diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index f30d3a74677aec8971fa334f2006bb6247667c92..d07c3b5bcfa91b957eb54b5781f95a71a54560ac 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -138,6 +138,27 @@ + + Moment of inertia matrix diagonal entry (1, 1) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia matrix diagonal entry (2, 2) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia matrix diagonal entry (3, 3) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia enabled in estimator + If set to != 0 the moment of inertia will be used in the estimator + + examples/attitude_estimator_ekf + Body angular rate process noise examples/attitude_estimator_ekf @@ -166,55 +187,34 @@ Mag measurement noise examples/attitude_estimator_ekf - - Moment of inertia matrix diagonal entry (1, 1) - kg*m^2 - examples/attitude_estimator_ekf - - - Moment of inertia matrix diagonal entry (2, 2) - kg*m^2 - examples/attitude_estimator_ekf - - - Moment of inertia matrix diagonal entry (3, 3) - kg*m^2 - examples/attitude_estimator_ekf - - - Moment of inertia enabled in estimator - If set to != 0 the moment of inertia will be used in the estimator - - examples/attitude_estimator_ekf - - - Complimentary filter accelerometer weight - 0 - 1 - 2 - modules/attitude_estimator_q - - - Complimentary filter magnetometer weight - 0 - 1 - 2 + + Acceleration compensation based on GPS +velocity + modules/attitude_estimator_q - - Complimentary filter external heading weight + + Gyro bias limit 0 - 1 + 2 + rad/s + 3 modules/attitude_estimator_q - - Complimentary filter gyroscope bias weight + + External heading usage mode (from Motion capture/Vision) +Set to 1 to use heading estimate from vision. +Set to 2 to use heading from motion capture 0 - 1 - 2 + 2 modules/attitude_estimator_q + + None + Vision + Motion Capture + Magnetic declination, in degrees @@ -228,111 +228,64 @@ modules/attitude_estimator_q - - External heading usage mode (from Motion capture/Vision) -Set to 1 to use heading estimate from vision. -Set to 2 to use heading from motion capture + + Complimentary filter accelerometer weight 0 - 2 + 1 + 2 modules/attitude_estimator_q - - Vision - None - Motion Capture - - - Acceleration compensation based on GPS -velocity - + + Complimentary filter external heading weight + 0 + 1 modules/attitude_estimator_q - - Gyro bias limit + + Complimentary filter gyroscope bias weight 0 - 2 - rad/s - 3 + 1 + 2 + modules/attitude_estimator_q + + + Complimentary filter magnetometer weight + 0 + 1 + 2 modules/attitude_estimator_q - - Scaling factor for battery voltage sensor on PX4IO - 1 - 100000 - modules/sensors - - - Scaling from ADC counts to volt on the ADC input (battery voltage) - This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended. + + Battery current per volt (A/V) + The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default. 8 modules/sensors + + Battery capacity + Defines the capacity of the attached battery. + -1.0 + 100000 + mA + 0 + 50 + true + modules/systemlib + Scaling from ADC counts to volt on the ADC input (battery current) This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended. 8 modules/sensors - - Offset in volt as seen by the ADC input of the current sensor - This offset will be subtracted before calculating the battery current based on the voltage. - 8 - modules/sensors - - - Battery voltage divider (V divider) - This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default. - 8 - modules/sensors - - - Battery current per volt (A/V) - The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default. + + Scaling from ADC counts to volt on the ADC input (battery voltage) + This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended. 8 modules/sensors - - Battery monitoring source - This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. - 0 - 1 - modules/sensors - - External - Power Module - - - - Empty cell voltage (5C load) - Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells. - V - 2 - 0.01 - true - modules/systemlib - - - Full cell voltage (5C load) - Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V - V - 2 - 0.01 - true - modules/systemlib - - - Low threshold - Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold. - 0.12 - 0.4 - norm - 2 - 0.01 - true - modules/systemlib - Critical threshold Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL. @@ -355,26 +308,17 @@ velocity true modules/systemlib - - Voltage drop per cell on full throttle - This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set. - 0.07 - 0.5 - V + + Low threshold + Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold. + 0.12 + 0.4 + norm 2 0.01 true modules/systemlib - - Explicitly defines the per cell internal resistance - If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations. - -1.0 - 0.2 - Ohms - true - modules/systemlib - Number of cells Defines the number of cells the attached battery consists of. @@ -382,37 +326,93 @@ velocity true modules/systemlib - 11S Battery - 10S Battery - 13S Battery - 12S Battery - 15S Battery - 14S Battery - 16S Battery Unconfigured - 3S Battery 2S Battery - 5S Battery + 3S Battery 4S Battery - 7S Battery + 5S Battery 6S Battery - 9S Battery + 7S Battery 8S Battery + 9S Battery + 10S Battery + 11S Battery + 12S Battery + 13S Battery + 14S Battery + 15S Battery + 16S Battery - - Battery capacity - Defines the capacity of the attached battery. + + Explicitly defines the per cell internal resistance + If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations. -1.0 - 100000 - mA - 0 - 50 + 0.2 + Ohms true modules/systemlib - - + + Battery monitoring source + This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. + 0 + 1 + modules/sensors + + Power Module + External + + + + Full cell voltage (5C load) + Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V + V + 2 + 0.01 + true + modules/systemlib + + + Battery voltage divider (V divider) + This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default. + 8 + modules/sensors + + + Empty cell voltage (5C load) + Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells. + V + 2 + 0.01 + true + modules/systemlib + + + Voltage drop per cell on full throttle + This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set. + 0.07 + 0.5 + V + 2 + 0.01 + true + modules/systemlib + + + Offset in volt as seen by the ADC input of the current sensor + This offset will be subtracted before calculating the battery current based on the voltage. + 8 + modules/sensors + + + Scaling factor for battery voltage sensor on PX4IO + 1 + 100000 + modules/sensors + + + Camera feedback mode Sets the camera feedback mode. @@ -420,12 +420,30 @@ velocity 1 modules/camera_feedback - Feedback on trigger Disabled + Feedback on trigger + + Camera trigger activation time + This parameter sets the time the trigger needs to pulled high or low. + 0.1 + 3000 + ms + 1 + drivers/camera_trigger + + + Camera trigger distance + Sets the distance at which to trigger the camera. + 0 + m + 1 + 1 + drivers/camera_trigger + Camera trigger Interface Selects the trigger interface @@ -433,8 +451,8 @@ velocity drivers/camera_trigger GPIO - MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE) Seagull MAP2 (over PWM) + MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE) Generic PWM (IR trigger, servo) @@ -447,26 +465,6 @@ velocity 1 drivers/camera_trigger - - Camera trigger polarity - This parameter sets the polarity of the trigger (0 = active low, 1 = active high ) - 0 - 1 - drivers/camera_trigger - - Active high - Active low - - - - Camera trigger activation time - This parameter sets the time the trigger needs to pulled high or low. - 0.1 - 3000 - ms - 1 - drivers/camera_trigger - Camera trigger mode 0 @@ -474,10 +472,10 @@ velocity true drivers/camera_trigger - Time based, on command Disable - Distance based, always on + Time based, on command Time based, always on + Distance based, always on Distance based, on command (Survey mode) @@ -490,41 +488,19 @@ velocity true drivers/camera_trigger - - Camera trigger distance - Sets the distance at which to trigger the camera. + + Camera trigger polarity + This parameter sets the polarity of the trigger (0 = active low, 1 = active high ) 0 - m - 1 - 1 + 1 drivers/camera_trigger + + Active low + Active high + - - Circuit breaker for power supply check - Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 894281 - true - modules/systemlib - - - Circuit breaker for rate controller output - Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 140253 - true - modules/systemlib - - - Circuit breaker for IO safety - Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 22027 - true - modules/systemlib - Circuit breaker for airspeed sensor Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK @@ -533,11 +509,11 @@ velocity true modules/systemlib - - Circuit breaker for flight termination - Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + + Circuit breaker for disabling buzzer + Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 - 121212 + 782097 true modules/systemlib @@ -549,6 +525,14 @@ velocity true modules/systemlib + + Circuit breaker for flight termination + Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 121212 + true + modules/systemlib + Circuit breaker for GPS failure detection Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK @@ -557,11 +541,27 @@ velocity true modules/systemlib - - Circuit breaker for disabling buzzer - Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + + Circuit breaker for IO safety + Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 - 782097 + 22027 + true + modules/systemlib + + + Circuit breaker for rate controller output + Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 140253 + true + modules/systemlib + + + Circuit breaker for power supply check + Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + 0 + 894281 true modules/systemlib @@ -583,113 +583,119 @@ velocity - - Datalink loss time