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Commit 63bddf06 authored by PX4BuildBot's avatar PX4BuildBot
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Update PX4 Firmware metadata Mon Aug 24 09:43:57 UTC 2020

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src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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......@@ -8,7 +8,7 @@
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
<min>10</min>
<max>250</max>
<unit>Hertz</unit>
<unit>Hz</unit>
</parameter>
<parameter default="1" name="ctl_dir" type="INT32">
<short_desc>Reverse direction</short_desc>
......@@ -27,7 +27,7 @@
slower, smoother response.</long_desc>
<min>0.00</min>
<max>1.00</max>
<unit>amp-seconds per radian</unit>
<unit>C/rad</unit>
<decimal>3</decimal>
</parameter>
<parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
......@@ -35,7 +35,7 @@
<long_desc>Idle speed (e Hz)</long_desc>
<min>0.0</min>
<max>100.0</max>
<unit>Hertz</unit>
<unit>Hz</unit>
<decimal>3</decimal>
</parameter>
<parameter default="25" name="ctl_start_rate" type="INT32">
......@@ -43,14 +43,13 @@
<long_desc>Spin-up rate (e Hz/s)</long_desc>
<min>5</min>
<max>1000</max>
<unit>Hz/s</unit>
<unit>1/s^2</unit>
</parameter>
<parameter default="0" name="esc_index" type="INT32">
<short_desc>Index of this ESC in throttle command messages.</short_desc>
<long_desc>Index of this ESC in throttle command messages.</long_desc>
<min>0</min>
<max>15</max>
<unit>Index</unit>
</parameter>
<parameter default="20034" name="id_ext_status" type="INT32">
<short_desc>Extended status ID</short_desc>
......@@ -63,13 +62,13 @@
<long_desc>Extended status interval (µs)</long_desc>
<min>0</min>
<max>1000000</max>
<unit>µs</unit>
<unit>us</unit>
</parameter>
<parameter default="50000" name="int_status" type="INT32">
<short_desc>ESC status interval (µs)</short_desc>
<long_desc>ESC status interval (µs)</long_desc>
<max>1000000</max>
<unit>µs</unit>
<unit>us</unit>
</parameter>
<parameter default="12" name="mot_i_max" type="FLOAT">
<short_desc>Motor current limit in amps</short_desc>
......@@ -81,7 +80,7 @@
divided by the motor voltage limit.</long_desc>
<min>1</min>
<max>80</max>
<unit>Amps</unit>
<unit>A</unit>
<decimal>3</decimal>
</parameter>
<parameter default="2300" name="mot_kv" type="INT32">
......@@ -91,12 +90,12 @@
some deviation from the specified value is acceptable.</long_desc>
<min>0</min>
<max>4000</max>
<unit>RPM/v</unit>
<unit>rpm/V</unit>
</parameter>
<parameter default="0.0" name="mot_ls" type="FLOAT">
<short_desc>READ ONLY: Motor inductance in henries.</short_desc>
<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
<unit>henries</unit>
<unit>H</unit>
<decimal>3</decimal>
</parameter>
<parameter default="14" name="mot_num_poles" type="INT32">
......@@ -106,14 +105,13 @@
specification sheet.</long_desc>
<min>2</min>
<max>40</max>
<unit>Poles</unit>
</parameter>
<parameter default="0.0" name="mot_rs" type="FLOAT">
<short_desc>READ ONLY: Motor resistance in ohms</short_desc>
<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.</long_desc>
<unit>Ohms</unit>
<unit>Ohm</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.5" name="mot_v_accel" type="FLOAT">
......@@ -121,7 +119,7 @@
<long_desc>Acceleration limit (V)</long_desc>
<min>0.01</min>
<max>1.00</max>
<unit>Volts</unit>
<unit>V</unit>
<decimal>3</decimal>
</parameter>
<parameter default="14.8" name="mot_v_max" type="FLOAT">
