diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index 12ae759492640de6d6310653473685ce982e86ed..b1b6a2b7b199a3475da3077d5459c5113b96ea5b 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -25,9 +25,7 @@ EKF attitude estimator enabled - If enabled, it uses the older EKF filter. -However users can enable the new quaternion -based complimentary filter by setting EKF_ATT_ENABLED = 0. + If enabled, it uses the older EKF filter. However users can enable the new quaternion based complimentary filter by setting EKF_ATT_ENABLED = 0. 0 1 @@ -68,9 +66,7 @@ based complimentary filter by setting EKF_ATT_ENABLED = 0. Magnetic declination, in degrees - This parameter is not used in normal operation, -as the declination is looked up based on the -GPS coordinates of the vehicle. + This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle. degrees @@ -90,18 +86,13 @@ velocity 2 rad/s + + Threshold (of RMS) to warn about high vibration levels + 0.001 + 100 + - - 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 - Empty cell voltage Defines the voltage where a single cell of the battery is considered empty. @@ -114,13 +105,15 @@ velocity Voltage drop per cell on 100% load - This implicitely defines the internal resistance -to maximum current ratio and assumes linearity. + This implicitely defines the internal resistance to maximum current ratio and assumes linearity. + 0.0 V Number of cells Defines the number of cells the attached battery consists of. + 1 + 10 S @@ -128,62 +121,91 @@ to maximum current ratio and assumes linearity. Defines the capacity of the attached battery. mA + + Scaling factor for battery voltage sensor on PX4IO + 1 + 100000 + + + CONFIG_ARCH_BOARD_PX4FMU_V2 + Scaling factor for battery voltage sensor on FMU v2 + + + Scaling factor for battery current sensor + + + + + Camera trigger interval + This parameter sets the time between two consecutive trigger events + 4.0 + 10000.0 + milliseconds + + + Camera trigger polarity + This parameter sets the polarity of the trigger (0 = ACTIVE_LOW, 1 = ACTIVE_HIGH ) + 0 + 1 + + + Camera trigger activation time + This parameter sets the time the trigger needs to pulled high or low. + milliseconds + + + Camera trigger mode + 0 disables the trigger, 1 sets it to enabled on command, 2 always on + 0 + 2 + + + Camera trigger pin + Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6) + 1 + 123456 + 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 + 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 + 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 + Setting this parameter to 22027 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 + 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 + 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 + 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 GPS failure detection - Setting this parameter to 240024 will disable the GPS failure detection. -If this check is enabled, then the sensor check will fail if the GPS module -is missing. It will also check for excessive signal noise on the GPS receiver -and warn the user if detected. -WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 240024 @@ -204,8 +226,7 @@ WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK Datalink regain time threshold - After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' -flag is set back to false + 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 @@ -218,16 +239,16 @@ flag is set back to false Engine Failure Current/Throttle Threshold - Engine failure triggers only below this current/throttle value + Engine failure triggers only below this current value 0.0 - 7.0 + 30.0 + ampere Engine Failure Time Threshold - Engine failure triggers only if the throttle threshold and the -current to throttle threshold are violated for this time + Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time 0.0 - 7.0 + 60.0 second @@ -237,43 +258,34 @@ current to throttle threshold are violated for this time 35 second + + Home set horizontal threshold + The home position will be set if the estimated positioning accuracy is below the threshold. + 2 + 15 + meter + + + Home set vertical threshold + The home position will be set if the estimated positioning accuracy is below the threshold. + 5 + 25 + meter + Autosaving of params - 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. + 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 RC control input mode - The default value of 0 requires a valid RC transmitter setup. -Setting this to 1 disables RC input handling and the associated checks. A value of -2 will generate RC control data from manual input received via MAVLink instead -of directly forwarding the manual input data. + The default value of 0 requires a valid RC transmitter setup. Setting this to 1 disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data. 0 2 - - 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 - Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint @@ -283,23 +295,26 @@ of directly forwarding the manual input data. Comms hold Lat Latitude of comms hold waypoint - 0 + -900000000 + 900000000 degrees * 1e7 Comms hold Lon Longitude of comms hold waypoint - 0 + -1800000000 + 1800000000 degrees * 1e7 Comms hold alt Altitude of comms hold waypoint - 0.0 + -50 + 30000 m - Aifield hole wait time + Airfield hole wait time The amount of time in seconds the system should wait at the airfield home waypoint 0.0 seconds @@ -312,80 +327,82 @@ of directly forwarding the manual input data. 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 + 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 + -900000000 + 900000000 + degrees * 1e7 + + + Airfield home Lon + Longitude of airfield home waypoint + -1800000000 + 1800000000 + degrees * 1e7 + + + Airfield home alt + Altitude of airfield home waypoint + -50 + 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. + 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. + This defines how much the elevator input will be commanded depending on the current body angular rate error. 