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Commit 5a508286 authored by Lorenz Meier's avatar Lorenz Meier
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New PX4 meta

parent 67fc0cd9
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src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml
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...@@ -244,12 +244,14 @@ velocity</short_desc> ...@@ -244,12 +244,14 @@ velocity</short_desc>
<long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc> <long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc>
<unit>V</unit> <unit>V</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="4.2" name="BAT_V_CHARGED" type="FLOAT"> <parameter default="4.2" name="BAT_V_CHARGED" type="FLOAT">
<short_desc>Full cell voltage</short_desc> <short_desc>Full cell voltage</short_desc>
<long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc> <long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc>
<unit>V</unit> <unit>V</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.07" name="BAT_V_LOAD_DROP" type="FLOAT"> <parameter default="0.07" name="BAT_V_LOAD_DROP" type="FLOAT">
<short_desc>Voltage drop per cell on 100% load</short_desc> <short_desc>Voltage drop per cell on 100% load</short_desc>
...@@ -258,6 +260,7 @@ velocity</short_desc> ...@@ -258,6 +260,7 @@ velocity</short_desc>
<max>1.5</max> <max>1.5</max>
<unit>V</unit> <unit>V</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="3" name="BAT_N_CELLS" type="INT32"> <parameter default="3" name="BAT_N_CELLS" type="INT32">
<short_desc>Number of cells</short_desc> <short_desc>Number of cells</short_desc>
...@@ -266,7 +269,13 @@ velocity</short_desc> ...@@ -266,7 +269,13 @@ velocity</short_desc>
<max>10</max> <max>10</max>
<unit>S</unit> <unit>S</unit>
<values> <values>
<value code="11">11S Battery</value>
<value code="10">10S Battery</value> <value code="10">10S Battery</value>
<value code="13">13S Battery</value>
<value code="12">12S Battery</value>
<value code="15">15S Battery</value>
<value code="14">14S Battery</value>
<value code="16">16S Battery</value>
<value code="3">3S Battery</value> <value code="3">3S Battery</value>
<value code="2">2S Battery</value> <value code="2">2S Battery</value>
<value code="5">5S Battery</value> <value code="5">5S Battery</value>
...@@ -280,8 +289,11 @@ velocity</short_desc> ...@@ -280,8 +289,11 @@ velocity</short_desc>
<parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT"> <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
<short_desc>Battery capacity</short_desc> <short_desc>Battery capacity</short_desc>
<long_desc>Defines the capacity of the attached battery.</long_desc> <long_desc>Defines the capacity of the attached battery.</long_desc>
<min>-1.0</min>
<max>100000</max>
<unit>mA</unit> <unit>mA</unit>
<decimal>0</decimal> <decimal>0</decimal>
<increment>50</increment>
</parameter> </parameter>
<parameter default="10000" name="BAT_V_SCALE_IO" type="INT32"> <parameter default="10000" name="BAT_V_SCALE_IO" type="INT32">
<short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc> <short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
...@@ -316,10 +328,9 @@ velocity</short_desc> ...@@ -316,10 +328,9 @@ velocity</short_desc>
</parameter> </parameter>
<parameter default="0" name="TRIG_MODE" type="INT32"> <parameter default="0" name="TRIG_MODE" type="INT32">
<short_desc>Camera trigger mode</short_desc> <short_desc>Camera trigger mode</short_desc>
<long_desc>0 disables the trigger, 1 sets it to enabled on command, 2 always on</long_desc> <long_desc>0 disables the trigger, 1 sets it to enabled on command, 2 always on, 3 distance based, 4 distance based enabled on command</long_desc>
<min>0</min> <min>0</min>
<max>2</max> <max>4</max>
<reboot_required>true</reboot_required>
</parameter> </parameter>
<parameter default="12" name="TRIG_PINS" type="INT32"> <parameter default="12" name="TRIG_PINS" type="INT32">
<short_desc>Camera trigger pin</short_desc> <short_desc>Camera trigger pin</short_desc>
...@@ -327,6 +338,12 @@ velocity</short_desc> ...@@ -327,6 +338,12 @@ velocity</short_desc>
<min>1</min> <min>1</min>
<max>123456</max> <max>123456</max>
</parameter> </parameter>
<parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
<short_desc>Camera trigger distance</short_desc>
<long_desc>Sets the distance at which to trigger the camera.</long_desc>
<min>0</min>
<unit>meters</unit>
</parameter>
</group> </group>
<group name="Circuit Breaker"> <group name="Circuit Breaker">
<parameter default="0" name="CBRK_SUPPLY_CHK" type="INT32"> <parameter default="0" name="CBRK_SUPPLY_CHK" type="INT32">
...@@ -401,6 +418,8 @@ velocity</short_desc> ...@@ -401,6 +418,8 @@ velocity</short_desc>
