diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index c0a6bb470244005f8fd6d7607a1bdcbb5146fd7f..e75a9ac152aa87b46a96d1412ec9838d7efff1b4 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -2,7 +2,7 @@ 3 1 - 14 + 15 Speed controller bandwidth @@ -2561,24 +2561,6 @@ Set to 0 to disable heading hold - - Trim ground speed - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - - - Maximum ground speed - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. @@ -2599,6 +2581,16 @@ Set to 0 to disable heading hold 0.5 modules/fw_pos_control_l1 + + Cruise Airspeed + The fixed wing controller tries to fly at this airspeed. + 0.0 + 40 + m/s + 1 + 0.5 + modules/fw_pos_control_l1 + Maximum climb rate This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced. @@ -2748,15 +2740,23 @@ Set to 0 to disable heading hold 0.01 modules/fw_pos_control_l1 - - Cruise Airspeed - The fixed wing controller tries to fly at this airspeed. + + Trim ground speed 0.0 40 m/s 1 0.5 - modules/navigator + modules/gnd_pos_control + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control @@ -2794,67 +2794,6 @@ but also ignore less noise - - Control mode for speed - This allows the user to choose between closed loop gps speed or open loop cruise throttle speed - 0 - 1 - modules/gnd_pos_control - - close the loop with gps speed - open loop control - - - - Speed proportional gain - This is the proportional gain for the speed closed loop controller - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed Integral gain - This is the integral gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed proportional gain - This is the derivative gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed integral maximum value - This is the maxim value the integral can reach to prevent wind-up. - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed to throttle scaler - This is a gain to map the speed control output to the throttle linearly. - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. @@ -2937,6 +2876,67 @@ but also ignore less noise modules/gnd_att_control + + Control mode for speed + This allows the user to choose between closed loop gps speed or open loop cruise throttle speed + 0 + 1 + modules/gnd_pos_control + + close the loop with gps speed + open loop control + + + + Speed proportional gain + This is the proportional gain for the speed closed loop controller + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed Integral gain + This is the integral gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed proportional gain + This is the derivative gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed integral maximum value + This is the maxim value the integral can reach to prevent wind-up. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed to throttle scaler + This is a gain to map the speed control output to the throttle linearly. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + @@ -3651,57 +3651,162 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - - Take-off altitude - This is the minimum altitude the system will take off to. - 0 - 80 + + Set offboard loss failsafe mode + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander + + Loiter + Land at current position + Return to Land + + + + Set offboard loss failsafe mode when RC is available + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander + + Altitude control + Position control + Return to Land + Manual + Loiter + Land at current position + + + + Position control navigation loss response + This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. + modules/commander + + Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. + Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. + + + + Loiter radius (FW only) + Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + 25 + 1000 m 1 0.5 modules/navigator - - Minimum Loiter altitude - This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude - -1 - 80 + + Acceptance Radius + Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance. + 0.05 + 200.0 m 1 0.5 modules/navigator - - Persistent onboard mission storage - When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. - - modules/navigator - - - Maximal horizontal distance from home to first waypoint - Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position. - 0 - 10000 + + FW Altitude Acceptance Radius + Acceptance radius for fixedwing altitude. + 0.05 + 200.0 m 1 - 100 + 0.5 modules/navigator - - Maximal horizontal distance between waypoint - Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS. - 0 - 10000 + + MC Altitude Acceptance Radius + Acceptance radius for multicopter altitude. + 0.05 + 200.0 m 1 - 100 + 0.5 modules/navigator - - Altitude setpoint mode - 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode - 0 - 1 + + Set data link loss failsafe mode + 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. + modules/navigator + + Loiter + Disabled + Land at current position + Return to Land + Terminate + Data Link Auto Recovery (CASA Outback Challenge rules) + Lockdown + + + + Set RC loss failsafe mode + The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. + modules/navigator + + Loiter + Disabled + Land at current position + Return to Land + Terminate + RC Auto Recovery (CASA Outback Challenge rules) + Lockdown + + + + Force VTOL mode takeoff and land + + modules/navigator + + + Take-off altitude + This is the minimum