channel mapping + Default function: Camera roll + 0 + 18 + + + Auxiliary switch 3 channel mapping + Default function: Camera azimuth / yaw + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Channel which changes a parameter + Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. + Set to 0 to deactivate * + 0 + 18 + + + Failsafe channel PWM threshold + 800 + 2200 + + + PWM input channel that provides RSSI + 0: do not read RSSI from input channel + 1-18: read RSSI from specified input channel + Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters. + 0 + 18 + + + Max input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + + + Min input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + + + + + Loiter Time + The amount of time in seconds the system should loiter at current position before termination + Set to -1 to make the system skip loitering + -1.0 + seconds + + + + + Mode switch channel mapping + This is the main flight mode selector. + The channel index (starting from 1 for channel 1) indicates + which channel should be used for deciding about the main mode. + A value of zero indicates the switch is not assigned. + 0 + 18 + + + Return switch channel mapping + 0 + 18 + + + Posctl switch channel mapping + 0 + 18 + + + Loiter switch channel mapping + 0 + 18 + + + Acro switch channel mapping + 0 + 18 + + + Offboard switch channel mapping + 0 + 18 + + + Flaps channel mapping + 0 + 18 + + + Threshold for selecting assist mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting auto mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting return to launch mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting loiter mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting acro mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + Threshold for selecting offboard mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + + + + RTL altitude + Altitude to fly back in RTL in meters + 0 + 150 + meters + + + RTL loiter altitude + Stay at this altitude above home position after RTL descending. + Land (i.e. slowly descend) from this altitude if autolanding allowed. + 2 + 100 + meters + + + RTL delay + Delay after descend before landing in RTL mode. + If set to -1 the system will not land but loiter at NAV_LAND_ALT. + -1 + 300 + seconds + + + + + 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). + -1 + 1 + + + Enable extended logging mode + A value of -1 indicates the commandline 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). + -1 + 1 + + + + + ID of the board this parameter set was calibrated on + + + ID of the Gyro that the calibration is for + + + Gyro X-axis offset + -10.0 + 10.0 + + + Gyro Y-axis offset + -10.0 + 10.0 + + + Gyro Z-axis offset + -5.0 + 5.0 + + + Gyro X-axis scaling factor + -1.5 + 1.5 + + + Gyro Y-axis scaling factor + -1.5 + 1.5 + + + Gyro Z-axis scaling factor + -1.5 + 1.5 + + + ID of Magnetometer the calibration is for + + + Rotation of magnetometer 0 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 + + + Magnetometer X-axis offset + -500.0 + 500.0 + + + Magnetometer Y-axis offset + -500.0 + 500.0 + + + Magnetometer Z-axis offset + -500.0 + 500.0 + + + Magnetometer X-axis scaling factor + + + Magnetometer Y-axis scaling factor + + + Magnetometer Z-axis scaling factor + + + ID of the Accelerometer that the calibration is for + + + Accelerometer X-axis offset + + + Accelerometer Y-axis offset + + + Accelerometer Z-axis offset + + + Accelerometer X-axis scaling factor + + + Accelerometer Y-axis scaling factor + + + Accelerometer Z-axis scaling factor + + + ID of the Gyro that the calibration is for + + + Gyro X-axis offset + -10.0 + 10.0 + + + Gyro Y-axis offset + -10.0 + 10.0 + + + Gyro Z-axis offset + -5.0 + 5.0 + + + Gyro X-axis scaling factor + -1.5 + 1.5 + + + Gyro Y-axis scaling factor + -1.5 + 1.5 + + + Gyro Z-axis