<min>0</min> <min>0</min>
<max>30</max> <max>30</max>
<unit>second</unit> <unit>second</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter> </parameter>
<parameter default="0" name="COM_DL_REG_T" type="INT32"> <parameter default="0" name="COM_DL_REG_T" type="INT32">
<short_desc>Datalink regain time threshold</short_desc> <short_desc>Datalink regain time threshold</short_desc>
...@@ -408,6 +427,8 @@ velocity</short_desc> ...@@ -408,6 +427,8 @@ velocity</short_desc>
<min>0</min> <min>0</min>
<max>30</max> <max>30</max>
<unit>second</unit> <unit>second</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter> </parameter>
<parameter default="0.5" name="COM_EF_THROT" type="FLOAT"> <parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
<short_desc>Engine Failure Throttle Threshold</short_desc> <short_desc>Engine Failure Throttle Threshold</short_desc>
...@@ -415,14 +436,16 @@ velocity</short_desc> ...@@ -415,14 +436,16 @@ velocity</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.05</increment>
</parameter> </parameter>
<parameter default="5.0" name="COM_EF_C2T" type="FLOAT"> <parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
<short_desc>Engine Failure Current/Throttle Threshold</short_desc> <short_desc>Engine Failure Current/Throttle Threshold</short_desc>
<long_desc>Engine failure triggers only below this current value</long_desc> <long_desc>Engine failure triggers only below this current value</long_desc>
<min>0.0</min> <min>0.0</min>
<max>30.0</max> <max>50.0</max>
<unit>ampere</unit> <unit>ampere</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>1</increment>
</parameter> </parameter>
<parameter default="10.0" name="COM_EF_TIME" type="FLOAT"> <parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
<short_desc>Engine Failure Time Threshold</short_desc> <short_desc>Engine Failure Time Threshold</short_desc>
...@@ -431,6 +454,7 @@ velocity</short_desc> ...@@ -431,6 +454,7 @@ velocity</short_desc>
<max>60.0</max> <max>60.0</max>
<unit>second</unit> <unit>second</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>1</increment>
</parameter> </parameter>
<parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT"> <parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
<short_desc>RC loss time threshold</short_desc> <short_desc>RC loss time threshold</short_desc>
...@@ -439,6 +463,7 @@ velocity</short_desc> ...@@ -439,6 +463,7 @@ velocity</short_desc>
<max>35</max> <max>35</max>
<unit>second</unit> <unit>second</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.1</increment>
</parameter> </parameter>
<parameter default="5.0" name="COM_HOME_H_T" type="FLOAT"> <parameter default="5.0" name="COM_HOME_H_T" type="FLOAT">
<short_desc>Home set horizontal threshold</short_desc> <short_desc>Home set horizontal threshold</short_desc>
...@@ -447,6 +472,7 @@ velocity</short_desc> ...@@ -447,6 +472,7 @@ velocity</short_desc>
<max>15</max> <max>15</max>
<unit>meter</unit> <unit>meter</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.5</increment>
</parameter> </parameter>
<parameter default="10.0" name="COM_HOME_V_T" type="FLOAT"> <parameter default="10.0" name="COM_HOME_V_T" type="FLOAT">
<short_desc>Home set vertical threshold</short_desc> <short_desc>Home set vertical threshold</short_desc>
...@@ -455,12 +481,17 @@ velocity</short_desc> ...@@ -455,12 +481,17 @@ velocity</short_desc>
<max>25</max> <max>25</max>
<unit>meter</unit> <unit>meter</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.5</increment>
</parameter> </parameter>
<parameter default="1" name="COM_AUTOS_PAR" type="INT32"> <parameter default="1" name="COM_AUTOS_PAR" type="INT32">
<short_desc>Autosaving of params</short_desc> <short_desc>Autosaving of params</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0</min> <min>0</min>
<max>1</max> <max>1</max>
<values>
<value code="1">Enabled</value>
<value code="0">Disabled</value>
</values>
</parameter> </parameter>
<parameter default="0" name="COM_RC_IN_MODE" type="INT32"> <parameter default="0" name="COM_RC_IN_MODE" type="INT32">
<short_desc>RC control input mode</short_desc> <short_desc>RC control input mode</short_desc>
...@@ -477,6 +508,10 @@ velocity</short_desc> ...@@ -477,6 +508,10 @@ velocity</short_desc>
<short_desc>Time-out for auto disarm after landing</short_desc> <short_desc>Time-out for auto disarm after landing</short_desc>
<long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled.</long_desc> <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled.</long_desc>
<min>0</min> <min>0</min>
<max>20</max>
<unit>second</unit>
<decimal>0</decimal>
<increment>1</increment>
</parameter> </parameter>