altitude the system will take off to. + 0 + 80 + m + 1 + 0.5 + modules/navigator + + + Minimum Loiter altitude + This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude + -1 + 80 + m + 1 + 0.5 + modules/navigator + + + Persistent onboard mission storage + When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. + + modules/navigator + + + Maximal horizontal distance from home to first waypoint + Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position. + 0 + 10000 + m + 1 + 100 + modules/navigator + + + Maximal horizontal distance between waypoint + Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS. + 0 + 10000 + m + 1 + 100 + modules/navigator + + + Altitude setpoint mode + 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode + 0 + 1 modules/navigator First Order Hold @@ -3741,125 +3846,20 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 1 modules/navigator - - Weather-vane mode landings for missions - - modules/navigator - Enable weather-vane mode takeoff for missions - modules/navigator + modules/vtol_att_control Weather-vane mode for loiter - modules/navigator - - - Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 25 - 1000 - m - 1 - 0.5 - modules/navigator - - - Acceptance Radius - Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance. - 0.05 - 200.0 - m - 1 - 0.5 - modules/navigator - - - FW Altitude Acceptance Radius - Acceptance radius for fixedwing altitude. - 0.05 - 200.0 - m - 1 - 0.5 - modules/navigator - - - MC Altitude Acceptance Radius - Acceptance radius for multicopter altitude. - 0.05 - 200.0 - m - 1 - 0.5 - modules/navigator - - - Set data link loss failsafe mode - 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. - modules/navigator - - Loiter - Disabled - Land at current position - Return to Land - Terminate - Data Link Auto Recovery (CASA Outback Challenge rules) - Lockdown - - - - Set RC loss failsafe mode - The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. - modules/navigator - - Loiter - Disabled - Land at current position - Return to Land - Terminate - RC Auto Recovery (CASA Outback Challenge rules) - Lockdown - + modules/vtol_att_control - - Force VTOL mode takeoff and land + + Weather-vane mode landings for missions - modules/navigator - - - Set offboard loss failsafe mode - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Loiter - Land at current position - Return to Land - - - - Set offboard loss failsafe mode when RC is available - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Altitude control - Position control - Return to Land - Manual - Loiter - Land at current position - - - - Position control navigation loss response - This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. - modules/commander - - Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. - Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. - + modules/vtol_att_control @@ -3957,137 +3957,56 @@ if required for the gimbal (only in AUX output mode) AUX4 - - - - Max manual roll - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + + Stabilize the mount (set to true for servo gimbal, false for passthrough). +Does not affect MAVLINK_ROI input + + drivers/vmount - - Max manual pitch - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + + Range of pitch channel output in degrees (only in AUX output mode) + 1.0 + 720.0 + 1 + drivers/vmount - - Max manual yaw rate - 0.0 - deg/s - examples/mc_pos_control_multiplatform + + Range of roll channel output in degrees (only in AUX output mode) + 1.0 + 720.0 + 1 + drivers/vmount - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - examples/mc_att_control_multiplatform + + Range of yaw channel output in degrees (only in AUX output mode) + 1.0 + 720.0 + 1 + drivers/vmount - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform + + Offset for pitch channel output in degrees + -360.0 + 360.0 + 1 + drivers/vmount - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform + + Offset for roll channel output in degrees + -360.0 + 360.0 + 1 + drivers/vmount - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - examples/mc_att_control_multiplatform - - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - examples/mc_att_control_multiplatform - - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw feed forward - Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.0 - 1.0 - examples/mc_att_control_multiplatform - - - Max yaw rate - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro roll rate - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro pitch rate - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro yaw rate - 0.0 - deg/s - examples/mc_att_control_multiplatform + + Offset for yaw channel output in degrees + -360.0 + 360.0 + 1 + drivers/vmount + + Roll time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. @@ -4425,114 +4344,137 @@ applied to input of all axis: roll, pitch, yaw 0.05 modules/mc_att_control - - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + + Max manual roll 0.0 - 1.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Maximum thrust - Limit max allowed thrust. + + Max manual pitch 0.0 - 1.