Commit 696f9e32 authored by Lorenz Meier's avatar Lorenz Meier

Merge pull request #3272 from mavlink/px4param

PX4 Param System Update
parents fb57f430 9acfdc54
...@@ -117,7 +117,7 @@ QGCView { ...@@ -117,7 +117,7 @@ QGCView {
QGCLabel { QGCLabel {
anchors.baseline: batLowLevelField.baseline anchors.baseline: batLowLevelField.baseline
width: _middleRowWidth width: _middleRowWidth
text: qsTr("Battery Low Level:") text: qsTr("Battery Warn Level:")
} }
FactTextField { FactTextField {
id: batLowLevelField id: batLowLevelField
...@@ -126,6 +126,19 @@ QGCView { ...@@ -126,6 +126,19 @@ QGCView {
width: _editFieldWidth width: _editFieldWidth
} }
} }
Row {
QGCLabel {
anchors.baseline: batLowLevelField.baseline
width: _middleRowWidth
text: qsTr("Battery Failsafe Level:")
}
FactTextField {
id: batCritLevelField
fact: controller.getParameterFact(-1, "BAT_CRIT_THR")
showUnits: true
width: _editFieldWidth
}
}
} }
} }
} }
......
...@@ -38,6 +38,7 @@ ...@@ -38,6 +38,7 @@
const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = { const FactMetaData::BuiltInTranslation_s FactMetaData::_rgBuiltInTranslations[] = {
{ "centi-degrees", "degrees", FactMetaData::_centiDegreesToDegrees, FactMetaData::_degreesToCentiDegrees }, { "centi-degrees", "degrees", FactMetaData::_centiDegreesToDegrees, FactMetaData::_degreesToCentiDegrees },
{ "radians", "degrees", FactMetaData::_radiansToDegrees, FactMetaData::_degreesToRadians }, { "radians", "degrees", FactMetaData::_radiansToDegrees, FactMetaData::_degreesToRadians },
{ "norm", "%", FactMetaData::_normToPercent, FactMetaData::_percentToNorm },
}; };
// Translations driven by app settings // Translations driven by app settings
...@@ -449,6 +450,16 @@ QVariant FactMetaData::_knotsToMetersPerSecond(const QVariant& knots) ...@@ -449,6 +450,16 @@ QVariant FactMetaData::_knotsToMetersPerSecond(const QVariant& knots)
return QVariant(knots.toDouble() * 0.51444444444); return QVariant(knots.toDouble() * 0.51444444444);
} }
QVariant FactMetaData::_percentToNorm(const QVariant& percent)
{
return QVariant(percent.toDouble() / 100.0);
}
QVariant FactMetaData::_normToPercent(const QVariant& normalized)
{
return QVariant(normalized.toDouble() * 100.0);
}
void FactMetaData::setRawUnits(const QString& rawUnits) void FactMetaData::setRawUnits(const QString& rawUnits)
{ {
_rawUnits = rawUnits; _rawUnits = rawUnits;
......