</group> </group>
<group name="Data Link Loss"> <group name="Data Link Loss">
...@@ -754,6 +789,12 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -754,6 +789,12 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>1.0</min> <min>1.0</min>
<unit>SD</unit> <unit>SD</unit>
</parameter> </parameter>
<parameter default="0" name="EKF2_REC_RPL" type="INT32">
<short_desc>A value of 1 indicates that the ekf2 module will publish
replay messages for logging</short_desc>
<min>0</min>
<max>1</max>
</parameter>
</group> </group>
<group name="FW Attitude Control"> <group name="FW Attitude Control">
<parameter default="0.4" name="FW_R_TC" type="FLOAT"> <parameter default="0.4" name="FW_R_TC" type="FLOAT">
...@@ -1161,6 +1202,8 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1161,6 +1202,8 @@ Other values will disable magnetometer fusion completely</short_desc>
<parameter default="1.0" name="FW_THR_MAX" type="FLOAT"> <parameter default="1.0" name="FW_THR_MAX" type="FLOAT">
<short_desc>Throttle limit max</short_desc> <short_desc>Throttle limit max</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0.0</min>
<max>1.0</max>
</parameter> </parameter>
<parameter default="0.0" name="FW_THR_MIN" type="FLOAT"> <parameter default="0.0" name="FW_THR_MIN" type="FLOAT">
<short_desc>Throttle limit min</short_desc> <short_desc>Throttle limit min</short_desc>
...@@ -1194,26 +1237,50 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1194,26 +1237,50 @@ Other values will disable magnetometer fusion completely</short_desc>
</parameter> </parameter>
<parameter default="5.0" name="FW_LND_ANG" type="FLOAT"> <parameter default="5.0" name="FW_LND_ANG" type="FLOAT">
<short_desc>Landing slope angle</short_desc> <short_desc>Landing slope angle</short_desc>
<min>1.0</min>
<max>15.0</max>
<unit>degrees</unit>
</parameter> </parameter>
<parameter default="10.0" name="FW_LND_HVIRT" type="FLOAT"> <parameter default="10.0" name="FW_LND_HVIRT" type="FLOAT">
<short_desc>FW_LND_HVIRT</short_desc> <short_desc>FW_LND_HVIRT</short_desc>
</parameter> </parameter>
<parameter default="8.0" name="FW_LND_FLALT" type="FLOAT"> <parameter default="8.0" name="FW_LND_FLALT" type="FLOAT">
<short_desc>Landing flare altitude (relative to landing altitude)</short_desc> <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
<unit>meter</unit> <min>0.0</min>
<max>25.0</max>
<unit>meters</unit>
</parameter> </parameter>
<parameter default="-1.0" name="FW_LND_TLALT" type="FLOAT"> <parameter default="-1.0" name="FW_LND_TLALT" type="FLOAT">
<short_desc>Landing throttle limit altitude (relative landing altitude)</short_desc> <short_desc>Landing throttle limit altitude (relative landing altitude)</short_desc>
<long_desc>Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude.</long_desc> <long_desc>Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude.</long_desc>
<unit>meter</unit> <min>-1.0</min>
<max>30.0</max>
<unit>meters</unit>
</parameter> </parameter>
<parameter default="15.0" name="FW_LND_HHDIST" type="FLOAT"> <parameter default="15.0" name="FW_LND_HHDIST" type="FLOAT">
<short_desc>Landing heading hold horizontal distance</short_desc> <short_desc>Landing heading hold horizontal distance</short_desc>
<min>0</min>
<max>30.0</max>
<unit>meters</unit>
</parameter> </parameter>
<parameter default="0" name="FW_LND_USETER" type="INT32"> <parameter default="0" name="FW_LND_USETER" type="INT32">
<short_desc>Enable or disable usage of terrain estimate during landing</short_desc> <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
<long_desc>0: disabled, 1: enabled</long_desc> <long_desc>0: disabled, 1: enabled</long_desc>
</parameter> </parameter>
<parameter default="2.5" name="FW_FLARE_PMIN" type="FLOAT">
<short_desc>Flare, minimum pitch</short_desc>
<long_desc>Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
<min>0</min>
<max>15.0</max>
<unit>degrees</unit>
</parameter>
<parameter default="15.0" name="FW_FLARE_PMAX" type="FLOAT">
<short_desc>Flare, maximum pitch</short_desc>
<long_desc>Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
<min>0</min>
<max>45.0</max>
<unit>degrees</unit>
</parameter>
<parameter default="1.3" name="FW_AIRSPD_SCALE" type="FLOAT"> <parameter default="1.3" name="FW_AIRSPD_SCALE" type="FLOAT">
<short_desc>Landing airspeed scale factor</short_desc> <short_desc>Landing airspeed scale factor</short_desc>
<long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach.</long_desc> <long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach.</long_desc>
...@@ -1543,6 +1610,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1543,6 +1610,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>0.15</min> <min>0.15</min>