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Proportional gain for vertical position error + + Max manual yaw rate 0.0 + deg/s examples/mc_pos_control_multiplatform - - Proportional gain for vertical velocity error + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Differential gain for vertical velocity error + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - 1.0 - examples/mc_pos_control_multiplatform + 1/s + examples/mc_att_control_multiplatform - - Proportional gain for horizontal position error + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Proportional gain for horizontal velocity error + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + 1/s + examples/mc_att_control_multiplatform - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - 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. + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw feed forward + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Maximum tilt during landing - Limits maximum tilt angle on landing. + + Max acro roll rate 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Landing descend rate + + Max acro pitch rate 0.0 - m/s - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro yaw rate + 0.0 + deg/s + examples/mc_att_control_multiplatform + + Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. @@ -4898,13 +4840,119 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/mc_pos_control - - - - Invert direction of aux output channel 1 - Set to 1 to invert the channel, 0 for default direction. - - true + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for vertical position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + examples/mc_pos_control_multiplatform + + + Differential gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform + + + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for horizontal position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for horizontal velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + examples/mc_pos_control_multiplatform + + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.0 + examples/mc_pos_control_multiplatform + + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform + + + 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 + examples/mc_pos_control_multiplatform + + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Landing descend rate + 0.0 + m/s + examples/mc_pos_control_multiplatform + + + + + Invert direction of aux output channel 1 + Set to 1 to invert the channel, 0 for default direction. + + true drivers/px4fmu @@ -5326,7 +5374,7 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude. 0.001 0.1 - modules/bottle_drop + examples/bottle_drop Plane turn radius @@ -5334,7 +5382,7 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 30.0 500.0 m - modules/bottle_drop + examples/bottle_drop Drop precision @@ -5342,14 +5390,14 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1.0 80.0 m - modules/bottle_drop + examples/bottle_drop Payload drag coefficient of the dropped object The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient 0.08 1.5 - modules/bottle_drop + examples/bottle_drop Payload mass @@ -5357,7 +5405,7 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.001 5.0 kg - modules/bottle_drop + examples/bottle_drop Payload front surface area @@ -5365,7 +5413,7 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.001 0.5 m^2 - modules/bottle_drop + examples/bottle_drop @@ -5771,6 +5819,33 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 2000 drivers/px4io + + Roll trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + + + Pitch trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + + + Yaw trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + RC channel 1 minimum Minimum value for RC channel 1 @@ -6866,33 +6941,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit Hz modules/sensors - - Roll trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - - - Pitch trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - - - Yaw trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - @@ -7563,9 +7611,9 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL Logging Topic Profile - This is an integer bitmask controlling the set and rates of logged topics. The default allows for general log analysis and estimator replay, while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits in the following positions to enable: 0 : Set to true to use the default set (used for general log analysis) 1 : Set to true to enable estimator (EKF2) replay topics 2 : Set to true to enable topics for thermal calibration (raw IMU sensor data) 3 : Set to true to enable topics for system identification (high rate actuator control and IMU data) 4 : Set to true to enable full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Set to true to enable debugging topics (debug_*.msg topics, for custom code) + This is an integer bitmask controlling the set and rates of logged topics. The default allows for general log analysis and estimator replay, while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits in the following positions to enable: 0 : Set to true to use the default set (used for general log analysis) 1 : Set to true to enable full rate estimator (EKF2) replay topics 2 : Set to true to enable topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Set to true to enable topics for system identification (high rate actuator control and IMU data) 4 : Set to true to enable full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Set to true to enable debugging topics (debug_*.msg topics, for custom code) 6 : Set to true to enable topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data) 0 - 63 + 127 true modules/logger @@ -7575,6 +7623,7 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL system identification high rate debug + sensor comparison @@ -7647,187 +7696,173 @@ This is used for gathering replay logs for the ekf2 module - - ID of the board this parameter set was calibrated on + + Primary accel ID modules/sensors - - ID of the Gyro that the calibration is for + + ID of the Accelerometer that the calibration is for modules/sensors - - Gyro X-axis offset - -10.0 - 10.0 + + Accelerometer X-axis offset modules/sensors - - Gyro Y-axis offset - -10.0 - 10.0 + + Accelerometer Y-axis offset modules/sensors - - Gyro Z-axis offset - -5.0 - 5.0 + + Accelerometer Z-axis offset modules/sensors - - Gyro X-axis scaling factor - -1.5 - 1.5 + + Accelerometer X-axis scaling factor modules/sensors - - Gyro Y-axis scaling factor - -1.5 - 1.5 + + Accelerometer Y-axis scaling factor modules/sensors - - Gyro Z-axis scaling factor - -1.5 - 1.5 + + Accelerometer Z-axis scaling factor modules/sensors - - ID of Magnetometer the calibration is for + + ID of the Accelerometer that the calibration is for modules/sensors - - Rotation of magnetometer 0 relative to airframe - An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. - -1 - 30 - true + + Accelerometer X-axis offset modules/sensors - - Pitch 90° - Pitch 270° - Roll 270° - Roll 270°, Yaw 45° - Roll 270°, Yaw 90° - Roll 270°, Yaw 135° - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - Roll 180°, Yaw 45° - Roll 180° - Roll 180°, Yaw 135° - Roll 180°, Yaw 90° - Roll 180°, Yaw 225° - Pitch 180° - Roll 180°, Yaw 315° - Roll 180°, Yaw 270° - Roll 90°, Yaw 45° - Roll 90° - Roll 90°, Yaw 135° - Roll 90°, Yaw 90° - Internal mag - - - Magnetometer X-axis offset - -500.0 - 500.0 + + Accelerometer Y-axis offset modules/sensors - - Magnetometer Y-axis offset - -500.0 - 500.0 - modules/sensors - - - Magnetometer Z-axis offset - -500.0 - 500.0 + + Accelerometer Z-axis offset modules/sensors - - Magnetometer X-axis scaling factor + + Accelerometer X-axis scaling factor modules/sensors - - Magnetometer Y-axis scaling factor + + Accelerometer Y-axis scaling factor modules/sensors - - Magnetometer Z-axis scaling factor + + Accelerometer Z-axis scaling factor modules/sensors - + ID of the Accelerometer that the calibration is for modules/sensors - + Accelerometer X-axis offset modules/sensors - + Accelerometer Y-axis offset modules/sensors - + Accelerometer Z-axis offset modules/sensors - + Accelerometer X-axis scaling factor modules/sensors - + Accelerometer Y-axis scaling factor modules/sensors - + Accelerometer Z-axis scaling factor modules/sensors - - ID of the Gyro that the calibration is for + + Primary mag ID modules/sensors - - Gyro X-axis offset - -10.0 - 10.0 + + Bitfield selecting mag sides for calibration + DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32 + 34 + 63 modules/sensors + + Two side calibration + Six side calibration + Three side calibration + - - Gyro Y-axis offset - -10.0 - 10.0 + + ID of Magnetometer the calibration is for modules/sensors - - Gyro Z-axis offset - -5.0 - 5.0 + + Rotation of magnetometer 0 relative to airframe + An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + -1 + 30 + true modules/sensors + + Pitch 90° + Pitch 270° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Yaw 45° + No rotation + Yaw 135° + Yaw 90° + Yaw 225° + Yaw 180° + Yaw 315° + Yaw 270° + Roll 180°, Yaw 45° + Roll 180° + Roll 180°, Yaw 135° + Roll 180°, Yaw 90° + Roll 180°, Yaw 225° + Pitch 180° + Roll 180°, Yaw 315° + Roll 180°, Yaw 270° + Roll 90°, Yaw 45° + Roll 90° + Roll 90°, Yaw 135° + Roll 90°, Yaw 90° + Internal mag + - - Gyro X-axis scaling factor - -1.5 - 1.5 + + Magnetometer X-axis offset modules/sensors - - Gyro Y-axis scaling factor - -1.5 - 1.5 + + Magnetometer Y-axis offset modules/sensors - - Gyro Z-axis scaling factor - -1.5 - 1.5 + + Magnetometer Z-axis offset + modules/sensors + + + Magnetometer X-axis scaling factor + modules/sensors + + + Magnetometer Y-axis scaling factor + modules/sensors + + + Magnetometer Z-axis scaling factor modules/sensors @@ -7873,20 +7908,14 @@ This is used for gathering replay logs for the ekf2 module Magnetometer X-axis offset - -500.0 - 500.0 modules/sensors Magnetometer Y-axis offset - -500.0 - 500.0 modules/sensors Magnetometer Z-axis offset - -500.0 - 500.0 modules/sensors @@ -7901,74 +7930,6 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - - ID of the Accelerometer that the calibration is for - modules/sensors - - - Accelerometer X-axis offset - modules/sensors - - - Accelerometer Y-axis offset - modules/sensors - - - Accelerometer Z-axis offset - modules/sensors - - - Accelerometer X-axis scaling factor - modules/sensors - - - Accelerometer Y-axis scaling factor - modules/sensors - - - Accelerometer Z-axis scaling factor - modules/sensors - - - ID of the Gyro that the calibration is for - modules/sensors - - - Gyro X-axis offset - -10.0 - 10.0 - modules/sensors - - - Gyro Y-axis offset - -10.0 - 10.0 - modules/sensors - - - Gyro Z-axis offset - -5.0 - 5.0 - modules/sensors - - - Gyro X-axis scaling factor - -1.5 - 1.5 - modules/sensors - - - Gyro Y-axis scaling factor - -1.5 - 1.5 - modules/sensors - - - Gyro Z-axis scaling factor - -1.5 - 1.5 - modules/sensors - ID of Magnetometer the calibration is for modules/sensors @@ -8012,14 +7973,10 @@ This is used for gathering replay logs for the ekf2 module Magnetometer X-axis