......@@ -132,7 +130,7 @@
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc>
<min>0</min>
<unit>Volts</unit>
<unit>V</unit>
<decimal>3</decimal>
</parameter>
</group>
......@@ -195,7 +193,7 @@
</long_desc>
<min>0</min>
<max>1000000</max>
<unit>microseconds</unit>
<unit>us</unit>
</parameter>
</group>
<group name="Airspeed Validator">
......@@ -279,7 +277,7 @@
<long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>0.1</max>
<unit>1/s</unit>
<unit>Hz</unit>
</parameter>
<parameter default="10.0" name="ASPD_STALL" type="FLOAT">
<short_desc>Airspeed fault detection stall airspeed. (Experimental)</short_desc>
......@@ -305,7 +303,7 @@
<long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
<min>0</min>
<max>1</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
</parameter>
</group>
<group name="Attitude Q estimator">
......@@ -643,7 +641,7 @@ Set to 2 to use heading from motion capture</short_desc>
<long_desc>If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.</long_desc>
<min>-1.0</min>
<max>0.2</max>
<unit>Ohms</unit>
<unit>Ohm</unit>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="0" name="BAT_SOURCE" type="INT32">
......@@ -962,7 +960,7 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
<short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
<min>0.1</min>
<max>1.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>0.05</increment>
</parameter>
......@@ -1298,7 +1296,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
<min>1</min>
<max>100</max>
<unit>sec</unit>
<unit>s</unit>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="5" name="COM_POS_FS_EPH" type="FLOAT">
......@@ -1321,7 +1319,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.</long_desc>
<min>1</min>
<max>100</max>
<unit>sec</unit>
<unit>s</unit>
<reboot_required>true</reboot_required>
</parameter>
<parameter default="1" name="COM_POWER_COUNT" type="INT32">
......@@ -1448,14 +1446,14 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>Latitude of airfield home waypoint</long_desc>
<min>-900000000</min>
<max>900000000</max>
<unit>deg * 1e7</unit>
<unit>deg*1e7</unit>
</parameter>
<parameter default="1518423250" name="NAV_AH_LON" type="INT32">
<short_desc>Airfield home Lon</short_desc>
<long_desc>Longitude of airfield home waypoint</long_desc>
<min>-1800000000</min>
<max>1800000000</max>
<unit>deg * 1e7</unit>
<unit>deg*1e7</unit>
</parameter>
</group>
<group name="EKF2">
......@@ -1463,7 +1461,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<short_desc>1-sigma IMU accelerometer switch-on bias</short_desc>
<min>0.0</min>
<max>0.5</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1473,7 +1471,7 @@ If the magnitude of the IMU accelerometer vector exceeds this value, the EKF del
This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates</short_desc>
<min>20.0</min>
<max>200.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>1</decimal>
</parameter>
<parameter default="3.0" name="EKF2_ABL_GYRLIM" type="FLOAT">
......@@ -1489,7 +1487,7 @@ This reduces the adverse effect of rapid rotation rates and associated errors on
<short_desc>Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value</short_desc>
<min>0.0</min>
<max>0.8</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
</parameter>
<parameter default="0.5" name="EKF2_ABL_TAU" type="FLOAT">
......@@ -1505,14 +1503,14 @@ This parameter controls the time constant of the decay</short_desc>