threshold - After this amount of seconds without datalink the data link lost mode triggers - 5 - 300 - s - 1 - 0.5 + + Arm authorization parameters, this uint32_t will be splitted between starting from the LSB: +- 8bits to authorizer system id +- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods. +- 7bits to authentication method +- one arm = 0 +- two step arm = 1 +* the MSB bit is not used to avoid problems in the conversion between int and uint + Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm modules/commander - - Datalink regain time threshold - After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false - 0 - 3 - s - 1 - 0.5 + + Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming + 0.001 + 0.01 + m/s + 4 + 0.0005 modules/commander - - Engine Failure Throttle Threshold - Engine failure triggers only above this throttle value - 0.0 + + Maximum value of EKF gyro delta angle bias estimate that will allow arming + 0.0001 + 0.0017 + rad + 5 + 0.0001 + modules/commander + + + Maximum EKF height innovation test ratio that will allow arming + 0.1 1.0 - norm + m 2 - 0.01 + 0.05 modules/commander - - Engine Failure Current/Throttle Threshold - Engine failure triggers only below this current value - 0.0 - 50.0 - A/% + + Maximum EKF position innovation test ratio that will allow arming + 0.1 + 1.0 + m 2 - 1 + 0.05 modules/commander - - Engine Failure Time Threshold - Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time - 0.0 - 60.0 - s - 1 - 1 + + Maximum EKF velocity innovation test ratio that will allow arming + 0.1 + 1.0 + m/s + 2 + 0.05 modules/commander - - RC loss time threshold - After this amount of seconds without RC connection the rc lost flag is set to true - 0 - 35 - s - 1 - 0.1 + + Maximum EKF yaw innovation test ratio that will allow arming + 0.1 + 1.0 + rad + 2 + 0.05 modules/commander - - RC stick override threshold - If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot. - 5 - 40 - % - 0 + + Maximum accelerometer inconsistency between IMU units that will allow arming + 0.1 + 1.0 + m/s/s + 2 0.05 modules/commander - - Home set horizontal threshold - The home position will be set if the estimated positioning accuracy is below the threshold. - 2 - 15 - m - 2 - 0.5 + + Maximum rate gyro inconsistency between IMU units that will allow arming + 0.02 + 0.3 + rad/s + 3 + 0.01 modules/commander - - Home set vertical threshold - The home position will be set if the estimated positioning accuracy is below the threshold. - 5 - 25 - m + + Maximum magnetic field inconsistency between units that will allow arming + 0.05 + 0.5 + Gauss 2 - 0.5 + 0.05 modules/commander - - RC control input mode - The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data. + + Require valid mission to arm + The default allows to arm the vehicle without a valid mission. + + modules/commander + + + Arm switch is only a button + The default uses the arm switch as real switch. If parameter set button gets handled like stick arming. 0 - 2 + 1 modules/commander - Joystick/No RC Checks - RC Transmitter - Virtual RC by Joystick + Arm switch is a switch that stays on when armed + Arm switch is a button that only triggers arming and disarming - - RC input arm/disarm command duration - The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second. - 100 - 1500 + + Allow arming without GPS + The default allows to arm the vehicle without GPS signal. + modules/commander @@ -702,64 +708,81 @@ velocity 1 modules/commander - - Allow arming without GPS - The default allows to arm the vehicle without GPS signal. - + + Datalink loss time threshold + After this amount of seconds without datalink the data link lost mode triggers + 5 + 300 + s + 1 + 0.5 modules/commander - - Arm switch is only a button - The default uses the arm switch as real switch. If parameter set button gets handled like stick arming. + + Datalink regain time threshold + After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false 0 - 1 + 3 + s + 1 + 0.5 modules/commander - - Arm switch is a button that only triggers arming and disarming - Arm switch is a switch that stays on when armed - - - Battery failsafe mode - Action the system takes on low battery. Defaults to off - 0 + + Engine Failure Current/Throttle Threshold + Engine failure triggers only below this current value + 0.0 + 50.0 + A/% + 2 1 modules/commander - - Return to land - Warning - Return to land at critically low level, land at current position if reaching dangerously low levels - Land at current position - - - Time-out to wait when offboard connection is lost before triggering offboard lost action. -See COM_OBL_ACT and COM_OBL_RC_ACT to configure action - 0 - 60 - second + + Engine Failure Throttle Threshold + Engine failure triggers only above this throttle value + 0.0 + 1.0 + norm + 2 + 0.01 + modules/commander + + + Engine Failure Time Threshold + Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time + 0.0 + 60.0 + s + 1 1 modules/commander + + Next