0.005 1.0 - + 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 + This gain defines how much control response will result out of a steady state error. It trims any constant error. + 0.005 + 0.5 - + 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. + 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. + 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 + 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. + This defines how much the aileron input will be commanded depending on the current body angular rate error. 0.005 1.0 - + 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 + This gain defines how much control response will result out of a steady state error. It trims any constant error. + 0.005 + 0.2 Roll Integrator Anti-Windup @@ -393,52 +410,45 @@ state error. It trims any constant error. 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. + 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. + This defines how much the rudder input will be commanded depending on the current body angular rate error. 0.005 1.0 Yaw rate integrator gain - This gain defines how much control response will result out of a steady -state error. It trims any constant error. + 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 + 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. + 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. Use this -to obtain a tigher response of the controller without introducing -noise amplification. + Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification. 0.0 10.0 - + Pitch rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 @@ -452,23 +462,19 @@ noise amplification. 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. + 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 + 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. + If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. 0.0 40 m/s @@ -482,26 +488,21 @@ increase airspeed more aggressively. Maximum Airspeed - If the airspeed is above this value, the TECS controller will try to decrease -airspeed more aggressively. + 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. + 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. + 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 @@ -524,96 +525,51 @@ speed of the airframe. 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. + 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. + 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. + 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. + 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. + 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. + 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. + 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. + 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. + 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. + 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). + 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. + 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 @@ -621,15 +577,14 @@ properly. 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. + 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 @@ -663,16 +618,13 @@ before it goes into flight termination. Geofence altitude mode - Select which altitude reference should be used -0 = WGS84, 1 = AMSL + 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 + 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 @@ -692,12 +644,9 @@ no dependence on the position estimator - + 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. + 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 @@ -707,7 +656,7 @@ slowly during tuning until response is sharp without oscillation. 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 @@ -733,54 +682,40 @@ slowly during tuning until response is sharp without oscillation. 60.0 degrees - + Controller roll limit The maximum roll the controller will output. - 0.0 + 35.0 + 65.0 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. + 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. + 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. + 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. + This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare. + 0.0 + 1.0 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). + 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). + 0.0 + 150.0 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. + 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. + 2.0 + 10.0 Landing slope angle @@ -794,8 +729,7 @@ FW_THR_MAX reduced. 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. + Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude. meter @@ -807,33 +741,47 @@ limiting at 2/3 of the flare altitude. - + Multicopter max climb rate - Maximum vertical velocity allowed to trigger a land (m/s up and down) + Maximum vertical velocity allowed in the landed state (m/s up and down) + m/s - + Multicopter max horizontal velocity - Maximum horizontal velocity allowed to trigger a land (m/s) + Maximum horizontal velocity allowed in the landed state (m/s) + m/s Multicopter max rotation - Maximum allowed around each axis to trigger a land (degrees per second) + Maximum allowed around each axis allowed in the landed state (degrees per second) + deg/s - + Multicopter max throttle - Maximum actuator output on throttle before triggering a land + Maximum actuator output on throttle allowed in the landed state + 0.1 + 0.5 - + Fixedwing max horizontal velocity - Maximum horizontal velocity allowed to trigger a land (m/s) + Maximum horizontal velocity allowed in the landed state (m/s) + 0.5 + 10 + m/s - + Fixedwing max climb rate - Maximum vertical velocity allowed to trigger a land (m/s up and down) + Maximum vertical velocity allowed in the landed state (m/s up and down) + 5 + 20 + m/s - + Airspeed max - Maximum airspeed allowed to trigger a land (m/s) + Maximum airspeed allowed in the landed state (m/s) + 4 + 20 + m/s @@ -854,15 +802,13 @@ limiting at 2/3 of the flare altitude. 