<short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
<min>0.0</min>
<max>0.01</max>
<unit>m/s**3</unit>
<unit>m/s^3</unit>
<decimal>6</decimal>
</parameter>
<parameter default="3.5e-1" name="EKF2_ACC_NOISE" type="FLOAT">
<short_desc>Accelerometer noise for covariance prediction</short_desc>
<min>0.01</min>
<max>1.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
</parameter>
<parameter default="1" name="EKF2_AID_MASK" type="INT32">
......@@ -1600,7 +1598,7 @@ Use EKF2_FUSE_BETA to activate sideslip fusion</short_desc>
This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence</short_desc>
<min>1.0</min>
<max>100.0</max>
<unit>kg/m**2</unit>
<unit>kg/m^2</unit>
<decimal>1</decimal>
</parameter>
<parameter default="25.0" name="EKF2_BCOEF_Y" type="FLOAT">
......@@ -1608,7 +1606,7 @@ This should be adjusted to minimise variance of the X-axis drag specific force i
This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence</short_desc>
<min>1.0</min>
<max>100.0</max>
<unit>kg/m**2</unit>
<unit>kg/m^2</unit>
<decimal>1</decimal>
</parameter>
<parameter default="5.0" name="EKF2_BETA_GATE" type="FLOAT">
......@@ -1642,7 +1640,7 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
Increasing it makes the multi-rotor wind estimates adjust more slowly</short_desc>
<min>0.5</min>
<max>10.0</max>
<unit>(m/sec**2)**2</unit>
<unit>(m/s^2)^2</unit>
<decimal>2</decimal>
</parameter>
<parameter default="1.4" name="EKF2_EAS_NOISE" type="FLOAT">
......@@ -1719,7 +1717,7 @@ Sets the number of standard deviations used by the innovation consistency test</
<short_desc>1-sigma IMU gyro switch-on bias</short_desc>
<min>0.0</min>
<max>0.2</max>
<unit>rad/sec</unit>
<unit>rad/s</unit>
<decimal>2</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1728,7 +1726,7 @@ Sets the number of standard deviations used by the innovation consistency test</
<long_desc>Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ &gt; 0.</long_desc>
<min>0.0</min>
<max>10.0</max>
<unit>M</unit>
<unit>m</unit>
<decimal>1</decimal>
</parameter>
<parameter default="0.5" name="EKF2_GND_MAX_HGT" type="FLOAT">
......@@ -1736,7 +1734,7 @@ Sets the number of standard deviations used by the innovation consistency test</
<long_desc>Sets the maximum distance to the ground level where negative baro innovations are expected.</long_desc>
<min>0.0</min>
<max>5.0</max>
<unit>M</unit>
<unit>m</unit>
<decimal>1</decimal>
</parameter>
<parameter default="245" name="EKF2_GPS_CHECK" type="INT32">
......@@ -1838,7 +1836,7 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu
<short_desc>Process noise for IMU rate gyro bias prediction</short_desc>
<min>0.0</min>
<max>0.01</max>
<unit>rad/s**2</unit>
<unit>rad/s^2</unit>
<decimal>6</decimal>
</parameter>
<parameter default="1.5e-2" name="EKF2_GYR_NOISE" type="FLOAT">
......@@ -1904,7 +1902,7 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu
This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1913,7 +1911,7 @@ This is the amount of X-axis magnetometer bias learned by the EKF and saved from
This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1922,7 +1920,7 @@ This is the amount of Y-axis magnetometer bias learned by the EKF and saved from
This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1936,7 +1934,7 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large
<parameter default="2.5E-7" name="EKF2_MAGB_VREF" type="FLOAT">
<short_desc>State variance assumed for magnetometer bias storage.