scaling factor + -1.5 + 1.5 + + + ID of Magnetometer the calibration is for + + + Rotation of magnetometer 1 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 + + + Magnetometer X-axis offset + -500.0 + 500.0 + + + Magnetometer Y-axis offset + -500.0 + 500.0 + + + Magnetometer Z-axis offset + -500.0 + 500.0 + + + Magnetometer X-axis scaling factor + + + Magnetometer Y-axis scaling factor + + + Magnetometer Z-axis scaling factor + + + ID of the Accelerometer that the calibration is for + + + Accelerometer X-axis offset + + + Accelerometer Y-axis offset + + + Accelerometer Z-axis offset + + + Accelerometer X-axis scaling factor + + + Accelerometer Y-axis scaling factor + + + Accelerometer Z-axis scaling factor + + + ID of the Gyro that the calibration is for + + + Gyro X-axis offset + -10.0 + 10.0 + + + Gyro Y-axis offset + -10.0 + 10.0 + + + Gyro Z-axis offset + -5.0 + 5.0 + + + Gyro X-axis scaling factor + -1.5 + 1.5 + + + Gyro Y-axis scaling factor + -1.5 + 1.5 + + + Gyro Z-axis scaling factor + -1.5 + 1.5 + + + ID of Magnetometer the calibration is for + + + 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 + + + Magnetometer X-axis offset + -500.0 + 500.0 + + + Magnetometer Y-axis offset + -500.0 + 500.0 + + + Magnetometer Z-axis offset + -500.0 + 500.0 + + + Magnetometer X-axis scaling factor + + + Magnetometer Y-axis scaling factor + + + Magnetometer Z-axis scaling factor + + + ID of the Accelerometer that the calibration is for + + + Accelerometer X-axis offset + + + Accelerometer Y-axis offset + + + Accelerometer Z-axis offset + + + Accelerometer X-axis scaling factor + + + Accelerometer Y-axis scaling factor + + + Accelerometer Z-axis scaling factor + + + Differential pressure sensor offset + The offset (zero-reading) in Pascal + + + Differential pressure sensor analog scaling + Pick the appropriate scaling from the datasheet. + this number defines the (linear) conversion from voltage + to Pascal (pa). For the MPXV7002DP this is 1000. + NOTE: If the sensor always registers zero, try switching + the static and dynamic tubes. + + + QNH for barometer + 500 + 1500 + hPa + + + Board rotation + This parameter defines the rotation of the FMU board relative to the platform. + Possible values are: + 0 = No rotation + 1 = Yaw 45° + 2 = Yaw 90° + 3 = Yaw 135° + 4 = Yaw 180° + 5 = Yaw 225° + 6 = Yaw 270° + 7 = Yaw 315° + 8 = Roll 180° + 9 = Roll 180°, Yaw 45° + 10 = Roll 180°, Yaw 90° + 11 = Roll 180°, Yaw 135° + 12 = Pitch 180° + 13 = Roll 180°, Yaw 225° + 14 = Roll 180°, Yaw 270° + 15 = Roll 180°, Yaw 315° + 16 = Roll 90° + 17 = Roll 90°, Yaw 45° + 18 = Roll 90°, Yaw 90° + 19 = Roll 90°, Yaw 135° + 20 = Roll 270° + 21 = Roll 270°, Yaw 45° + 22 = Roll 270°, Yaw 90° + 23 = Roll 270°, Yaw 135° + 24 = Pitch 90° + 25 = Pitch 270° + + + PX4Flow board rotation + This parameter defines the rotation of the PX4FLOW board relative to the platform. + Zero rotation is defined as Y on flow board pointing towards front of vehicle + Possible values are: + 0 = No rotation + 1 = Yaw 45° + 2 = Yaw 90° + 3 = Yaw 135° + 4 = Yaw 180° + 5 = Yaw 225° + 6 = Yaw 270° + 7 = Yaw 315° + + + Board rotation Y (Pitch) offset + This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user + to fine tune the board offset in the event of misalignment. + + + Board rotation X (Roll) offset + This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user + to fine tune the board offset in the event of misalignment. + + + Board rotation Z (YAW) offset + This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user + to fine tune the board offset in the event of misalignment. + + + External magnetometer rotation + This parameter defines the rotation of the external magnetometer relative + to the platform (not relative to the FMU). + See SENS_BOARD_ROT for possible values. + + + Set usage of external