<max>0.25</max> <max>0.25</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.2" name="MC_PITCH_TC" type="FLOAT"> <parameter default="0.2" name="MC_PITCH_TC" type="FLOAT">
<short_desc>Pitch time constant</short_desc> <short_desc>Pitch time constant</short_desc>
...@@ -1550,29 +1618,37 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1550,29 +1618,37 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>0.15</min> <min>0.15</min>
<max>0.25</max> <max>0.25</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="6.5" name="MC_ROLL_P" type="FLOAT"> <parameter default="6.5" name="MC_ROLL_P" type="FLOAT">
<short_desc>Roll P gain</short_desc> <short_desc>Roll P gain</short_desc>
<long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc> <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>8</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.1</increment>
</parameter> </parameter>
<parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT"> <parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT">
<short_desc>Roll rate P gain</short_desc> <short_desc>Roll rate P gain</short_desc>
<long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc> <long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.5</max>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.05" name="MC_ROLLRATE_I" type="FLOAT"> <parameter default="0.05" name="MC_ROLLRATE_I" type="FLOAT">
<short_desc>Roll rate I gain</short_desc> <short_desc>Roll rate I gain</short_desc>
<long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc> <long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min> <min>0.0</min>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.003" name="MC_ROLLRATE_D" type="FLOAT"> <parameter default="0.003" name="MC_ROLLRATE_D" type="FLOAT">
<short_desc>Roll rate D gain</short_desc> <short_desc>Roll rate D gain</short_desc>
<long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.01</max>
<decimal>4</decimal> <decimal>4</decimal>
<increment>0.0005</increment>
</parameter> </parameter>
<parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT"> <parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT">
<short_desc>Roll rate feedforward</short_desc> <short_desc>Roll rate feedforward</short_desc>
...@@ -1584,26 +1660,32 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1584,26 +1660,32 @@ Other values will disable magnetometer fusion completely</short_desc>
<short_desc>Pitch P gain</short_desc> <short_desc>Pitch P gain</short_desc>
<long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc> <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>10</max>
<unit>1/s</unit> <unit>1/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.0005</increment>
</parameter> </parameter>
<parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT"> <parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT">
<short_desc>Pitch rate P gain</short_desc> <short_desc>Pitch rate P gain</short_desc>
<long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc> <long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.6</max>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.05" name="MC_PITCHRATE_I" type="FLOAT"> <parameter default="0.05" name="MC_PITCHRATE_I" type="FLOAT">
<short_desc>Pitch rate I gain</short_desc> <short_desc>Pitch rate I gain</short_desc>
<long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc> <long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min> <min>0.0</min>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT"> <parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT">
<short_desc>Pitch rate D gain</short_desc> <short_desc>Pitch rate D gain</short_desc>
<long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min> <min>0.0</min>
<decimal>4</decimal> <decimal>4</decimal>
<increment>0.0005</increment>
</parameter> </parameter>
<parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT"> <parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT">
<short_desc>Pitch rate feedforward</short_desc> <short_desc>Pitch rate feedforward</short_desc>
...@@ -1615,32 +1697,39 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1615,32 +1697,39 @@ Other values will disable magnetometer fusion completely</short_desc>
<short_desc>Yaw P gain</short_desc> <short_desc>Yaw P gain</short_desc>
<long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc> <long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>5</max>
<unit>1/s</unit> <unit>1/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.1</increment>
</parameter> </parameter>
<parameter default="0.2" name="MC_YAWRATE_P" type="FLOAT"> <parameter default="0.2" name="MC_YAWRATE_P" type="FLOAT">