This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster</short_desc>
<unit>mGauss**2</unit>
<unit>mgauss^2</unit>
<decimal>8</decimal>
<reboot_required>true</reboot_required>
</parameter>
......@@ -1945,14 +1943,14 @@ This is a reference variance used to calculate the fraction of learned magnetome
This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion</short_desc>
<min>0.0</min>
<max>5.0</max>
<unit>m/s**2</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
</parameter>
<parameter default="1.0e-4" name="EKF2_MAG_B_NOISE" type="FLOAT">
<short_desc>Process noise for body magnetic field prediction</short_desc>
<min>0.0</min>
<max>0.1</max>
<unit>Gauss/s</unit>
<unit>gauss/s</unit>
<decimal>6</decimal>
</parameter>
<parameter default="0" name="EKF2_MAG_CHECK" type="INT32">
......@@ -1976,7 +1974,7 @@ This parameter is used when the magnetometer fusion method is set automatically
<short_desc>Process noise for earth magnetic field prediction</short_desc>
<min>0.0</min>
<max>0.1</max>
<unit>Gauss/s</unit>
<unit>gauss/s</unit>
<decimal>6</decimal>
</parameter>
<parameter default="3.0" name="EKF2_MAG_GATE" type="FLOAT">
......@@ -1990,7 +1988,7 @@ This parameter is used when the magnetometer fusion method is set automatically
<short_desc>Measurement noise for magnetometer 3-axis fusion</short_desc>
<min>0.001</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0" name="EKF2_MAG_TYPE" type="INT32">
......@@ -2047,7 +2045,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
<short_desc>Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid</short_desc>
<min>500000</min>
<max>10000000</max>
<unit>uSec</unit>
<unit>us</unit>
</parameter>
<parameter default="5" name="EKF2_OF_DELAY" type="FLOAT">
<short_desc>Optical flow measurement delay relative to IMU measurements
......@@ -2316,7 +2314,7 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
<short_desc>Process noise for wind velocity prediction</short_desc>
<min>0.0</min>
<max>1.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>3</decimal>
</parameter>
</group>
......@@ -2338,21 +2336,21 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
<long_desc>This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.</long_desc>
<min>45</min>
<max>720</max>
<unit>degrees</unit>
<unit>deg</unit>
</parameter>
<parameter default="90" name="FW_ACRO_Y_MAX" type="FLOAT">
<short_desc>Acro body y max rate</short_desc>
<long_desc>This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.</long_desc>
<min>45</min>
<max>720</max>
<unit>degrees</unit>
<unit>deg</unit>
</parameter>
<parameter default="45" name="FW_ACRO_Z_MAX" type="FLOAT">
<short_desc>Acro body z max rate</short_desc>
<long_desc>This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.</long_desc>
<min>10</min>
<max>180</max>
<unit>degrees</unit>
<unit>deg</unit>
</parameter>
<parameter default="0" name="FW_ARSP_MODE" type="INT32">
<short_desc>Airspeed mode</short_desc>
......@@ -2965,7 +2963,7 @@ Set to 0 to disable heading hold</short_desc>
<short_desc>Catapult accelerometer threshold</short_desc>
<long_desc>LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
<min>0</min>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
......@@ -3154,7 +3152,7 @@ Set to 0 to disable heading hold</short_desc>
<long_desc>This is the maximum vertical acceleration (in m/s/s) 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.</long_desc>
<min>1.0</min>
<max>10.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
......@@ -3175,7 +3173,7 @@ automatic trigger system (ATS)</short_desc>
<parameter default="1900" name="FD_EXT_ATS_TRIG" type="INT32">
<short_desc>The PWM threshold from external automatic trigger system for engaging failsafe</short_desc>
<long_desc>External ATS is required by ASTM F3322-18.</long_desc>
<unit>microseconds</unit>
<unit>us</unit>
<decimal>2</decimal>
</parameter>
<parameter default="60" name="FD_FAIL_P" type="INT32">
......@@ -3183,7 +3181,7 @@ automatic trigger system (ATS)</short_desc>
<long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
<min>60</min>
<max>180</max>
<unit>degrees</unit>
<unit>deg</unit>
</parameter>
<parameter default="0.3" name="FD_FAIL_P_TTRI" type="FLOAT">
<short_desc>Pitch failure trigger time</short_desc>
......@@ -3198,7 +3196,7 @@ automatic trigger system (ATS)</short_desc>