magnetometer + * Set to 0 (default) to auto-detect (will try to get the external as primary) + * Set to 1 to force the external magnetometer as primary + * Set to 2 to force the internal magnetometer as primary + 0 + 2 + + + + + Interval of one subscriber in the example in ms + + + Float Demonstration Parameter in the Example + + + + + Auto-start script index + Defines the auto-start script used to bootstrap the system. + + + Automatically configure default values + Set to 1 to reset parameters on next system startup (setting defaults). + Platform-specific values are used if available. + RC* parameters are preserved. + 0 + 1 + + + Set usage of IO board + Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. + 0 + 1 + + + Set restart type + Set by px4io to indicate type of restart + 0 + 2 + + + Companion computer interface + Configures the baud rate of the companion computer interface. + Set to zero to disable, set to 921600 to enable. + CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for + other baud rates. + 0 + 921600 + + + Parameter version + This monotonically increasing number encodes the parameter compatibility set. + whenever it increases parameters might not be backwards compatible and + ground control stations should suggest a fresh configuration. + 0 + + + + + Enable UAVCAN + Enables support for UAVCAN-interfaced actuators and sensors. + 0 + 1 + + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + + + UAVCAN CAN bus bitrate + 20000 + 1000000 + + + + + VTOL number of engines + 1 + + + Idle speed of VTOL when in multicopter mode + 900 + + + Minimum airspeed in multicopter mode + This is the minimum speed of the air flowing over the control surfaces. + 0.0 + + + Maximum airspeed in multicopter mode + This is the maximum speed of the air flowing over the control surfaces. + 0.0 + + + Trim airspeed when in multicopter mode + This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + 0.0 + + + Permanent stabilization in fw mode + If set to one this parameter will cause permanent attitude stabilization in fw mode. + This parameter has been introduced for pure convenience sake. + 0 + 1 + + + Fixed wing pitch trim + This parameter allows to adjust the neutral elevon position in fixed wing mode. + -1 + 1 + + + Motor max power + Indicates the maximum power the motor is able to produce. Used to calculate + propeller efficiency map. + 1 + + + Propeller efficiency parameter + Influences propeller efficiency at different power settings. Should be tuned beforehand. + 0.5 + 0.9 + + + Total airspeed estimate low-pass filter gain + Gain for tuning the low-pass filter for the total airspeed estimate + 0.0 + 0.99 + + + + + mTECS enabled + Set to 1 to enable mTECS + 0 + 1 + + + Total Energy Rate Control Feedforward + Maps the total energy rate setpoint to the throttle setpoint + 0.0 + 10.0 + + + Total Energy Rate Control P + Maps the total energy rate error to the throttle setpoint + 0.0 + 10.0 + + + Total Energy Rate Control I + Maps the integrated total energy rate to the throttle setpoint + 0.0 + 10.0 + + + Total Energy Rate Control Offset (Cruise throttle sp) + 0.0 + 10.0 + + + Energy Distribution Rate Control Feedforward + Maps the energy distribution rate setpoint to the pitch setpoint + 0.0 + 10.0 + + + Energy Distribution Rate Control P + Maps the energy distribution rate error to the pitch setpoint + 0.0 + 10.0 + + + Energy Distribution Rate Control I + Maps the integrated energy distribution rate error to the pitch setpoint + 0.0 + 10.0 + + + Total Energy Distribution Offset (Cruise pitch sp) + 0.0 + 10.0 + + + Minimal Throttle Setpoint + 0.0 + 1.0 + + + Maximal Throttle Setpoint + 0.0 + 1.0 + + + Minimal Pitch Setpoint in Degrees + -90.0 + 90.0 + deg + + + Maximal Pitch Setpoint in Degrees + -90.0 + 90.0 + deg + + + Lowpass (cutoff freq.) for altitude + + + Lowpass (cutoff freq.) for the flight path angle + + + P gain for the altitude control + Maps the altitude error to the flight path angle setpoint + 0.0 + 10.0 + + + D gain for the altitude control + Maps the change of altitude error to the flight path angle setpoint + 0.0 + 10.0 + + + Lowpass for FPA error derivative calculation (see MT_FPA_D) + + + Minimal flight path angle setpoint + -90.0 + 90.0 + deg + + + Maximal flight path angle setpoint + -90.0 + 90.0 + deg + + + Lowpass (cutoff freq.) for airspeed + + + Airspeed derivative calculation lowpass + + + P gain for the airspeed control + Maps the airspeed error to the acceleration setpoint + 0.0 + 10.0 + + + D gain for the airspeed control + Maps the change of airspeed error to the acceleration setpoint + 0.0 + 10.0 + + + Lowpass for ACC error derivative calculation (see MT_ACC_D) + + + Minimal acceleration (air) + m/s^2 + + + Maximal acceleration (air) + m/s^2 + + + Minimal throttle during takeoff + 0.0 + 1.0 + + + Maximal throttle during takeoff + 0.0 + 1.0 + + + Minimal pitch during takeoff + -90.0 + 90.0 + deg + + + Maximal pitch during takeoff + -90.0 + 90.0 + deg + + + Minimal throttle in underspeed mode + 0.0 + 1.0 + + + Maximal throttle in underspeed mode + 0.0 + 1.0 + + + Minimal pitch in underspeed mode + -90.0 + 90.0 + deg + + + Maximal pitch in underspeed mode + -90.0 + 90.0 + deg + + + Minimal throttle in landing mode (only last phase of landing) + 0.0 + 1.0 + + + Maximal throttle in landing mode (only last phase of landing) + 0.0 + 1.0 + + + Minimal pitch in landing mode + -90.0 + 90.0 + deg + + + Maximal pitch in landing mode + -90.0 + 90.0 + deg + + + Integrator Limit for Total Energy Rate Control + 0.0 + 10.0 + + + Integrator Limit for Energy Distribution Rate Control + 0.0 + 10.0 + + + + + EXFW_HDNG_P + + + EXFW_ROLL_P + + + EXFW_PITCH_P + + + FPE_LO_THRUST + + + FPE_SONAR_LP_U + + + FPE_SONAR_LP_L + + + FPE_DEBUG + + + RV_YAW_P + + + ATT_MAG_DECL + + + ATT_ACC_COMP + + + SO3_COMP_KP + + + SO3_COMP_KI + + + SO3_ROLL_OFFS + + + SO3_PITCH_OFFS + + + SO3_YAW_OFFS + + + TRIM_ROLL + + + TRIM_PITCH + + + TRIM_YAW + + + TEST_MIN + + + TEST_MAX + + + TEST_TRIM + + + TEST_HP + + + TEST_LP + + + TEST_P + + + TEST_I + + + TEST_I_MAX + + + TEST_D + + + TEST_D_LP + + + TEST_MEAN + + + TEST_DEV + + + FWB_P_LP + + + FWB_Q_LP + + + FWB_R_LP + + + FWB_R_HP + + + FWB_P2AIL + + + FWB_Q2ELV + + + FWB_R2RDR + + + FWB_PSI2PHI + + + FWB_PHI2P + + + FWB_PHI_LIM_MAX + + + FWB_V2THE_P + + + FWB_V2THE_I + + + FWB_V2THE_D + + + FWB_V2THE_D_LP + + + FWB_V2THE_I_MAX + + + FWB_THE_MIN + + + FWB_THE_MAX + + + FWB_THE2Q_P + + + FWB_THE2Q_I + + + FWB_THE2Q_D + + + FWB_THE2Q_D_LP + + + FWB_THE2Q_I_MAX + + + FWB_H2THR_P + + + FWB_H2THR_I + + + FWB_H2THR_D + + + FWB_H2THR_D_LP + + + FWB_H2THR_I_MAX + + + FWB_XT2YAW_MAX + + + FWB_XT2YAW + + + FWB_V_MIN + + + FWB_V_CMD + + + FWB_V_MAX + + + FWB_CR_MAX + + + FWB_CR2THR_P + + + FWB_CR2THR_I + + + FWB_CR2THR_D + + + FWB_CR2THR_D_LP + + + FWB_CR2THR_I_MAX + + + FWB_TRIM_THR + + + FWB_TRIM_V + + + Flare, minimum pitch + Minimum pitch during flare, a positive sign means nose up + Applied once FW_LND_TLALT is reached + + + Flare, maximum pitch + Maximum pitch during flare, a positive sign means nose up + Applied once FW_LND_TLALT is reached + + + SEG_TH2V_P + + + SEG_TH2V_I + + + SEG_TH2V_I_MAX + + + SEG_Q2V + + + RC_RL1_DSM_VCC + + + Failsafe channel mapping + The RC mapping index indicates which channel is used for failsafe + If 0, whichever channel is mapped to throttle is used + otherwise the value indicates the specific rc channel to use + 0 + 18 + + + Threshold for selecting posctl mode + 0-1 indicate where in the full channel range the threshold sits + 0 : min + 1 : max + sign indicates polarity of comparison + positive : true when channel>th + negative : true when channel<th + -1 + 1 + + -- 2.22.0