offset - -500.0 - 500.0 modules/sensors Magnetometer Y-axis offset - -500.0 - 500.0 modules/sensors @@ -8040,34 +7997,6 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - - ID of the Accelerometer that the calibration is for - modules/sensors - - - Accelerometer X-axis offset - modules/sensors - - - Accelerometer Y-axis offset - modules/sensors - - - Accelerometer Z-axis offset - modules/sensors - - - Accelerometer X-axis scaling factor - modules/sensors - - - Accelerometer Y-axis scaling factor - modules/sensors - - - Accelerometer Z-axis scaling factor - modules/sensors - ID of Magnetometer the calibration is for modules/sensors @@ -8139,475 +8068,260 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - - Primary accel ID - modules/sensors - Primary gyro ID modules/sensors - - Primary mag ID + + ID of the Gyro that the calibration is for modules/sensors - - Bitfield selecting mag sides for calibration - DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32 - 34 - 63 + + Gyro X-axis offset modules/sensors - - Two side calibration - Six side calibration - Three side calibration - - - Primary baro ID + + Gyro Y-axis offset modules/sensors - - Airspeed sensor pitot model + + Gyro Z-axis offset modules/sensors - - HB Pitot - - - Airspeed sensor tube length - 0.01 - 0.5 - meter + + Gyro X-axis scaling factor modules/sensors - - Differential pressure sensor offset - The offset (zero-reading) in Pascal + + Gyro Y-axis scaling factor modules/sensors - - Differential pressure sensor analog scaling - Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. + + Gyro Z-axis scaling factor modules/sensors - - QNH for barometer - 500 - 1500 - hPa + + ID of the Gyro that the calibration is for modules/sensors - - Board rotation - This parameter defines the rotation of the FMU board relative to the platform. - true + + Gyro X-axis offset modules/sensors - - Pitch 90° - Pitch 270° - Roll 270° - Roll 270°, Yaw 45° - Roll 270°, Yaw 90° - Roll 270°, Yaw 135° - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - Roll 180°, Yaw 45° - Roll 180° - Roll 180°, Yaw 135° - Roll 180°, Yaw 90° - Roll 180°, Yaw 225° - Pitch 180° - Roll 180°, Yaw 315° - Roll 180°, Yaw 270° - Roll 90°, Yaw 45° - Roll 90° - Roll 90°, Yaw 135° - Roll 90°, Yaw 90° - - - PX4Flow board rotation - This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw). - true + + Gyro Y-axis offset modules/sensors - - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - - - Board rotation Y (Pitch) offset - This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment. - deg + + Gyro Z-axis offset modules/sensors - - Board rotation X (Roll) offset - This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment. - deg + + Gyro X-axis scaling factor modules/sensors - - Board rotation Z (YAW) offset - This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment. - deg + + Gyro Y-axis scaling factor modules/sensors - - Select primary magnetometer. -DEPRECATED, only used on V1 hardware - 0 - 2 + + Gyro Z-axis scaling factor modules/sensors - - External is primary Mag - Auto-select Mag - Internal is primary Mag - - - Threshold (of RMS) to warn about high vibration levels - 0.01 - 10 - 2 + + ID of the Gyro that the calibration is for modules/sensors - - Driver level cut frequency for gyro - The cut frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. - 5 - 1000 - Hz - true + + Gyro X-axis offset modules/sensors - - Driver level cut frequency for accel - The cut frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. - 5 - 1000 - Hz - true + + Gyro Y-axis offset modules/sensors - - - - Lidar-Lite (LL40LS) - 0 - 2 - true + + Gyro Z-axis offset modules/sensors - - PWM - Disabled - I2C - - - Lightware laser rangefinder (serial) - 0 - 4 - true + + Gyro X-axis scaling factor modules/sensors - - SF02 - Disabled - SF10/b - SF10/a - SF11/c - SF10/c - - - Maxbotix Soanr (mb12xx) - - true + + Gyro Y-axis scaling factor modules/sensors - - TeraRanger Rangefinder (i2c) - 0 - 3 - true + + Gyro Z-axis scaling factor modules/sensors - - Autodetect - Disabled - TREvo - TROne - - - Lightware SF1xx/SF20/LW20 laser rangefinder (i2c) - 0 - 5 - true + + Primary baro ID modules/sensors - - SF10/a - Disabled - SF10/c - SF10/b - SF/LW20 - SF11/c - - - Thermal control of sensor temperature + + Airspeed sensor pitot model modules/sensors - Thermal control off - Thermal control unavailable + HB Pitot - - - - Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable - 0 - 1 - modules/sensors - - - ID of Accelerometer that the calibration is for - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer scale factor - X axis - modules/sensors - - - Accelerometer scale factor - Y axis - modules/sensors - - - Accelerometer scale factor - Z axis - modules/sensors - - - Accelerometer calibration reference temperature - modules/sensors - - - Accelerometer calibration minimum temperature - modules/sensors - - - Accelerometer calibration maximum temperature - modules/sensors - - - ID of Accelerometer that the calibration is for - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - X axis + + Airspeed sensor tube length + 0.01 + 0.5 + meter modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis + + Differential pressure sensor offset + The offset (zero-reading) in Pascal modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis + + Differential pressure sensor analog scaling + Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - X axis + + + + Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + 0 + 1 modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - X axis + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - X axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Barometer scale factor - X axis modules/sensors - - Accelerometer scale factor - X axis + + Barometer calibration reference temperature modules/sensors - - Accelerometer scale factor - Y axis + + Barometer calibration minimum temperature modules/sensors - - Accelerometer scale factor - Z axis + + Barometer calibration maximum temperature modules/sensors - - Accelerometer calibration reference temperature + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer calibration minimum temperature + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Accelerometer calibration maximum temperature + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - ID of Accelerometer that the calibration is for + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - X axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - X axis + + Barometer scale factor - X axis modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis + + Barometer calibration reference temperature modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis + + Barometer calibration minimum temperature modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - X axis + + Barometer calibration maximum temperature modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - X axis + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Accelerometer scale factor - X axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Accelerometer scale factor - Y axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - - Accelerometer scale factor - Z axis + + + Barometer scale factor - X axis modules/sensors - - Accelerometer calibration reference temperature + + Barometer calibration reference temperature modules/sensors - - Accelerometer calibration minimum temperature + + Barometer calibration minimum temperature modules/sensors - - Accelerometer calibration maximum temperature + + Barometer calibration maximum temperature modules/sensors @@ -8844,142 +8558,409 @@ DEPRECATED, only used on V1 hardware Gyro calibration maximum temperature modules/sensors - - Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + + Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable 0 1 modules/sensors - - ID of Barometer that the calibration is for + + ID of Accelerometer that the calibration is for modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Barometer scale factor - X axis + + Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Barometer calibration reference temperature + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Barometer calibration minimum temperature + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Barometer calibration maximum temperature + + Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors - - ID of Barometer that the calibration is for + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Accelerometer scale factor - X axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Accelerometer scale factor - Y axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Accelerometer scale factor - Z axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Accelerometer calibration reference temperature modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Accelerometer calibration minimum temperature modules/sensors - - Barometer scale factor - X axis + + Accelerometer calibration maximum temperature modules/sensors - - Barometer calibration reference temperature + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + + + QNH for barometer + 500 + 1500 + hPa + modules/sensors + + + Board rotation + This parameter defines the rotation of the FMU board relative to the platform. + true modules/sensors + + Pitch 90° + Pitch 270° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Yaw 45° + No rotation + Yaw 135° + Yaw 90° + Yaw 225° + Yaw 180° + Yaw 315° + Yaw 270° + Roll 180°, Yaw 45° + Roll 180° + Roll 180°, Yaw 135° + Roll 180°, Yaw 90° + Roll 180°, Yaw 225° + Pitch 180° + Roll 180°, Yaw 315° + Roll 180°, Yaw 270° + Roll 90°, Yaw 45° + Roll 90° + Roll 90°, Yaw 135° + Roll 90°, Yaw 90° + - - Barometer calibration minimum temperature + + PX4Flow board rotation + This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw). + true modules/sensors + + Yaw 45° + No rotation + Yaw 135° + Yaw 90° + Yaw 225° + Yaw 180° + Yaw 315° + Yaw 270° + - - Barometer calibration maximum temperature + + Board rotation Y (Pitch) offset + This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment. + deg modules/sensors - - ID of Barometer that the calibration is for + + Board rotation X (Roll) offset + This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment. + deg modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Board rotation Z (YAW) offset + This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment. + deg modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Threshold (of RMS) to warn about high vibration levels + 0.01 + 10 + 2 modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Lidar-Lite (LL40LS) + 0 + 2 + true modules/sensors + + PWM + Disabled + I2C + - - Barometer offset temperature ^2 polynomial coefficient + + Lightware laser rangefinder (serial) + 0 + 4 + true modules/sensors + + SF02 + Disabled + SF10/b + SF10/a + SF11/c + SF10/c + - - Barometer offset temperature ^1 polynomial coefficients + + Maxbotix Soanr (mb12xx) + + true modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + TeraRanger Rangefinder (i2c) + 0 + 3 + true modules/sensors + + Autodetect + Disabled + TREvo + TROne + - - Barometer scale factor - X axis + + Lightware SF1xx/SF20/LW20 laser rangefinder (i2c) + 0 + 5 + true modules/sensors + + SF10/a + Disabled + SF10/c + SF10/b + SF/LW20 + SF11/c + - - Barometer calibration reference temperature + + Thermal control of sensor temperature modules/sensors + + Thermal control off + Thermal control unavailable + - - Barometer calibration minimum temperature + + Driver level cut frequency for gyro + The cut frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. + 5 + 1000 + Hz + true modules/sensors - - Barometer calibration maximum temperature + + Driver level cut frequency for accel + The cut frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. + 5 + 1000 + Hz + true modules/sensors @@ -9024,6 +9005,13 @@ DEPRECATED, only used on V1 hardware true drivers/px4fmu + + RGB Led brightness limit + Set to 0 to disable, 1 for minimum brightness up to 15 (max) + 0 + 15 + drivers/rgbled + Set usage of IO board Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. @@ -9033,13 +9021,6 @@ DEPRECATED, only used on V1 hardware true drivers/px4io - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) - 0 - 15 - drivers/rgbled - Auto-start script index CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. @@ -9247,32 +9228,6 @@ DEPRECATED, only used on V1 hardware - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - modules/uavcanesc - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - modules/uavcanesc - - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - modules/uavcannode - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - modules/uavcannode - UAVCAN mode 0 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update. @@ -9308,65 +9263,93 @@ DEPRECATED, only used on V1 hardware true modules/uavcan + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcanesc + + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcanesc + + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcannode + + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcannode + - - Position of tilt servo in mc mode + + Target throttle value for pusher/puller motor during the transition to fw mode 0.0 1.0 3 0.01 modules/vtol_att_control - - Position of tilt servo in transition mode + + Maximum allowed down-pitch the controller is able to demand. This prevents large, negative +lift values being created when facing strong winds. The vehicle will use the pusher motor +to accelerate forward if necessary 0.0 - 1.0 - 3 - 0.01 + 45.0 modules/vtol_att_control - - Position of tilt servo in fw mode + + Fixed wing thrust scale for hover forward flight + Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. 0.0 - 1.0 - 3 - 0.01 + 2.0 + modules/vtol_att_control + + + Back transition MC motor ramp up time + This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage. + 0.0 + 20.0 + s modules/vtol_att_control - - Duration of front transition phase 2 - Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. - 0.1 - 5.0 - s - 3 + + Output on airbrakes channel during back transition +Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel +Airbrakes need to be enables for your selected model/mixer + 0 + 1 + 2 0.01 modules/vtol_att_control - - The channel number of motors that must be turned off in fixed wing mode + + Delay in seconds before applying back transition throttle +Set this to a value greater than 0 to give the motor time to spin down + unit s 0 - 12345678 - 0 + 10 + 2 1 modules/vtol_att_control - - Differential thrust in forwards flight - Set to 1 to enable differential thrust in fixed-wing flight. - 0 + + Thottle output during back transition +For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking +For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking + -1 1 - 0 - modules/vtol_att_control - - - Differential thrust scaling factor - This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. - 0.0 - 1.0 2 - 0.1 + 0.01 modules/vtol_att_control @@ -9532,15 +9515,6 @@ DEPRECATED, only used on V1 hardware modules/vtol_att_control - - Weather-vane yaw rate scale - The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind. - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - Front transition timeout Time in seconds after which transition will be cancelled. Disabled if set to 0. @@ -9588,321 +9562,73 @@ DEPRECATED, only used on V1 hardware seconds modules/vtol_att_control - - Target throttle value for pusher/puller motor during the transition to fw mode + + Weather-vane yaw rate scale + The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind. 0.0 1.0 3 0.01 modules/vtol_att_control - - Maximum allowed down-pitch the controller is able to demand. This prevents large, negative -lift values being created when facing strong winds. The vehicle will use the pusher motor -to accelerate forward if necessary + + Position of tilt servo in mc mode 0.0 - 45.0 + 1.0 + 3 + 0.01 modules/vtol_att_control - - Fixed wing thrust scale for hover forward flight - Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. + + Position of tilt servo in transition mode 0.0 - 2.0 + 1.0 + 3 + 0.01 modules/vtol_att_control - - Back