<long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
<min>60</min>
<max>180</max>
<unit>degrees</unit>
<unit>deg</unit>
</parameter>
<parameter default="0.3" name="FD_FAIL_R_TTRI" type="FLOAT">
<short_desc>Roll failure trigger time</short_desc>
......@@ -3214,14 +3212,13 @@ automatic trigger system (ATS)</short_desc>
<short_desc>Distance to follow target from</short_desc>
<long_desc>The distance in meters to follow the target at</long_desc>
<min>1.0</min>
<unit>meters</unit>
<unit>m</unit>
</parameter>
<parameter default="1" name="NAV_FT_FS" type="INT32">
<short_desc>Side to follow target from</short_desc>
<long_desc>The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)</long_desc>
<min>0</min>
<max>3</max>
<unit>n/a</unit>
</parameter>
<parameter default="0.5" name="NAV_FT_RS" type="FLOAT">
<short_desc>Dynamic filtering algorithm responsiveness to target movement
......@@ -3229,14 +3226,13 @@ lower numbers increase the responsiveness to changing long lat
but also ignore less noise</short_desc>
<min>0.0</min>
<max>1.0</max>
<unit>n/a</unit>
<decimal>2</decimal>
</parameter>
<parameter default="8.0" name="NAV_MIN_FT_HT" type="FLOAT">
<short_desc>Minimum follow target altitude</short_desc>
<long_desc>The minimum height in meters relative to home for following a target</long_desc>
<min>8.0</min>
<unit>meters</unit>
<unit>m</unit>
</parameter>
</group>
<group name="GPS">
......@@ -3658,14 +3654,14 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<short_desc>Optical flow rotation (roll/pitch) noise gain</short_desc>
<min>0.1</min>
<max>10.0</max>
<unit>m/s / (rad)</unit>
<unit>m/s/rad</unit>
<decimal>3</decimal>
</parameter>
<parameter default="7.0" name="LPE_FLW_RR" type="FLOAT">
<short_desc>Optical flow angular velocity noise gain</short_desc>
<min>0.0</min>
<max>10.0</max>
<unit>m/s / (rad/s)</unit>
<unit>m/rad</unit>
<decimal>3</decimal>
</parameter>
<parameter default="1.3" name="LPE_FLW_SCALE" type="FLOAT">
......@@ -3695,7 +3691,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<short_desc>GPS delay compensaton</short_desc>
<min>0</min>
<max>0.4</max>
<unit>sec</unit>
<unit>s</unit>
<decimal>2</decimal>
</parameter>
<parameter default="0.25" name="LPE_GPS_VXY" type="FLOAT">
......@@ -3780,7 +3776,7 @@ EPV used if greater than this value</short_desc>
<short_desc>Accel bias propagation noise density</short_desc>
<min>0</min>
<max>1</max>
<unit>(m/s^2)/s/sqrt(Hz)</unit>
<unit>m/s^3/sqrt(Hz)</unit>
<decimal>8</decimal>
</parameter>
<parameter default="0.1" name="LPE_PN_P" type="FLOAT">
......@@ -3795,7 +3791,7 @@ EPV used if greater than this value</short_desc>
<short_desc>Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)</short_desc>
<min>0</min>
<max>1</max>
<unit>(m/s)/(sqrt(hz))</unit>
<unit>m/s/sqrt(Hz)</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.1" name="LPE_PN_V" type="FLOAT">
......@@ -3803,7 +3799,7 @@ EPV used if greater than this value</short_desc>
<long_desc>Increase to trust measurements more. Decrease to trust model more.</long_desc>
<min>0</min>
<max>1</max>
<unit>(m/s)/s/sqrt(Hz)</unit>
<unit>m/s^2/sqrt(Hz)</unit>
<decimal>8</decimal>
</parameter>
<parameter default="0.00" name="LPE_SNR_OFF_Z" type="FLOAT">
......@@ -3840,7 +3836,7 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
<long_desc>Set to zero to enable automatic compensation from measurement timestamps</long_desc>
<min>0</min>
<max>0.1</max>
<unit>sec</unit>
<unit>s</unit>
<decimal>2</decimal>
</parameter>
<parameter default="0.1" name="LPE_VIS_XY" type="FLOAT">
......@@ -4492,7 +4488,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>12</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
......@@ -4518,7 +4514,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>12</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
......@@ -4535,7 +4531,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>5</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
......@@ -4544,7 +4540,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.</long_desc>
<min>0.0</min>
<max>1.0</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
......@@ -4564,14 +4560,14 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Only used in Position mode.</long_desc>
<min>0</min>
<max>1</max>
<unit>seconds</unit>
<unit>s</unit>
</parameter>
<parameter default="-1.0" name="CP_DIST" type="FLOAT">
