diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index f0fa16d8bb03eaa912eb7a14c2536348f3602833..ccf5323ca8e749808cf0069a978653d261bf8018 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -974,7 +974,7 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
3
0.01
-
+
Maximum magnetic field inconsistency between units that will allow arming
Set -1 to disable the check
3
@@ -8146,12 +8146,20 @@ Particularly useful for testing different low-battery behaviour
-
- Accelerometer 0 enabled
-
ID of the Accelerometer that the calibration is for
+
+ Accelerometer 0 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Accelerometer X-axis offset
@@ -8170,12 +8178,20 @@ Particularly useful for testing different low-battery behaviour
Accelerometer Z-axis scaling factor
-
- Accelerometer 1 enabled
-
ID of the Accelerometer that the calibration is for
+
+ Accelerometer 1 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Accelerometer X-axis offset
@@ -8194,12 +8210,20 @@ Particularly useful for testing different low-battery behaviour
Accelerometer Z-axis scaling factor
-
- Accelerometer 2 enabled
-
ID of the Accelerometer that the calibration is for
+
+ Accelerometer 2 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Accelerometer X-axis offset
@@ -8218,15 +8242,20 @@ Particularly useful for testing different low-battery behaviour
Accelerometer Z-axis scaling factor
-
- Primary accel ID
-
-
- Gyro 0 enabled
-
ID of the Gyro that the calibration is for
+
+ Gyro 0 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Gyro X-axis offset
@@ -8236,12 +8265,20 @@ Particularly useful for testing different low-battery behaviour
Gyro Z-axis offset
-
- Gyro 1 enabled
-
ID of the Gyro that the calibration is for
+
+ Gyro 1 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Gyro X-axis offset
@@ -8251,12 +8288,20 @@ Particularly useful for testing different low-battery behaviour
Gyro Z-axis offset
-
- Gyro 2 enabled
-
ID of the Gyro that the calibration is for
+
+ Gyro 2 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
Gyro X-axis offset
@@ -8266,15 +8311,20 @@ Particularly useful for testing different low-battery behaviour
Gyro Z-axis offset
-
- Primary gyro ID
-
-
- Mag 0 enabled
-
ID of Magnetometer the calibration is for
+
+ Mag 0 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
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.
@@ -8338,6 +8388,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer X-axis off diagonal factor
+
Magnetometer X-axis offset
@@ -8351,6 +8404,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Y-axis off diagonal factor
+
Magnetometer Y-axis offset
@@ -8364,18 +8420,29 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Z-axis off diagonal factor
+
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
-
- Mag 1 enabled
-
ID of Magnetometer the calibration is for
+
+ Mag 1 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
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.
@@ -8439,6 +8506,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer X-axis off diagonal factor
+
Magnetometer X-axis offset
@@ -8452,6 +8522,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Y-axis off diagonal factor
+
Magnetometer Y-axis offset
@@ -8465,18 +8538,29 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Z-axis off diagonal factor
+
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
-
- Mag 2 enabled
-
ID of Magnetometer the calibration is for
+
+ Mag 2 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
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.
@@ -8540,6 +8624,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer X-axis off diagonal factor
+
Magnetometer X-axis offset
@@ -8553,6 +8640,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Y-axis off diagonal factor
+
Magnetometer Y-axis offset
@@ -8566,20 +8656,31 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Z-axis off diagonal factor
+
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
-
- Mag 3 enabled
-
ID of Magnetometer the calibration is for
+
+ Mag 3 priority
+
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
- Rotation of magnetometer 2 relative to airframe
+ Rotation of magnetometer 3 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
45
@@ -8641,6 +8742,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer X-axis off diagonal factor
+
Magnetometer X-axis offset
@@ -8654,6 +8758,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Y-axis off diagonal factor
+
Magnetometer Y-axis offset
@@ -8667,6 +8774,9 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP
Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]
+
+ Magnetometer Z-axis off diagonal factor
+
Magnetometer Z-axis offset
@@ -8682,9 +8792,6 @@ for current-based compensation [G/kA]
Current-based compensation (battery_status instance 1)
-
- Primary mag ID
-
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.
@@ -8760,9 +8867,13 @@ is less than 50% of this value
2.00
meter
+
+ Automatically set external rotations
+ During calibration attempt to automatically determine the rotation of external magnetometers.
+
Bitfield selecting mag sides for calibration
- If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32
+ If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32
34
63
@@ -9140,6 +9251,14 @@ How often the sensor is readout
Radio Controller
+
+ Magnetometer max rate
+ Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependant on the sensor.
+ 1
+ 200
+ Hz
+ true
+
MaxBotix MB12XX Sensor 0 Rotation
This parameter defines the rotation of the sensor relative to the platform.