diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index ab7acd0a247a3deaf9616be219a15d37d1ab76e1..480b910d744e82c397c6115643fc948463a6d9a3 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -5,6 +5,7 @@
1
+ Copter
Emmanuel Roussel
Coaxial Helicopter
@@ -13,77 +14,28 @@
-
-
- Simon Wilks <simon@px4.io>
- Flying Wing
- https://pixhawk.org/platforms/planes/bormatec_camflyer_q
-
-
-
-
-
-
-
-
- Simon Wilks <simon@px4.io>
- Flying Wing
- https://pixhawk.org/platforms/planes/z-84_wing_wing
-
-
-
-
-
-
-
-
- Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
- Flying Wing
- https://pixhawk.org/platforms/planes/skywalker_x5
-
-
-
-
-
-
-
-
- Lorenz Meier <lorenz@px4.io>
- Flying Wing
- https://pixhawk.org/platforms/planes/z-84_wing_wing
-
-
-
-
-
-
-
-
- Simon Wilks <simon@px4.io>
- Flying Wing
-
-
- Simon Wilks <simon@px4.io>
- Flying Wing
-
-
- Simon Wilks <simon@px4.io>
- Flying Wing
- http://www.sparkletech.hk/
-
-
-
-
-
-
-
-
- Lorenz Meier <lorenz@px4.io>
- Flying Wing
+
+
+ Copter
+ William Peale <develop707@gmail.com>
+ Dodecarotor cox
+
+
+
+
+
+
+
+
+
+
+
+
+ Copter
Bart Slinger <bartslinger@gmail.com>
Helicopter
@@ -94,8 +46,9 @@
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Hexarotor +
@@ -110,6 +63,7 @@
+ Copter
Lorenz Meier <lorenz@px4.io>
Hexarotor Coaxial
@@ -124,8 +78,9 @@
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Hexarotor x
@@ -140,6 +95,7 @@
+ Copter
Simon Wilks <simon@uaventure.com>
Octo Coax Wide
@@ -153,8 +109,9 @@
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Octorotor +
@@ -171,6 +128,7 @@
+ Copter
Lorenz Meier <lorenz@px4.io>
Octorotor Coaxial
@@ -184,8 +142,9 @@
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Octorotor x
@@ -200,26 +159,10 @@
-
-
- Andreas Antener <andreas@uaventure.com>
- Plane A-Tail
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor +
@@ -234,8 +177,9 @@
-
- Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor Wide
@@ -248,8 +192,9 @@
-
- Anton Babushkin <anton@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor Wide
@@ -260,8 +205,9 @@
-
- Thomas Gubler <thomas@px4.io>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor Wide
@@ -274,8 +220,9 @@
-
- Simon Wilks <simon@px4.io>
+
+ Copter
+ Simon Wilks <simon@uaventure.com>
Quadrotor Wide
@@ -290,8 +237,9 @@
-
- Mark Whitehorn <kd0aij@gmail.com>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor asymmetric
@@ -303,14 +251,17 @@
+ Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor x
+ Copter
Leon Mueller <thedevleon>
Quadrotor x
+ Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor x
@@ -325,6 +276,7 @@
+ Copter
Leon Mueller <thedevleon>
Quadrotor x
@@ -339,64 +291,183 @@
+ Copter
James Goppert <james.goppert@gmail.com>
Quadrotor x
-
- Mark Whitehorn <kd0aij@gmail.com>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor x
+ Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor x
+ Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor x
-
- Pavel Kirienko <pavel@px4.io>
+
+ Copter
+ Pavel Kirienko <pavel.kirienko@gmail.com>
Quadrotor x
+ Copter
Blankered
Quadrotor x
-
- Mark Whitehorn <kd0aij@gmail.com>
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor x
+ Copter
James Goppert <james.goppert@gmail.com>
Quadrotor x
+ Copter
Anton Matosov <anton.matosov@gmail.com>
Quadrotor x
-
-
- Rover
-
-
-
-
-
-
-
-
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Simulation
-
- Marco Zorzi
- Rover
- https://traxxas.com/products/models/electric/stampede-vxl-tsm
-
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Simulation
+
+
+
+
+ Copter
+ Trent Lukaczyk <aerialhedgehog@gmail.com>
+ Tricopter Y+
+
+
+
+
+
+
+
+
+ Copter
+ Trent Lukaczyk <aerialhedgehog@gmail.com>
+ Tricopter Y-
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+ https://pixhawk.org/platforms/planes/bormatec_camflyer_q
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+ https://pixhawk.org/platforms/planes/z-84_wing_wing
+
+
+
+
+
+
+
+
+ Plane
+ Julian Oes <julian@px4.io>
+ Flying Wing
+ https://pixhawk.org/platforms/planes/skywalker_x5
+
+
+
+
+
+
+
+
+ Plane
+ Lorenz Meier <lorenz@px4.io>
+ Flying Wing
+ https://pixhawk.org/platforms/planes/z-84_wing_wing
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+ http://www.sparkletech.hk/
+
+
+
+
+
+
+
+
+ Plane
+ Lorenz Meier <lorenz@px4.io>
+ Flying Wing
+
+
+
+
+ Plane
+ Andreas Antener <andreas@uaventure.com>
+ Plane A-Tail
+
+
+
+
+
+
+
+
+
+
+
-
+
+ Plane
Lorenz Meier <lorenz@px4.io>
Simulation
@@ -404,17 +475,10 @@
-
- Anton Babushkin <anton@px4.io>
- Simulation
-
-
- Anton Babushkin <anton@px4.io>
- Simulation
-
+ Plane
Lorenz Meier <lorenz@px4.io>
Standard Plane
@@ -423,6 +487,7 @@
+ Plane
Lorenz Meier <lorenz@px4.io>
Standard Plane
@@ -435,6 +500,7 @@
+ Plane
Lorenz Meier <lorenz@px4.io>
Standard Plane
@@ -447,6 +513,7 @@
+ Plane
Lorenz Meier <lorenz@px4.io>
Standard Plane
@@ -457,6 +524,7 @@
+ Plane
Lorenz Meier <lorenz@px4.io>
Standard Plane
@@ -469,6 +537,7 @@
+ Plane
Andreas Antener <andreas@uaventure.com>
Standard Plane
@@ -483,8 +552,40 @@
+
+
+ Rover
+ Rover
+
+
+
+
+
+
+
+
+
+
+ Rover
+ Marco Zorzi
+ Rover
+ https://traxxas.com/products/models/electric/stampede-vxl-tsm
+
+
+
+
+
+
+ Tool
+ Julian Oes <julian@oes.ch>
+This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
+passthrough of RC input and PWM output.