<short_desc>Minimum distance the vehicle should keep to all obstacles</short_desc>
<long_desc>Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value</long_desc>
<min>-1</min>
<max>15</max>
<unit>meters</unit>
<unit>m</unit>
</parameter>
<parameter default="0" name="CP_GO_NO_DATA" type="FLOAT">
<short_desc>Boolean to allow moving into directions where there is no sensor data (outside FOV)</short_desc>
......@@ -4582,7 +4578,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Only used in Position mode.</long_desc>
<min>0</min>
<max>90</max>
<unit>[deg]</unit>
<unit>deg</unit>
</parameter>
<parameter default="0.0" name="MC_MAN_TILT_TAU" type="FLOAT">
<short_desc>Manual tilt input filter time constant
......@@ -4596,7 +4592,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<short_desc>Maximum vertical acceleration in velocity controlled modes down</short_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4605,7 +4601,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Note: In manual, this parameter is only used in MPC_POS_MODE 1.</long_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4614,7 +4610,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3.</long_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4622,7 +4618,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<short_desc>Maximum vertical acceleration in velocity controlled modes upward</short_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4642,7 +4638,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Note: This is only used when MPC_POS_MODE is set to 1.</long_desc>
<min>0.5</min>
<max>10.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4671,7 +4667,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.</long_desc>
<min>1.0</min>
<max>80.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>1</decimal>
<increment>1</increment>
</parameter>
......@@ -4680,7 +4676,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.</long_desc>
<min>0.5</min>
<max>500.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -4689,7 +4685,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle's velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle's motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: This is only used when MPC_POS_MODE is set to 1.</long_desc>
<min>0</min>
<max>30.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
......@@ -7661,7 +7657,7 @@ default 1.5 turns per second</short_desc>
<long_desc>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</long_desc>
<min>0</min>
<max>90</max>
<unit>degrees</unit>
<unit>deg</unit>
<values>
<value code="0">No cone, always climb to RTL_RETURN_ALT above destination.</value>
<value code="25">25 degrees half cone angle.</value>
......@@ -8858,14 +8854,14 @@ is less than 50% of this value</short_desc>
<short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
<min>0.1</min>
<max>100</max>
<unit>millimeter</unit>
<unit>mm</unit>
</parameter>
<parameter default="0.2" name="CAL_AIR_TUBELEN" type="FLOAT">
<short_desc>Airspeed sensor tube length</short_desc>
<long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
<min>0.01</min>
<max>2.00</max>
<unit>meter</unit>
<unit>m</unit>
</parameter>
<parameter default="1" name="CAL_MAG_ROT_AUTO" type="INT32">
<short_desc>Automatically set external rotations</short_desc>
......@@ -8955,7 +8951,6 @@ is less than 50% of this value</short_desc>
<short_desc>INA226 Power Monitor Config</short_desc>
<min>0</min>
<max>65535</max>
<unit>u</unit>
<decimal>1</decimal>
<increment>1</increment>
</parameter>
......@@ -9217,21 +9212,21 @@ How often the sensor is readout</short_desc>
<short_desc>Target IMU temperature</short_desc>
<min>0</min>
<max>85.0</max>
<unit>C</unit>
<unit>celcius</unit>
<decimal>3</decimal>
</parameter>
<parameter category="System" default="0.025" name="SENS_IMU_TEMP_I" type="FLOAT">
<short_desc>IMU heater controller integrator gain value</short_desc>
<min>0</min>
<max>1.0</max>
<unit>microseconds/C</unit>
<unit>us/C</unit>
<decimal>3</decimal>
</parameter>
<parameter category="System" default="1.0" name="SENS_IMU_TEMP_P" type="FLOAT">
<short_desc>IMU heater controller proportional gain value</short_desc>
<min>0</min>
<max>2.0</max>
<unit>microseconds/C</unit>
<unit>us/C</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0" name="SENS_LEDDAR1_CFG" type="INT32">