...@@ -163,6 +163,8 @@ private: ...@@ -163,6 +163,8 @@ private:
static QVariant _kilometersPerHourToMetersPerSecond(const QVariant& kilometersPerHour); static QVariant _kilometersPerHourToMetersPerSecond(const QVariant& kilometersPerHour);
static QVariant _metersPerSecondToKnots(const QVariant& metersPerSecond); static QVariant _metersPerSecondToKnots(const QVariant& metersPerSecond);
static QVariant _knotsToMetersPerSecond(const QVariant& knots); static QVariant _knotsToMetersPerSecond(const QVariant& knots);
static QVariant _percentToNorm(const QVariant& percent);
static QVariant _normToPercent(const QVariant& normalized);
struct AppSettingsTranslation_s { struct AppSettingsTranslation_s {
const char* rawUnits; const char* rawUnits;
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<parameters> <parameters>
<version>3</version> <version>3</version>
<parameter_version_major>1</parameter_version_major> <parameter_version_major>1</parameter_version_major>
<parameter_version_minor>5</parameter_version_minor> <parameter_version_minor>6</parameter_version_minor>
<group name="UAVCAN Motor Parameters" no_code_generation="true"> <group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter default="75" name="ctl_bw" type="INT32"> <parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc> <short_desc>Speed controller bandwidth</short_desc>
...@@ -280,6 +280,7 @@ velocity</short_desc> ...@@ -280,6 +280,7 @@ velocity</short_desc>
<long_desc>Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc> <long_desc>Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
<min>0.15</min> <min>0.15</min>
<max>0.5</max> <max>0.5</max>
<unit>norm</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
...@@ -288,6 +289,7 @@ velocity</short_desc> ...@@ -288,6 +289,7 @@ velocity</short_desc>
<long_desc>Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL or landing.</long_desc> <long_desc>Sets the threshold (between 0 and 1, which is equivalent to between 0 and 100%) when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL or landing.</long_desc>
<min>0.05</min> <min>0.05</min>
<max>0.14</max> <max>0.14</max>
<unit>norm</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
...@@ -449,7 +451,7 @@ velocity</short_desc> ...@@ -449,7 +451,7 @@ velocity</short_desc>
<parameter default="10" name="COM_DL_LOSS_T" type="INT32"> <parameter default="10" name="COM_DL_LOSS_T" type="INT32">
<short_desc>Datalink loss time threshold</short_desc> <short_desc>Datalink loss time threshold</short_desc>
<long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc> <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
<min>0</min> <min>5</min>
<max>300</max> <max>300</max>
<unit>s</unit> <unit>s</unit>
<decimal>1</decimal> <decimal>1</decimal>
...@@ -459,7 +461,7 @@ velocity</short_desc> ...@@ -459,7 +461,7 @@ velocity</short_desc>
<short_desc>Datalink regain time threshold</short_desc> <short_desc>Datalink regain time threshold</short_desc>
<long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc> <long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
<min>0</min> <min>0</min>
<max>30</max> <max>3</max>
<unit>s</unit> <unit>s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
...@@ -1268,6 +1270,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1268,6 +1270,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</long_desc> <long_desc>This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<unit>norm</unit>
</parameter> </parameter>
<parameter default="0.0" name="FW_THR_SLEW_MAX" type="FLOAT"> <parameter default="0.0" name="FW_THR_SLEW_MAX" type="FLOAT">
<short_desc>Throttle max slew rate</short_desc> <short_desc>Throttle max slew rate</short_desc>
...@@ -1301,24 +1304,28 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1301,24 +1304,28 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<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> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<unit>norm</unit>
</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>
<long_desc>This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</long_desc> <long_desc>This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<unit>norm</unit>
</parameter> </parameter>
<parameter default="0.15" name="FW_THR_IDLE" type="FLOAT"> <parameter default="0.15" name="FW_THR_IDLE" type="FLOAT">
<short_desc>Idle throttle</short_desc> <short_desc>Idle throttle</short_desc>
<long_desc>This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.</long_desc> <long_desc>This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.4</max> <max>0.4</max>
<unit>norm</unit>
</parameter> </parameter>
<parameter default="1.0" name="FW_THR_LND_MAX" type="FLOAT"> <parameter default="1.0" name="FW_THR_LND_MAX" type="FLOAT">