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 + 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). + 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 @@ -874,149 +820,38 @@ This allows to limit the maximum pitch angle during a bungee launch (make the la 1 - - - Enable local position estimator - - - Enable accelerometer integration for prediction - - - Optical flow xy standard deviation - 0.01 - 1 - m - - - Sonar z standard deviation - 0.01 - 1 - m - - - Lidar z standard deviation - 0.01 - 1 - m - - - Accelerometer xy standard deviation - 0.01 - 2 - m/s^2 - - - Accelerometer xy standard deviation - 0.01 - 2 - m/s^2 - - - Barometric presssure altitude z standard deviation - 0.01 - 3 - m - - - GPS xy standard deviation - 0.01 - 5 - m - - - GPS z standard deviation - 0.01 - 5 - m - - - GPS xy velocity standard deviation - 0.01 - 2 - m/s - - - GPS z velocity standard deviation - 0.01 - 2 - m/s - - - Vision xy standard deviation - 0.01 - 1 - m - - - Vision z standard deviation - 0.01 - 2 - m - - - Vision xy velocity standard deviation - 0.01 - 2 - m/s - - - Vision z velocity standard deviation - 0.01 - 2 - m/s - - - Circuit breaker to disable vision input - Set to the appropriate key (328754) to disable vision input. - 0 - 1 - - - Vicon position standard deviation - 0.01 - 1 - m - - - Position propagation process noise - 0.01 - 1 - m - - - Velocity propagation process noise - 0.01 - 5 - m/s - - MAVLink system ID 1 250 - + MAVLink component ID 1 - 50 + 250 + + + MAVLink Radio ID + When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. + -1 + 240 - - MAVLink type + + MAVLink airframe type + 1 - Use/Accept HIL GPS message (even if not in HIL mode) - If set to 1 incomming HIL GPS messages are parsed. + Use/Accept HIL GPS message even if not in HIL mode + If set to 1 incoming 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 + If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode Test parameter - This parameter is not actively used by the system. Its purpose is to allow -testing the parameter interface on the communication level. + This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level. -1000 1000 @@ -1027,498 +862,503 @@ testing the parameter interface on the communication level. - - 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 - 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. + 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. + 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. + 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: 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: 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 - - - - Max manual roll - 0.0 - 90.0 - deg + + Loiter radius (FW only) + Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + 25 + 1000 + meter - - Max manual pitch - 0.0 - 90.0 - deg + + Acceptance Radius + Default acceptance radius, overridden by acceptance radius of waypoint if set. + 0.05 + 200.0 + meter - - Max manual yaw rate - 0.0 - deg/s + + 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 + 1 + + + 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 + 1 - + + + 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 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 + + 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. + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to 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 - - 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 + + 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 thrust in auto thrust control + It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.05 + 1.0 + + + Maximum thrust in auto thrust control + Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. + 0.0 + 0.95 + + + Minimum manual 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. + + Maximum manual thrust + Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. 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). + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). 0.0 + 8.0 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. + 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 + degree - + Maximum tilt during landing Limits maximum tilt angle on landing. 0.0 90.0 - deg + degree - + Landing descend rate 0.0 m/s - + + Max manual roll + 0.0 + 90.0 + degree + + + Max manual pitch + 0.0 + 90.0 + degree + + + Max manual yaw rate + 0.0 + degree / 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). + 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, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 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 - - Max manual roll - 0.0 - 90.0 - deg - - - Max manual pitch - 0.0 - 90.0 - deg - - - Max manual yaw rate - 0.0 - deg/s - @@ -1605,61 +1445,94 @@ The values are defined in the enum mission_altitude_mode 0 1 + + Enable S.BUS out + Set to 1 to enable S.BUS version 1 output instead of RSSI. + 0 + 1 + + + Set the minimum PWM for the MAIN outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel. + 800 + 1400 + microseconds + + + Set the maximum PWM for the MAIN outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel. + 1600 + 2200 + microseconds + + + Set the disarmed PWM for MAIN outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + 0 + 2200 + microseconds + + + Set the minimum PWM for the MAIN outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel + 800 + 1400 + microseconds + + + Set the maximum PWM for the MAIN outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel + 1600 + 2200 + microseconds + + + Set the disarmed PWM for AUX outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + 0 + 2200 + microseconds + Ground drag property - This parameter encodes the ground drag coefficient and the corresponding -decrease in wind speed from the plane altitude to ground altitude. + 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. + 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. + 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 + 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 + 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 + 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 @@ -1686,8 +1559,7 @@ OBC water bottle: Mag estimate delay - The delay in milliseconds of the magnetic field estimate from -the magnetometer. + The delay in milliseconds of the magnetic field estimate from the magnetometer. 0 1000 @@ -1705,8 +1577,7 @@ the magnetometer. Airspeed measurement noise - Increasing this value will make the filter trust this sensor -less and trust other sensors more. + Increasing this value will make the filter trust this sensor less and trust other sensors more. 0.5 5.0 @@ -1716,11 +1587,11 @@ less and trust other sensors more. 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 + Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 + 0.2 + 3.0 Position noise in north-east (horizontal) direction @@ -1728,68 +1599,75 @@ less and trust other sensors more. 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 + Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 + 0.5 + 3.0 Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - 0.1 - 10.0 + 0.01 + 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. + 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. + 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 + Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. + 0.00000005 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. + Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. 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. + 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. + 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 X bias + The magnetometer bias. This bias is learnt by the filter over time and persists between boots. + -0.6 + 0.6 + + + Magnetometer Y bias + The magnetometer bias. This bias is learnt by the filter over time and persists between boots. + -0.6 + 0.6 + + + Magnetometer Z bias + The magnetometer bias. This bias is learnt by the filter over time and persists between boots. + -0.6 + 0.6 + Threshold for filter initialization - If the standard deviation of the GPS position estimate is below this threshold -in meters, the filter will initialize. + If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 0.3 10.0 @@ -1819,12 +1697,6 @@ in meters, the filter will initialize. 0.0 10.0 - - Z velocity weight for vision - Weight (cutoff frequency) for vision altitude velocity measurements. - 0.0 - 10.0 - Z axis weight for sonar Weight (cutoff frequency) for sonar measurements. @@ -1855,6 +1727,12 @@ in meters, the filter will initialize. 0.0 10.0 + + Weight for mocap system + Weight (cutoff frequency) for mocap position measurements. + 0.0 + 10.0 + XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. @@ -1940,31 +1818,50 @@ in meters, the filter will initialize. INAV enabled - If set to 1, use INAV for position estimation. -Else the system uses the combined attitude / position -filter framework. + If set to 1, use INAV for position estimation. Else the system uses the combined attitude / position filter framework. 0 1 + + Roll trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + + + Pitch trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + + + Yaw trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + RC Channel 1 Minimum Minimum value for RC channel 1 800.0 1500.0 + us RC Channel 1 Trim Mid point value (same as min for throttle) 800.0 2200.0 + us RC Channel 1 Maximum Maximum value for RC channel 1 1500.0 2200.0 + us RC Channel 1 Reverse @@ -1977,24 +1874,28 @@ filter framework. The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us RC Channel 2 Minimum - Minimum value for RC channel 2 + Minimum value for this channel. 800.0 1500.0 + us RC Channel 2 Trim - Mid point value (same as min for throttle) + Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 + us RC Channel 2 Maximum - Maximum value for RC channel 2 + Maximum value for this channel. 1500.0 2200.0 + us RC Channel 2 Reverse @@ -2007,538 +1908,578 @@ filter framework. The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us - 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 3 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 3 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 3 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 3 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 3 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us - 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 4 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 4 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 4 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 4 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 4 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us - 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 5 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 5 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 5 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 5 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 5 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 6 Minimum + Minimum value for this channel. + 