<short_desc>Yaw rate P gain</short_desc> <short_desc>Yaw rate P gain</short_desc>
<long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc> <long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.6</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.1" name="MC_YAWRATE_I" type="FLOAT"> <parameter default="0.1" name="MC_YAWRATE_I" type="FLOAT">
<short_desc>Yaw rate I gain</short_desc> <short_desc>Yaw rate I gain</short_desc>
<long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc> <long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min>0.0</min> <min>0.0</min>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT"> <parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
<short_desc>Yaw rate D gain</short_desc> <short_desc>Yaw rate D gain</short_desc>
<long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min> <min>0.0</min>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT"> <parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT">
<short_desc>Yaw rate feedforward</short_desc> <short_desc>Yaw rate feedforward</short_desc>
<long_desc>Improves tracking performance.</long_desc> <long_desc>Improves tracking performance.</long_desc>
<min>0.0</min> <min>0.0</min>
<decimal>4</decimal> <decimal>4</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.5" name="MC_YAW_FF" type="FLOAT"> <parameter default="0.5" name="MC_YAW_FF" type="FLOAT">
<short_desc>Yaw feed forward</short_desc> <short_desc>Yaw feed forward</short_desc>
...@@ -1648,6 +1737,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1648,6 +1737,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="220.0" name="MC_ROLLRATE_MAX" type="FLOAT"> <parameter default="220.0" name="MC_ROLLRATE_MAX" type="FLOAT">
<short_desc>Max roll rate</short_desc> <short_desc>Max roll rate</short_desc>
...@@ -1656,6 +1746,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1656,6 +1746,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<max>360.0</max> <max>360.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="220.0" name="MC_PITCHRATE_MAX" type="FLOAT"> <parameter default="220.0" name="MC_PITCHRATE_MAX" type="FLOAT">
<short_desc>Max pitch rate</short_desc> <short_desc>Max pitch rate</short_desc>
...@@ -1664,14 +1755,16 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1664,14 +1755,16 @@ Other values will disable magnetometer fusion completely</short_desc>
<max>360.0</max> <max>360.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="120.0" name="MC_YAWRATE_MAX" type="FLOAT"> <parameter default="200.0" name="MC_YAWRATE_MAX" type="FLOAT">
<short_desc>Max yaw rate</short_desc> <short_desc>Max yaw rate</short_desc>
<long_desc>A value of significantly over 120 degrees per second can already lead to mixer saturation.</long_desc> <long_desc>A value of significantly over 120 degrees per second can already lead to mixer saturation.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>360.0</max> <max>360.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="45.0" name="MC_YAWRAUTO_MAX" type="FLOAT"> <parameter default="45.0" name="MC_YAWRAUTO_MAX" type="FLOAT">
<short_desc>Max yaw rate in auto mode</short_desc> <short_desc>Max yaw rate in auto mode</short_desc>
...@@ -1680,26 +1773,31 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1680,26 +1773,31 @@ Other values will disable magnetometer fusion completely</short_desc>
<max>120.0</max> <max>120.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="360.0" name="MC_ACRO_R_MAX" type="FLOAT"> <parameter default="360.0" name="MC_ACRO_R_MAX" type="FLOAT">
<short_desc>Max acro roll rate</short_desc> <short_desc>Max acro roll rate</short_desc>
<min>0.0</min> <min>0.0</min>
<max>360.0</max> <max>1000.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="360.0" name="MC_ACRO_P_MAX" type="FLOAT"> <parameter default="360.0" name="MC_ACRO_P_MAX" type="FLOAT">
<short_desc>Max acro pitch rate</short_desc> <short_desc>Max acro pitch rate</short_desc>
<min>0.0</min> <min>0.0</min>
<max>360.0</max> <max>1000.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="360.0" name="MC_ACRO_Y_MAX" type="FLOAT"> <parameter default="360.0" name="MC_ACRO_Y_MAX" type="FLOAT">
<short_desc>Max acro yaw rate</short_desc> <short_desc>Max acro yaw rate</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1000.0</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>5</increment>
</parameter> </parameter>
<parameter default="1.0" name="MC_RATT_TH" type="FLOAT"> <parameter default="1.0" name="MC_RATT_TH" type="FLOAT">
<short_desc>Threshold for Rattitude mode</short_desc> <short_desc>Threshold for Rattitude mode</short_desc>
...@@ -1708,6 +1806,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1708,6 +1806,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<max>1.0</max> <max>1.0</max>