+ custom
+
+
+ VTOL
Simon Wilks <simon@uaventure.com>
Standard VTOL
@@ -498,6 +599,7 @@
+ VTOL
Simon Wilks <simon@uaventure.com>
Standard VTOL
@@ -509,18 +611,22 @@
+ VTOL
Sander Smeets <sander@droneslab.com>
Standard VTOL
+ VTOL
Sander Smeets <sander@droneslab.com>
Standard VTOL
+ VTOL
Andreas Antener <andreas@uaventure.com>
Standard VTOL
+ VTOL
Sander Smeets <sander@droneslab.com>
Standard VTOL
@@ -532,28 +638,9 @@
-
-
- Trent Lukaczyk <aerialhedgehog@gmail.com>
- Tricopter Y+
-
-
-
-
-
-
-
-
- Trent Lukaczyk <aerialhedgehog@gmail.com>
- Tricopter Y-
-
-
-
-
-
-
+ VTOL
Roman Bapst <roman@px4.io>
VTOL Duo Tailsitter
@@ -564,10 +651,12 @@
+ VTOL
Roman Bapst <roman@px4.io>
VTOL Quad Tailsitter
+ VTOL
Roman Bapst <roman@px4.io>
VTOL Quad Tailsitter
@@ -582,6 +671,7 @@
+ VTOL
Roman Bapst <roman@uaventure.com>
VTOL Tiltrotor
@@ -596,10 +686,12 @@
+ VTOL
Samay Siga <samay_s@icloud.com>
VTOL Tiltrotor
+ VTOL
Andreas Antener <andreas@uaventure.com>
VTOL Tiltrotor
@@ -612,12 +704,4 @@
-
-
- Julian Oes <julian@oes.ch>
-This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-passthrough of RC input and PWM output.
- custom
-
-
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 753da16bcfe6cb3524a12355b9df0bcc094ec733..216a7bd601c340160cad4e36e5c24c9f0d8a127e 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1234,6 +1234,14 @@ This parameter is used when the magnetometer fusion method is set automatically
2
modules/ekf2
+
+ Range finder range dependant noise scaler
+ Specifies the increase in range finder noise with range.
+ 0.0
+ 0.2
+ m/m
+ modules/ekf2
+
Gate size for range finder fusion
1.0
@@ -1522,6 +1530,29 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large
2
modules/ekf2
+
+ Range sensor aid
+ If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met.
+ modules/ekf2
+
+ Range aid enabled
+ Range aid disabled
+
+
+
+ Maximum horizontal velocity allowed for range aid mode
+ If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
+ 0.1
+ 2
+ modules/ekf2
+
+
+ Maximum absolute altitude (height above ground level) allowed for range aid mode
+ If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
+ 1.0
+ 10.0
+ modules/ekf2
+
@@ -2638,6 +2669,21 @@ but also ignore less noise
Disable
+
+ u-blox GPS dynamic platform model
+ u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
+ 0
+ 9
+ true
+ drivers/gps
+
+ airborne with <4g acceleration
+ stationary
+ automotive
+ airborne with <2g acceleration
+ airborne with <1g acceleration
+
+
@@ -3983,14 +4029,6 @@ if required for the gimbal (only in AUX output mode)
m/s
modules/mc_pos_control
-
- Vertical velocity feed forward
- Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
- 0.0
- 1.0
- 2
- modules/mc_pos_control
-
Proportional gain for horizontal position error
0.0
@@ -4059,14 +4097,6 @@ if required for the gimbal (only in AUX output mode)
1
modules/mc_pos_control
-
- 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
- 2
- modules/mc_pos_control
-
Maximum tilt angle in air
Limits maximum tilt in AUTO and POSCTRL modes during flight.
@@ -7291,7 +7321,8 @@ This is used for gathering replay logs for the ekf2 module
modules/sensors
- Select primary magnetometer
+ Select primary magnetometer.
+DEPRECATED, only used on V1 hardware
0
2
modules/sensors