<short_desc>Throttle limit value before flare</short_desc> <short_desc>Throttle limit value before flare</short_desc>
<long_desc>This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare.</long_desc> <long_desc>This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<unit>norm</unit>
</parameter> </parameter>
<parameter default="10.0" name="FW_CLMBOUT_DIFF" type="FLOAT"> <parameter default="10.0" name="FW_CLMBOUT_DIFF" type="FLOAT">
<short_desc>Climbout Altitude difference</short_desc> <short_desc>Climbout Altitude difference</short_desc>
...@@ -1562,34 +1569,43 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1562,34 +1569,43 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<short_desc>Multicopter max climb rate</short_desc> <short_desc>Multicopter max climb rate</short_desc>
<long_desc>Maximum vertical velocity allowed in the landed state (m/s up and down)</long_desc> <long_desc>Maximum vertical velocity allowed in the landed state (m/s up and down)</long_desc>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="1.50" name="LNDMC_XY_VEL_MAX" type="FLOAT"> <parameter default="1.50" name="LNDMC_XY_VEL_MAX" type="FLOAT">
<short_desc>Multicopter max horizontal velocity</short_desc> <short_desc>Multicopter max horizontal velocity</short_desc>
<long_desc>Maximum horizontal velocity allowed in the landed state (m/s)</long_desc> <long_desc>Maximum horizontal velocity allowed in the landed state (m/s)</long_desc>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="20.0" name="LNDMC_ROT_MAX" type="FLOAT"> <parameter default="20.0" name="LNDMC_ROT_MAX" type="FLOAT">
<short_desc>Multicopter max rotation</short_desc> <short_desc>Multicopter max rotation</short_desc>
<long_desc>Maximum allowed angular velocity around each axis allowed in the landed state.</long_desc> <long_desc>Maximum allowed angular velocity around each axis allowed in the landed state.</long_desc>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="0.15" name="LNDMC_THR_MAX" type="FLOAT"> <parameter default="0.15" name="LNDMC_THR_MAX" type="FLOAT">
<short_desc>Multicopter max throttle</short_desc> <short_desc>Multicopter max throttle</short_desc>
<long_desc>Maximum actuator output on throttle allowed in the landed state</long_desc> <long_desc>Maximum actuator output on throttle allowed in the landed state</long_desc>
<min>0.1</min> <min>0.1</min>
<max>0.5</max> <max>0.5</max>
<unit>norm</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="2.0" name="LNDMC_FFALL_THR" type="FLOAT"> <parameter default="2.0" name="LNDMC_FFALL_THR" type="FLOAT">
<short_desc>Multicopter specific force threshold</short_desc> <short_desc>Multicopter specific force threshold</short_desc>
<long_desc>Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection</long_desc> <long_desc>Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection</long_desc>
<min>0.1</min> <min>0.1</min>
<max>10</max> <max>10</max>
<unit>m/s^2</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="300" name="LNDMC_FFALL_TRIG" type="INT32"> <parameter default="0.3" name="LNDMC_FFALL_TTRI" type="FLOAT">
<short_desc>Multicopter free-fall trigger time</short_desc> <short_desc>Multicopter free-fall trigger time</short_desc>
<long_desc>Milliseconds that freefall conditions have to hold before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h</long_desc> <long_desc>Milliseconds that freefall conditions have to hold before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h</long_desc>
<min>20</min> <min>0.02</min>
<max>5000</max> <max>5</max>
<unit>s</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="5.0" name="LNDFW_VEL_XY_MAX" type="FLOAT"> <parameter default="5.0" name="LNDFW_VEL_XY_MAX" type="FLOAT">
<short_desc>Fixedwing max horizontal velocity</short_desc> <short_desc>Fixedwing max horizontal velocity</short_desc>
...@@ -1597,6 +1613,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1597,6 +1613,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<min>0.5</min> <min>0.5</min>
<max>10</max> <max>10</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="10.0" name="LNDFW_VEL_Z_MAX" type="FLOAT"> <parameter default="10.0" name="LNDFW_VEL_Z_MAX" type="FLOAT">
<short_desc>Fixedwing max climb rate</short_desc> <short_desc>Fixedwing max climb rate</short_desc>
...@@ -1604,6 +1621,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1604,6 +1621,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<min>5</min> <min>5</min>
<max>20</max> <max>20</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="4.0" name="LNDFW_VELI_MAX" type="FLOAT"> <parameter default="4.0" name="LNDFW_VELI_MAX" type="FLOAT">
<short_desc>Fixedwing max short-term velocity</short_desc> <short_desc>Fixedwing max short-term velocity</short_desc>