800.0 + 1500.0 - 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 6 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 6 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 6 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 6 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 7 Minimum + Minimum value for this channel. + 800.0 + 1500.0 - 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 7 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 7 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 7 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 7 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 8 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 8 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 8 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 8 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 8 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 9 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 9 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 9 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 9 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 9 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 10 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 10 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 10 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 10 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 10 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 11 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 11 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 11 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 11 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 11 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 12 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 12 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 12 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 12 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 12 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 13 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 13 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 13 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 13 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 13 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 14 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 14 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + + + RC Channel 14 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 14 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 14 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 15 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 15 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 15 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 15 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 15 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 16 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 16 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 16 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 16 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 16 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 17 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 17 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 17 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 17 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 17 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 18 Minimum + Minimum value for this channel. + 800.0 + 1500.0 + us - 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 18 Trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us - 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 18 Maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us - 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 18 Reverse + Set to -1 to reverse channel. + -1.0 + 1.0 - RC Channel 2 dead zone + RC Channel 18 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + + Enable relay control of relay 1 mapped to the Spektrum receiver power supply + 0 + 1 + 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. + 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. + 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. + 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. + 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. + 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. + 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 @@ -2562,35 +2503,32 @@ A value of zero indicates the switch is not assigned. 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 * + 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 * + 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 * + 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 + Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation. + 0 2200 + us 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: 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 @@ -2610,8 +2548,7 @@ Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parame 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 + 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 @@ -2619,10 +2556,7 @@ Set to -1 to make the system skip loitering 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. + 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 @@ -2658,78 +2592,43 @@ A value of zero indicates the switch is not assigned. 