......@@ -10059,21 +10054,21 @@ How often the sensor is readout</short_desc>
<short_desc>Vehicle inertia about X axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IXY" type="FLOAT">
<short_desc>Vehicle cross term inertia xy</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IXZ" type="FLOAT">
<short_desc>Vehicle cross term inertia xz</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
......@@ -10081,14 +10076,14 @@ How often the sensor is readout</short_desc>
<short_desc>Vehicle inertia about Y axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
<parameter default="0.0" name="SIH_IYZ" type="FLOAT">
<short_desc>Vehicle cross term inertia yz</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
......@@ -10096,7 +10091,7 @@ How often the sensor is readout</short_desc>
<short_desc>Vehicle inertia about Z axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
......@@ -10130,21 +10125,21 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-850000000</min>
<max>850000000</max>
<unit>1e-7 deg</unit>
<unit>deg*1e7</unit>
</parameter>
<parameter default="-737578370" name="SIH_LOC_LON0" type="INT32">
<short_desc>Initial geodetic longitude</short_desc>
<long_desc>This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1800000000</min>
<max>1800000000</max>
<unit>1e-7 deg</unit>
<unit>deg*1e7</unit>
</parameter>
<parameter default="0.179" name="SIH_LOC_MU_X" type="FLOAT">
<short_desc>North magnetic field at the initial location</short_desc>
<long_desc>This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
......@@ -10153,7 +10148,7 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
......@@ -10162,7 +10157,7 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
......@@ -10263,17 +10258,17 @@ How often the sensor is readout</short_desc>
<short_desc>Required temperature rise during thermal calibration</short_desc>
<long_desc>A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</long_desc>
<min>10</min>
<unit>deg C</unit>
<unit>celcius</unit>
</parameter>
<parameter default="10" name="SYS_CAL_TMAX" type="INT32">
<short_desc>Maximum starting temperature for thermal calibration</short_desc>
<long_desc>Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.</long_desc>
<unit>deg C</unit>
<unit>celcius</unit>
</parameter>
<parameter default="5" name="SYS_CAL_TMIN" type="INT32">
<short_desc>Minimum starting temperature for thermal calibration</short_desc>
<long_desc>Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.</long_desc>
<unit>deg C</unit>
<unit>celcius</unit>
</parameter>
<parameter default="1" name="SYS_HAS_BARO" type="INT32">
<short_desc>Control if the vehicle has a barometer</short_desc>
......@@ -10928,7 +10923,7 @@ How often the sensor is readout</short_desc>
<short_desc>Backtransition deceleration setpoint to pitch feedforward gain</short_desc>
<min>0</min>
<max>0.2</max>
<unit>rad*s*s/m</unit>
<unit>rad s^2/m</unit>
<decimal>1</decimal>
<increment>0.05</increment>
</parameter>
......@@ -10936,7 +10931,7 @@ How often the sensor is readout</short_desc>
<short_desc>Backtransition deceleration setpoint to pitch I gain</short_desc>
<min>0</min>
<max>0.3</max>
<unit>rad*s/m</unit>
<unit>rad s/m</unit>
<decimal>1</decimal>
<increment>0.05</increment>
</parameter>
......@@ -10945,7 +10940,7 @@ How often the sensor is readout</short_desc>
<long_desc>The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. For standard vtol and tiltrotors a controller is used to track this value during the transition.</long_desc>
<min>0.5</min>
<max>10</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
......@@ -11098,7 +11093,7 @@ tailsitter, tiltrotor: main throttle</short_desc>
<long_desc>The duration of the front transition when there is no airspeed feedback available.</long_desc>
<min>1.0</min>
<max>30.0</max>
<unit>seconds</unit>
<unit>s</unit>
</parameter>
<parameter default="900" name="VT_IDLE_PWM_MC" type="INT32">
<short_desc>Idle speed of VTOL when in multicopter mode</short_desc>
......@@ -11197,7 +11192,7 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
<long_desc>The desired gain to convert roll sp into yaw rate sp.</long_desc>
<min>0.0</min>
<max>3.0</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>3</decimal>
<increment>0.01</increment>
</parameter>
......
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