<unit /> <unit />
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="6.0" name="MP_ROLL_P" type="FLOAT"> <parameter default="6.0" name="MP_ROLL_P" type="FLOAT">
<short_desc>Roll P gain</short_desc> <short_desc>Roll P gain</short_desc>
...@@ -1979,7 +2078,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1979,7 +2078,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<unit>degree</unit> <unit>degree</unit>
<decimal>1</decimal> <decimal>1</decimal>
</parameter> </parameter>
<parameter default="120.0" name="MPC_MAN_Y_MAX" type="FLOAT"> <parameter default="200.0" name="MPC_MAN_Y_MAX" type="FLOAT">
<short_desc>Max manual yaw rate</short_desc> <short_desc>Max manual yaw rate</short_desc>
<min>0.0</min> <min>0.0</min>
<unit>degree / s</unit> <unit>degree / s</unit>
...@@ -1992,13 +2091,13 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -1992,13 +2091,13 @@ Other values will disable magnetometer fusion completely</short_desc>
<unit>%</unit> <unit>%</unit>
<decimal>2</decimal> <decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.5" name="MPC_HOLD_MAX_XY" type="FLOAT"> <parameter default="0.8" name="MPC_HOLD_MAX_XY" type="FLOAT">
<short_desc>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</short_desc> <short_desc>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</short_desc>
<min>0.0</min> <min>0.0</min>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.5" name="MPC_HOLD_MAX_Z" type="FLOAT"> <parameter default="0.6" name="MPC_HOLD_MAX_Z" type="FLOAT">
<short_desc>Maximum vertical velocity for which position hold is enabled (use 0 to disable check)</short_desc> <short_desc>Maximum vertical velocity for which position hold is enabled (use 0 to disable check)</short_desc>
<min>0.0</min> <min>0.0</min>
<unit>m/s</unit> <unit>m/s</unit>
...@@ -2010,7 +2109,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -2010,7 +2109,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<unit>Hz</unit> <unit>Hz</unit>
<decimal>2</decimal> <decimal>2</decimal>
</parameter> </parameter>
<parameter default="4.0" name="MPC_ACC_HOR_MAX" type="FLOAT"> <parameter default="6.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
<short_desc>Maximum horizonal acceleration in velocity controlled modes</short_desc> <short_desc>Maximum horizonal acceleration in velocity controlled modes</short_desc>
<min>2.0</min> <min>2.0</min>
<max>10.0</max> <max>10.0</max>
...@@ -2623,6 +2722,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -2623,6 +2722,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>-0.25</min> <min>-0.25</min>
<max>0.25</max> <max>0.25</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.0" name="TRIM_PITCH" type="FLOAT"> <parameter default="0.0" name="TRIM_PITCH" type="FLOAT">
<short_desc>Pitch trim</short_desc> <short_desc>Pitch trim</short_desc>
...@@ -2630,6 +2730,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -2630,6 +2730,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>-0.25</min> <min>-0.25</min>
<max>0.25</max> <max>0.25</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="0.0" name="TRIM_YAW" type="FLOAT"> <parameter default="0.0" name="TRIM_YAW" type="FLOAT">
<short_desc>Yaw trim</short_desc> <short_desc>Yaw trim</short_desc>
...@@ -2637,6 +2738,7 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -2637,6 +2738,7 @@ Other values will disable magnetometer fusion completely</short_desc>
<min>-0.25</min> <min>-0.25</min>
<max>0.25</max> <max>0.25</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter default="1000.0" name="RC1_MIN" type="FLOAT"> <parameter default="1000.0" name="RC1_MIN" type="FLOAT">
<short_desc>RC Channel 1 Minimum</short_desc> <short_desc>RC Channel 1 Minimum</short_desc>
...@@ -3284,36 +3386,162 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -3284,36 +3386,162 @@ Other values will disable magnetometer fusion completely</short_desc>
<long_desc>Default function: Camera pitch</long_desc> <long_desc>Default function: Camera pitch</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_AUX2" type="INT32"> <parameter default="0" name="RC_MAP_AUX2" type="INT32">
<short_desc>Auxiliary switch 2 channel mapping</short_desc> <short_desc>Auxiliary switch 2 channel mapping</short_desc>
<long_desc>Default function: Camera roll</long_desc> <long_desc>Default function: Camera roll</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_AUX3" type="INT32"> <parameter default="0" name="RC_MAP_AUX3" type="INT32">
<short_desc>Auxiliary switch 3 channel mapping</short_desc> <short_desc>Auxiliary switch 3 channel mapping</short_desc>
