diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 439edf9315d490f7c005a3fde6b2b91a8344cadd..6cd5a5d71f579899daebb6bdb53311e980eff70d 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -200,52 +200,108 @@ - - Airspeed scale (scale from IAS to CAS/EAS) - Scale can either be entered manually, or estimated in-flight by setting ARSP_SCALE_EST to 1. - 0.5 - 1.5 - - - Airspeed Selector: Gate size for true sideslip fusion + + Airspeed Selector: Gate size for sideslip angle fusion Sets the number of standard deviations used by the innovation consistency test. 1 5 SD - + Airspeed Selector: Wind estimator sideslip measurement noise Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector. 0 1 rad - + + Enable checks on airspeed sensors + If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY > 0. + true + + + Enable fallback to secondary airspeed measurement + If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed). + true + + To other airspeed sensor (if one valid), else disable airspeed + To other airspeed sensor (if one valid), else to ground-windspeed + + + + Airspeed failsafe consistency threshold (Experimental) + This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter. + 0.5 + 3.0 + + + Airspeed failsafe consistency delay (Experimental) + This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. + 30.0 + s + + + Airspeed failsafe stop delay (Experimental) + Delay before stopping use of airspeed sensor if checks indicate sensor is bad. + 1 + 10 + s + + + Airspeed failsafe start delay (Experimental) + Delay before switching back to using airspeed sensor if checks indicate sensor is good. + 10 + 1000 + s + + + Index or primary airspeed measurement source + true + + Disabled + Groundspeed minus windspeed + First airspeed sensor + Second airspeed sensor + Third airspeed sensor + + + + Airspeed scale (scale from IAS to CAS/EAS) + Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1. + 0.5 + 1.5 + + Automatic airspeed scale estimation on - Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended level (keeping altitude) while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved in the ARSP_ARSP_SCALE parameter. + Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter. - + Airspeed Selector: Wind estimator true airspeed scale process noise Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. 0 0.1 1/s - + + Airspeed fault detection stall airspeed. (Experimental) + This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. + m/s + + Airspeed Selector: Gate size for true airspeed fusion Sets the number of standard deviations used by the innovation consistency test. 1 5 SD - + Airspeed Selector: Wind estimator true airspeed measurement noise True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector. 0 4 m/s - + Airspeed Selector: Wind estimator wind process noise Wind process noise of the internal wind estimator(s) of the airspeed selector. 0 @@ -748,29 +804,6 @@ Set -1 to disable the check Allow arming without GPS The default allows to arm the vehicle without GPS signal. - - Airspeed fault detection (Experimental) - Failsafe action when bad airspeed measurements are detected. Ensure the COM_ASPD_STALL parameter is set correctly before use. - - disabled - log a message - log a message, warn the user - log a message, warn the user, switch to non-airspeed TECS mode - log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds - - - - Airspeed fault detection delay before RTL (Experimental) - RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions. - 0 - 300 - s - - - Airspeed fault detection stall airspeed. (Experimental) - This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter. - m/s - Time-out for auto disarm after landing 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 zero or negative value means that automatic disarming triggered by landing detection is disabled. @@ -1137,32 +1170,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 0 0.05 - - Airspeed failsafe consistency threshold (Experimental) - This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter. - 0.5 - 3.0 - - - Airspeed failsafe consistency delay (Experimental) - This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter. - 30.0 - s - - - Airspeed failsafe stop delay (Experimental) - Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter. - 1 - 10 - s - - - Airspeed failsafe start delay (Experimental) - Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter. - 10 - 1000 - s - Horizontal velocity error threshold This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.