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 + 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 + 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 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 + 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 + 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 + 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 + 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 + 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 @@ -2744,16 +2643,14 @@ negative : true when channel<th RTL loiter altitude - Stay at this altitude above home position after RTL descending. -Land (i.e. slowly descend) from this altitude if autolanding allowed. + 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. + 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 @@ -2762,29 +2659,19 @@ If set to -1 the system will not land but loiter at NAV_LAND_ALT. 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). + 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). + 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 - + Use timestamps only if GPS 3D fix is available - A value of 1 constrains the log folder creation -to only use the time stamp if a 3D GPS lock is -present. + A value of 1 constrains the log folder creation to only use the time stamp if a 3D GPS lock is present. 0 1 @@ -2831,9 +2718,7 @@ present. 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. + 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 @@ -2920,9 +2805,7 @@ greater than or equal to zero. 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. + 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 @@ -3009,9 +2892,7 @@ greater than or equal to zero. 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. + 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 @@ -3066,11 +2947,7 @@ greater than or equal to zero. 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. + 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 @@ -3080,75 +2957,34 @@ the static and dynamic tubes. 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° + 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° + 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. + 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. + degrees 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. + 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. + degrees 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. + 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. + degrees 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. + 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 + * 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 @@ -3161,10 +2997,10 @@ See SENS_BOARD_ROT for possible values. - + Interval of one subscriber in the example in ms - + Float Demonstration Parameter in the Example @@ -3175,9 +3011,7 @@ See SENS_BOARD_ROT for possible values. 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. + 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 @@ -3195,27 +3029,22 @@ RC* parameters are preserved. 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. + Configures the baud rate of the companion computer interface. Set to zero to disable, set to these values to enable (NO OTHER VALUES SUPPORTED!) 921600: enables onboard mode at 921600 baud, 8N1. 57600: enables onboard mode at 57600 baud, 8N1. 157600: enables OSD mode at 57600 baud, 8N1. 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. + 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. + Allowed values: 0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 0 - 1 + 2 UAVCAN Node ID @@ -3230,9 +3059,43 @@ ground control stations should suggest a fresh configuration. + + Target throttle value for pusher/puller motor during the transition to fw mode + 0.0 + 1.0 + + + Position of tilt servo in mc mode + Position of tilt servo in mc mode + 0.0 + 1 + + + Position of tilt servo in transition mode + Position of tilt servo in transition mode + 0.0 + 1 + + + Position of tilt servo in fw mode + Position of tilt servo in fw mode + 0.0 + 1 + + + Duration of front transition phase 2 + Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. + 0.1 + 2 + + + The channel number of motors that must be turned off in fixed wing mode + 0 + 123456 + VTOL number of engines - 1 + 0 Idle speed of VTOL when in multicopter mode @@ -3255,8 +3118,7 @@ ground control stations should suggest a fresh configuration. 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. + 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 @@ -3268,14 +3130,13 @@ This parameter has been introduced for pure convenience sake. Motor max power - Indicates the maximum power the motor is able to produce. Used to calculate -propeller efficiency map. + 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 + 0.0 0.9 @@ -3284,6 +3145,41 @@ propeller efficiency map. 0.0 0.99 + + VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) + 0 + 2 + + + Lock elevons in multicopter mode + If set to 1 the elevons are locked in multicopter mode + 0 + 1 + + + Duration of a front transition + Time in seconds used for a transition + 0.0 + 5 + + + Duration of a back transition + Time in seconds used for a back transition + 0.0 + 5 + + + Transition blending airspeed + Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable. + 0.0 + 20.0 + + + Transition airspeed + Airspeed at which we can switch to fw mode + 1.0 + 20 + @@ -3500,6 +3396,12 @@ Maps the change of airspeed error to the acceleration setpoint + + RGB Led brightness limit + Set to 0 to disable, 1 for minimum brightness up to 15 (max) + 0 + 15 + EXFW_HDNG_P @@ -3509,9 +3411,6 @@ Maps the change of airspeed error to the acceleration setpoint EXFW_PITCH_P - - RV_YAW_P - FPE_LO_THRUST @@ -3524,30 +3423,44 @@ Maps the change of airspeed error to the acceleration setpoint FPE_DEBUG - - SO3_COMP_KP + + RV_YAW_P + + + TEST_MIN + + + TEST_MAX - - SO3_COMP_KI + + TEST_TRIM - - SO3_ROLL_OFFS + + TEST_HP - - SO3_PITCH_OFFS + + TEST_LP - - SO3_YAW_OFFS + + TEST_P - - Flare, minimum pitch - Minimum pitch during flare, a positive sign means nose up -Applied once FW_LND_TLALT is reached + + TEST_I - - Flare, maximum pitch - Maximum pitch during flare, a positive sign means nose up -Applied once FW_LND_TLALT is reached + + TEST_I_MAX + + + TEST_D + + + TEST_D_LP + + + TEST_MEAN + + + TEST_DEV FWB_P_LP @@ -3669,6 +3582,14 @@ Applied once FW_LND_TLALT is reached 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 @@ -3681,61 +3602,11 @@ Applied once FW_LND_TLALT is reached 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 + 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 - - 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 - diff --git a/src/FlightDisplay/FlightDisplayView.qml b/src/FlightDisplay/FlightDisplayView.qml index d9e5dcfebf920aaf58dbb67214088cb2233e1023..5f476822c4e12043b165dfa04c31d604e7bcfc4c 100644 --- a/src/FlightDisplay/FlightDisplayView.qml +++ b/src/FlightDisplay/FlightDisplayView.qml @@ -70,6 +70,10 @@ Item { property bool _showMap: getBool(QGroundControl.flightMapSettings.loadMapSetting(flightMap.mapName, _showMapBackgroundKey, "1")) + ExclusiveGroup { + id: _dropButtonsExclusiveGroup + } + // Validate _showMap setting Component.onCompleted: _setShowMap(_showMap) @@ -90,10 +94,25 @@ Item { id: flightMap anchors.fill: parent mapName: _mapName - latitude: parent._latitude - longitude: parent._longitude visible: _showMap + property real rootLatitude: root._latitude + property real rootLongitude: root._longitude + + Component.onCompleted: updateMapPosition(true /* force */) + + onRootLatitudeChanged: updateMapPosition(false /* force */) + onRootLongitudeChanged: updateMapPosition(false /* force */) + + function updateMapPosition(force) { + if (_followVehicle || force) { + latitude = root._latitude + longitude = root._longitude + } + } + + property bool _followVehicle: true + // Home position MissionItemIndicator { label: "H" @@ -145,21 +164,65 @@ Item { } QGCCompassWidget { - x: ScreenTools.defaultFontPixelSize * (7.1) - y: ScreenTools.defaultFontPixelSize * (0.42) - size: ScreenTools.defaultFontPixelSize * (13.3) - heading: _heading - active: multiVehicleManager.activeVehicleAvailable + anchors.margins: ScreenTools.defaultFontPixelHeight + anchors.left: parent.left + anchors.top: parent.top + size: ScreenTools.defaultFontPixelSize * (13.3) + heading: _heading + active: multiVehicleManager.activeVehicleAvailable } QGCAttitudeWidget { - anchors.rightMargin: ScreenTools.defaultFontPixelSize * (7.1) - anchors.right: parent.right - y: ScreenTools.defaultFontPixelSize * (0.42) - size: ScreenTools.defaultFontPixelSize * (13.3) - rollAngle: _roll - pitchAngle: _pitch - active: multiVehicleManager.activeVehicleAvailable + anchors.margins: ScreenTools.defaultFontPixelHeight + anchors.left: parent.left + anchors.bottom: parent.bottom + size: ScreenTools.defaultFontPixelSize * (13.3) + rollAngle: _roll + pitchAngle: _pitch + active: multiVehicleManager.activeVehicleAvailable + } + + DropButton { + id: centerMapDropButton + anchors.rightMargin: ScreenTools.defaultFontPixelHeight + anchors.right: mapTypeButton.left + anchors.top: mapTypeButton.top + dropDirection: dropDown + buttonImage: "/qmlimages/MapCenter.svg" + viewportMargins: ScreenTools.defaultFontPixelWidth / 2 + exclusiveGroup: _dropButtonsExclusiveGroup + + dropDownComponent: Component { + Row { + spacing: ScreenTools.defaultFontPixelWidth + + QGCCheckBox { + id: followVehicleCheckBox + text: "Follow Vehicle" + checked: flightMap._followVehicle + anchors.baseline: centerMapButton.baseline + + onClicked: { + centerMapDropButton.hideDropDown() + flightMap._followVehicle = !flightMap._followVehicle + } + } + + QGCButton { + id: centerMapButton + text: "Center map on Vehicle" + enabled: _activeVehicle && !followVehicleCheckBox.checked + + property var activeVehicle: multiVehicleManager.activeVehicle + + onClicked: { + centerMapDropButton.hideDropDown() + flightMap.latitude = activeVehicle.latitude + flightMap.longitude = activeVehicle.longitude + } + } + } + } } DropButton { @@ -170,6 +233,7 @@ Item { dropDirection: dropDown buttonImage: "/qmlimages/MapType.svg" viewportMargins: ScreenTools.defaultFontPixelWidth / 2 + exclusiveGroup: _dropButtonsExclusiveGroup dropDownComponent: Component { Row { diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc index d98e021f4686bf3f21c1c23ec70f8881018f7def..0e313c377b79ea476041dd3591a139398ecc959c 100644 --- a/src/QGCApplication.cc +++ b/src/QGCApplication.cc @@ -198,8 +198,12 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) #ifdef __mobile__ QLoggingCategory::setFilterRules(QStringLiteral("*Log.debug=false")); #else + QString filterRules; + + // Turn off bogus ssl warning + filterRules += "qt.network.ssl.warning=false\n"; + if (logging) { - QString filterRules; QStringList logList = loggingOptions.split(","); if (logList[0] == "full") { @@ -219,9 +223,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) // We need to turn off these warnings until the firmware meta data is cleaned up filterRules += "PX4ParameterLoaderLog.warning=false\n"; } - - qDebug() << "Filter rules" << filterRules; - QLoggingCategory::setFilterRules(filterRules); } else { if (_runningUnitTests) { // We need to turn off these warnings until the firmware meta data is cleaned up @@ -266,6 +267,9 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) } } } + + qDebug() << "Filter rules" << filterRules; + QLoggingCategory::setFilterRules(filterRules); #endif // Set up timer for delayed missing fact display diff --git a/src/comm/LogReplayLink.cc b/src/comm/LogReplayLink.cc index 0b3b276370da25def32cfbc36475fa5e1662604c..05836d2db07ebefe14f90ea742b7c8eb2fbb069b 100644 --- a/src/comm/LogReplayLink.cc +++ b/src/comm/LogReplayLink.cc @@ -140,6 +140,8 @@ void LogReplayLink::run(void) // Run normal event loop until exit exec(); + + _readTickTimer.stop(); } void LogReplayLink::_replayError(const QString& errorMsg)