...@@ -1611,6 +1629,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1611,6 +1629,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<min>2</min> <min>2</min>
<max>10</max> <max>10</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
<parameter default="8.00" name="LNDFW_AIRSPD_MAX" type="FLOAT"> <parameter default="8.00" name="LNDFW_AIRSPD_MAX" type="FLOAT">
<short_desc>Airspeed max</short_desc> <short_desc>Airspeed max</short_desc>
...@@ -1618,6 +1637,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1618,6 +1637,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<min>4</min> <min>4</min>
<max>20</max> <max>20</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal>
</parameter> </parameter>
</group> </group>
<group name="Launch detection"> <group name="Launch detection">
...@@ -1979,7 +1999,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -1979,7 +1999,7 @@ Assumes measurement is timestamped at trailing edge of integration period</short
</parameter> </parameter>
<parameter default="0" name="NAV_DLL_ACT" type="INT32"> <parameter default="0" name="NAV_DLL_ACT" type="INT32">
<short_desc>Set data link loss failsafe mode</short_desc> <short_desc>Set data link loss failsafe mode</short_desc>
<long_desc>The data link loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.</long_desc> <long_desc>The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.</long_desc>
<values> <values>
<value code="1">Loiter</value> <value code="1">Loiter</value>
<value code="0">Disabled</value> <value code="0">Disabled</value>
...@@ -2321,31 +2341,38 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -2321,31 +2341,38 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc> <long_desc>It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
<min>0.05</min> <min>0.05</min>
<max>1.0</max> <max>1.0</max>
<decimal>3</decimal> <unit>norm</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.5" name="MPC_THR_HOVER" type="FLOAT"> <parameter default="0.5" name="MPC_THR_HOVER" type="FLOAT">
<short_desc>Hover thrust</short_desc> <short_desc>Hover thrust</short_desc>
<long_desc>Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.</long_desc> <long_desc>Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed.</long_desc>
<min>0.2</min> <min>0.2</min>
<max>0.8</max> <max>0.8</max>
<unit>norm</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.1" name="MPC_ALTCTL_DZ" type="FLOAT"> <parameter default="0.1" name="MPC_ALTCTL_DZ" type="FLOAT">
<short_desc>ALTCTL throttle curve breakpoint</short_desc> <short_desc>ALTCTL throttle curve breakpoint</short_desc>
<long_desc>Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz.</long_desc> <long_desc>Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.2</max> <max>0.2</max>
<unit>norm</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.0" name="MPC_ALTCTL_DY" type="FLOAT"> <parameter default="0.0" name="MPC_ALTCTL_DY" type="FLOAT">
<short_desc>ALTCTL throttle curve breakpoint height</short_desc> <short_desc>ALTCTL throttle curve breakpoint height</short_desc>
<long_desc>Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz.</long_desc> <long_desc>Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.2</max> <max>0.2</max>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.9" name="MPC_THR_MAX" type="FLOAT"> <parameter default="0.9" name="MPC_THR_MAX" type="FLOAT">
<short_desc>Maximum thrust in auto thrust control</short_desc> <short_desc>Maximum thrust in auto thrust control</short_desc>
<long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc> <long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.95</max> <max>0.95</max>
<unit>norm</unit>
<decimal>2</decimal> <decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.08" name="MPC_MANTHR_MIN" type="FLOAT"> <parameter default="0.08" name="MPC_MANTHR_MIN" type="FLOAT">
...@@ -2353,13 +2380,15 @@ Assumes measurement is timestamped at trailing edge of integration period</short ...@@ -2353,13 +2380,15 @@ Assumes measurement is timestamped at trailing edge of integration period</short
<long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc> <long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>3</decimal> <unit>norm</unit>
<decimal>2</decimal>
</parameter> </parameter>
<parameter default="0.9" name="MPC_MANTHR_MAX" type="FLOAT"> <parameter default="0.9" name="MPC_MANTHR_MAX" type="FLOAT">
<short_desc>Maximum manual thrust</short_desc> <short_desc>Maximum manual thrust</short_desc>
<long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc> <long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<unit>norm</unit>
<decimal>2</decimal> <decimal>2</decimal>
</parameter> </parameter>
<parameter default="1.0" name="MPC_Z_P" type="FLOAT"> <parameter default="1.0" name="MPC_Z_P" type="FLOAT">
......
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