<long_desc>Default function: Camera azimuth / yaw</long_desc> <long_desc>Default function: Camera azimuth / yaw</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_PARAM1" type="INT32"> <parameter default="0" name="RC_MAP_PARAM1" type="INT32">
<short_desc>Channel which changes a parameter</short_desc> <short_desc>Channel which changes a parameter</short_desc>
<long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</long_desc> <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_PARAM2" type="INT32"> <parameter default="0" name="RC_MAP_PARAM2" type="INT32">
<short_desc>Channel which changes a parameter</short_desc> <short_desc>Channel which changes a parameter</short_desc>
<long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</long_desc> <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_PARAM3" type="INT32"> <parameter default="0" name="RC_MAP_PARAM3" type="INT32">
<short_desc>Channel which changes a parameter</short_desc> <short_desc>Channel which changes a parameter</short_desc>
<long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</long_desc> <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_FAILS_THR" type="INT32"> <parameter default="0" name="RC_FAILS_THR" type="INT32">
<short_desc>Failsafe channel PWM threshold</short_desc> <short_desc>Failsafe channel PWM threshold</short_desc>
...@@ -3355,46 +3583,235 @@ Other values will disable magnetometer fusion completely</short_desc> ...@@ -3355,46 +3583,235 @@ Other values will disable magnetometer fusion completely</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_RETURN_SW" type="INT32"> <parameter default="0" name="RC_MAP_RETURN_SW" type="INT32">
<short_desc>Return switch channel mapping</short_desc> <short_desc>Return switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_RATT_SW" type="INT32"> <parameter default="0" name="RC_MAP_RATT_SW" type="INT32">
<short_desc>Rattitude switch channel mapping</short_desc> <short_desc>Rattitude switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_POSCTL_SW" type="INT32"> <parameter default="0" name="RC_MAP_POSCTL_SW" type="INT32">
<short_desc>Posctl switch channel mapping</short_desc> <short_desc>Posctl switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_LOITER_SW" type="INT32"> <parameter default="0" name="RC_MAP_LOITER_SW" type="INT32">
<short_desc>Loiter switch channel mapping</short_desc> <short_desc>Loiter switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_ACRO_SW" type="INT32"> <parameter default="0" name="RC_MAP_ACRO_SW" type="INT32">
<short_desc>Acro switch channel mapping</short_desc> <short_desc>Acro switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_OFFB_SW" type="INT32"> <parameter default="0" name="RC_MAP_OFFB_SW" type="INT32">
<short_desc>Offboard switch channel mapping</short_desc> <short_desc>Offboard switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_KILL_SW" type="INT32"> <parameter default="0" name="RC_MAP_KILL_SW" type="INT32">
<short_desc>Kill switch channel mapping</short_desc> <short_desc>Kill switch channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0" name="RC_MAP_FLAPS" type="INT32"> <parameter default="0" name="RC_MAP_FLAPS" type="INT32">
<short_desc>Flaps channel mapping</short_desc> <short_desc>Flaps channel mapping</short_desc>
<min>0</min> <min>0</min>
<max>18</max> <max>18</max>
<values>
<value code="11">RC Channel 11</value>
<value code="10">RC Channel 10</value>
<value code="13">RC Channel 13</value>
<value code="12">RC Channel 12</value>
<value code="15">RC Channel 15</value>
<value code="14">RC Channel 14</value>
<value code="17">RC Channel 17</value>
<value code="16">RC Channel 16</value>
<value code="18">RC Channel 18</value>
<value code="1">RC Channel 1</value>
<value code="0">Unassigned</value>
<value code="3">RC Channel 3</value>
<value code="2">RC Channel 2</value>
<value code="5">RC Channel 5</value>
<value code="4">RC Channel 4</value>
<value code="7">RC Channel 7</value>
<value code="6">RC Channel 6</value>
<value code="9">RC Channel 9</value>
<value code="8">RC Channel 8</value>
</values>
</parameter> </parameter>
<parameter default="0.25" name="RC_ASSIST_TH" type="FLOAT"> <parameter default="0.25" name="RC_ASSIST_TH" type="FLOAT">
<short_desc>Threshold for selecting assist mode</short_desc> <short_desc>Threshold for selecting assist mode</short_desc>
...@@ -3560,6 +3977,13 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL</short_desc> ...@@ -3560,6 +3977,13 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL</short_desc>
<min>-1000</min> <min>-1000</min>
<max>1000</max> <max>1000</max>
</parameter> </parameter>
<parameter default="0" name="SDLOG_PRIO_BOOST" type="INT32">
<short_desc>Give logging app higher thread priority to avoid data loss.