transition MC motor ramp up time - This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage. + + Position of tilt servo in fw mode 0.0 - 20.0 - s + 1.0 + 3 + 0.01 modules/vtol_att_control - - Output on airbrakes channel during back transition -Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel -Airbrakes need to be enables for your selected model/mixer - 0 - 1 - 2 + + Duration of front transition phase 2 + Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. + 0.1 + 5.0 + s + 3 0.01 modules/vtol_att_control - - Delay in seconds before applying back transition throttle -Set this to a value greater than 0 to give the motor time to spin down - unit s + + The channel number of motors that must be turned off in fixed wing mode 0 - 10 - 2 + 12345678 + 0 1 modules/vtol_att_control - - Thottle output during back transition -For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking -For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking - -1 + + Differential thrust in forwards flight + Set to 1 to enable differential thrust in fixed-wing flight. + 0 1 - 2 - 0.01 + 0 modules/vtol_att_control - - - - mTECS enabled - - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control Feedforward -Maps the total energy rate setpoint to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control P -Maps the total energy rate error to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control I -Maps the integrated total energy rate to the throttle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Rate Control Offset (Cruise throttle sp) - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control Feedforward -Maps the energy distribution rate setpoint to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control P -Maps the energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Energy Distribution Rate Control I -Maps the integrated energy distribution rate error to the pitch setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Total Energy Distribution Offset (Cruise pitch sp) - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Minimal Throttle Setpoint - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal Throttle Setpoint - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal Pitch Setpoint in Degrees - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for altitude - Hz - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for the flight path angle - Hz - modules/fw_pos_control_l1/mtecs - - - P gain for the altitude control -Maps the altitude error to the flight path angle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - D gain for the altitude control -Maps the change of altitude error to the flight path angle setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Lowpass for FPA error derivative calculation (see MT_FPA_D) - modules/fw_pos_control_l1/mtecs - - - Minimal flight path angle setpoint - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal flight path angle setpoint - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Lowpass (cutoff freq.) for airspeed - modules/fw_pos_control_l1/mtecs - - - Airspeed derivative calculation lowpass - modules/fw_pos_control_l1/mtecs - - - P gain for the airspeed control -Maps the airspeed error to the acceleration setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - D gain for the airspeed control -Maps the change of airspeed error to the acceleration setpoint - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Lowpass for ACC error derivative calculation (see MT_ACC_D) - modules/fw_pos_control_l1/mtecs - - - Minimal acceleration (air) - m/s/s - modules/fw_pos_control_l1/mtecs - - - Maximal acceleration (air) - m/s/s - modules/fw_pos_control_l1/mtecs - - - Minimal throttle during takeoff - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle during takeoff - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch during takeoff - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch during takeoff - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Minimal throttle in underspeed mode - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle in underspeed mode - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch in underspeed mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch in underspeed mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Minimal throttle in landing mode (only last phase of landing) - 0.0 - 1.0 - modules/fw_pos_control_l1/mtecs - - - Maximal throttle in landing mode (only last phase of landing) + + Differential thrust scaling factor + This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. 0.0 1.0 - modules/fw_pos_control_l1/mtecs - - - Minimal pitch in landing mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Maximal pitch in landing mode - -90.0 - 90.0 - deg - modules/fw_pos_control_l1/mtecs - - - Integrator Limit for Total Energy Rate Control - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs - - - Integrator Limit for Energy Distribution Rate Control - 0.0 - 10.0 - modules/fw_pos_control_l1/mtecs + 2 + 0.1 + modules/vtol_att_control @@ -9918,6 +9644,10 @@ Maps the change of airspeed error to the acceleration setpoint EXFW_PITCH_P examples/fixedwing_control + + RV_YAW_P + examples/rover_steering_control + SEG_TH2V_P examples/segway @@ -9934,9 +9664,5 @@ Maps the change of airspeed error to the acceleration setpoint SEG_Q2V examples/segway - - RV_YAW_P - examples/rover_steering_control -