This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority.</long_desc>
<min>0</min>
<max>3</max>
</parameter>
</group> </group>
<group name="Sensor Calibration"> <group name="Sensor Calibration">
<parameter default="0" name="CAL_BOARD_ID" type="INT32"> <parameter default="0" name="CAL_BOARD_ID" type="INT32">
...@@ -4346,6 +4770,123 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc> ...@@ -4346,6 +4770,123 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
<parameter default="0.1" name="RV_YAW_P" type="FLOAT"> <parameter default="0.1" name="RV_YAW_P" type="FLOAT">
<short_desc>RV_YAW_P</short_desc> <short_desc>RV_YAW_P</short_desc>
</parameter> </parameter>
<parameter default="0" name="COM_FLTMODE_CH" type="INT32">
<short_desc>COM_FLTMODE_CH</short_desc>
</parameter>
<parameter default="0" name="COM_FLTMODE1" type="INT32">
<short_desc>First flightmode slot (1000-1160)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE2" type="INT32">
<short_desc>Second flightmode slot (1160-1320)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE3" type="INT32">
<short_desc>Third flightmode slot (1320-1480)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE4" type="INT32">
<short_desc>Fourth flightmode slot (1480-1640)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE5" type="INT32">
<short_desc>Fift flightmode slot (1640-1800)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="0" name="COM_FLTMODE6" type="INT32">
<short_desc>Sixt flightmode slot (1800-2000)</short_desc>
<long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
<values>
<value code="11">AUTO / TAKEOFF</value>
<value code="10">RATTITUDE</value>
<value code="12">AUTO / LAND</value>
<value code="1">MANUAL</value>
<value code="0">Unassigned</value>
<value code="3">POSITION CONTROL</value>
<value code="2">ALTITUDE CONTROL</value>
<value code="5">AUTO / PAUSE</value>
<value code="4">AUTO / MISSION</value>
<value code="7">ACRO</value>
<value code="6">RETURN TO LAUNCH</value>
<value code="9">STABILIZED</value>
<value code="8">OFFBOARD</value>
</values>
</parameter>
<parameter default="-1.0" name="TEST_MIN" type="FLOAT"> <parameter default="-1.0" name="TEST_MIN" type="FLOAT">
<short_desc>TEST_MIN</short_desc> <short_desc>TEST_MIN</short_desc>
</parameter> </parameter>
...@@ -4382,14 +4923,6 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc> ...@@ -4382,14 +4923,6 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
<parameter default="2.0" name="TEST_DEV" type="FLOAT"> <parameter default="2.0" name="TEST_DEV" type="FLOAT">
<short_desc>TEST_DEV</short_desc> <short_desc>TEST_DEV</short_desc>
</parameter> </parameter>
<parameter default="2.5" name="FW_FLARE_PMIN" type="FLOAT">
<short_desc>Flare, minimum pitch</short_desc>
<long_desc>Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
</parameter>
<parameter default="15.0" name="FW_FLARE_PMAX" type="FLOAT">
<short_desc>Flare, maximum pitch</short_desc>
<long_desc>Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached</long_desc>
</parameter>
<parameter default="10.0" name="SEG_TH2V_P" type="FLOAT"> <parameter default="10.0" name="SEG_TH2V_P" type="FLOAT">
<short_desc>SEG_TH2V_P</short_desc> <short_desc>SEG_TH2V_P</short_desc>
</parameter> </parameter>
......
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