flight UUID + This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0. + 0 + modules/commander + First flightmode slot (1000-1160) If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me @@ -767,20 +790,20 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me @@ -788,20 +811,20 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me @@ -809,20 +832,20 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me @@ -830,20 +853,20 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me @@ -851,123 +874,62 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action If the main switch channel is in this range the selected flight mode will be applied. modules/commander - Land - Takeoff - Follow Me - Altitude + Unassigned Manual - Mission + Altitude Position - Unassigned + Mission Hold - Offboard - Acro - Rattitude Return + Acro + Offboard Stabilized + Rattitude + Takeoff + Land + Follow Me - - Maximum EKF position innovation test ratio that will allow arming - 0.1 - 1.0 + + Home set horizontal threshold + The home position will be set if the estimated positioning accuracy is below the threshold. + 2 + 15 m 2 - 0.05 - modules/commander - - - Maximum EKF velocity innovation test ratio that will allow arming - 0.1 - 1.0 - m/s - 2 - 0.05 + 0.5 modules/commander - - Maximum EKF height innovation test ratio that will allow arming - 0.1 - 1.0 + + Home set vertical threshold + The home position will be set if the estimated positioning accuracy is below the threshold. + 5 + 25 m 2 - 0.05 - modules/commander - - - Maximum EKF yaw innovation test ratio that will allow arming - 0.1 - 1.0 - rad - 2 - 0.05 - modules/commander - - - Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming - 0.001 - 0.01 - m/s - 4 - 0.0005 - modules/commander - - - Maximum value of EKF gyro delta angle bias estimate that will allow arming - 0.0001 - 0.0017 - rad - 5 - 0.0001 - modules/commander - - - Maximum accelerometer inconsistency between IMU units that will allow arming - 0.1 - 1.0 - m/s/s - 2 - 0.05 - modules/commander - - - Maximum rate gyro inconsistency between IMU units that will allow arming - 0.02 - 0.3 - rad/s - 3 - 0.01 - modules/commander - - - Maximum magnetic field inconsistency between units that will allow arming - 0.05 - 0.5 - Gauss - 2 - 0.05 - modules/commander - - - Enable RC stick override of auto modes - + 0.5 modules/commander - - Require valid mission to arm - The default allows to arm the vehicle without a valid mission. - + + Battery failsafe mode + Action the system takes on low battery. Defaults to off + 0 + 1 modules/commander + + Warning + Return to land + Land at current position + Return to land at critically low level, land at current position if reaching dangerously low levels + - - Arm authorization parameters, this uint32_t will be splitted between starting from the LSB: -- 8bits to authorizer system id -- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods. -- 7bits to authentication method -- one arm = 0 -- two step arm = 1 -* the MSB bit is not used to avoid problems in the conversion between int and uint - Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm + + Time-out to wait when offboard connection is lost before triggering offboard lost action. +See COM_OBL_ACT and COM_OBL_RC_ACT to configure action + 0 + 60 + second + 1 modules/commander @@ -977,6 +939,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action true modules/commander + + Loss of position probation gain factor + This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used. + true + modules/commander + Loss of position probation delay at takeoff The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used. @@ -984,20 +952,61 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action true modules/commander - - Loss of position probation gain factor - This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used. - true + + RC input arm/disarm command duration + The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second. + 100 + 1500 modules/commander - - Next flight UUID - This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0. + + RC control input mode + The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data. + 0 + 2 + modules/commander + + RC Transmitter + Joystick/No RC Checks + Virtual RC by Joystick + + + + RC loss time threshold + After this amount of seconds without RC connection the rc lost flag is set to true 0 + 35 + s + 1 + 0.1 + modules/commander + + + Enable RC stick override of auto modes + + modules/commander + + + RC stick override threshold + If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot. + 5 + 40 + % + 0 + 0.05 modules/commander + + Airfield home alt + Altitude of airfield home waypoint + -50 + m + 1 + 0.5 + modules/navigator + Airfield home Lat Latitude of airfield home waypoint @@ -1014,18 +1023,9 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action deg * 1e7 modules/navigator - - Airfield home alt - Altitude of airfield home waypoint - -50 - m - 1 - 0.5 - modules/navigator - - - Comms hold wait time - The amount of time in seconds the system should wait at the comms hold waypoint + + Airfield home wait time + The amount of time in seconds the system should wait at the airfield home waypoint 0.0 3600.0 s @@ -1033,6 +1033,22 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 1 modules/navigator + + Skip comms hold wp + If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home + + modules/navigator + + + Comms hold alt + Altitude of comms hold waypoint + -50 + 30000 + m + 1 + 0.5 + modules/navigator + Comms hold Lat Latitude of comms hold waypoint @@ -1049,19 +1065,9 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action deg * 1e7 modules/navigator - - Comms hold alt - Altitude of comms hold waypoint - -50 - 30000 - m - 1 - 0.5 - modules/navigator - - - Airfield home wait time - The amount of time in seconds the system should wait at the airfield home waypoint + + Comms hold wait time + The amount of time in seconds the system should wait at the comms hold waypoint 0.0 3600.0 s @@ -1076,67 +1082,110 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 1000 modules/navigator - - Skip comms hold wp - If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home - - modules/navigator - - - Minimum time of arrival delta between non-IMU observations before data is downsampled. -Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information - 10 - 50 - ms + + 1-sigma IMU accelerometer switch-on bias + 0.0 + 0.5 + m/s/s + 2 true modules/ekf2 - - Magnetometer measurement delay relative to IMU measurements - 0 - 300 - ms + + Maximum IMU accel magnitude that allows IMU bias learning. +If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. +This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates + 20.0 + 200.0 + m/s/s 1 - true modules/ekf2 - - Barometer measurement delay relative to IMU measurements - 0 - 300 - ms + + Maximum IMU gyro angular rate magnitude that allows IMU bias learning. +If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. +This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates + 2.0 + 20.0 + rad/s 1 - true modules/ekf2 - - GPS measurement delay relative to IMU measurements + + Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value + 0.0 + 0.8 + m/s/s + 2 + modules/ekf2 + + + Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. +The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. +This parameter controls the time constant of the decay + 0.1 + 1.0 + s + 2 + modules/ekf2 + + + Process noise for IMU accelerometer bias prediction + 0.0 + 0.01 + m/s**3 + 6 + modules/ekf2 + + + Accelerometer noise for covariance prediction + 0.01 + 1.0 + m/s/s + 2 + modules/ekf2 + + + Integer bitmask controlling data fusion and aiding methods + Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion 0 - 300 - ms - 1 + 63 true modules/ekf2 + + use GPS + use optical flow + inhibit IMU bias estimation + vision position fusion + vision yaw fusion + multi-rotor drag fusion + - - Optical flow measurement delay relative to IMU measurements -Assumes measurement is timestamped at trailing edge of integration period - 0 - 300 - ms - 1 + + 1-sigma tilt angle uncertainty after gravity vector alignment + 0.0 + 0.5 + rad + 3 true modules/ekf2 - - Range finder measurement delay relative to IMU measurements - 0 - 300 - ms + + Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive +value will determine the minimum airspeed which will still be fused + 0.0 + m/s + 1 + modules/ekf2 + + + Upper limit on airspeed along individual axes used to correct baro for position error effects + 5.0 + 50.0 + m/s 1 - true modules/ekf2 @@ -1148,8 +1197,8 @@ Assumes measurement is timestamped at trailing edge of integration periodtrue modules/ekf2 - - Vision Position Estimator delay relative to IMU measurements + + Barometer measurement delay relative to IMU measurements 0 300 ms @@ -1157,268 +1206,185 @@ Assumes measurement is timestamped at trailing edge of integration periodtrue modules/ekf2 - - Integer bitmask controlling GPS checks - Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT - 0 - 511 - modules/ekf2 - - Min sat count (EKF2_REQ_NSATS) - Min GDoP (EKF2_REQ_GDOP) - Max horizontal position error (EKF2_REQ_EPH) - Max vertical position error (EKF2_REQ_EPV) - Max speed error (EKF2_REQ_SACC) - Max horizontal position rate (EKF2_REQ_HDRIFT) - Max vertical position rate (EKF2_REQ_VDRIFT) - Max horizontal speed (EKF2_REQ_HDRIFT) - Max vertical velocity discrepancy (EKF2_REQ_VDRIFT) - - - - Required EPH to use GPS - 2 - 100 - m + + Gate size for barometric and GPS height fusion + Sets the number of standard deviations used by the innovation consistency test. + 1.0 + SD 1 modules/ekf2 - - Required EPV to use GPS - 2 - 100 + + Measurement noise for barometric altitude + 0.01 + 15.0 m - 1 - modules/ekf2 - - - Required speed accuracy to use GPS - 0.5 - 5.0 - m/s 2 modules/ekf2 - - Required satellite count to use GPS - 4 - 12 + + X-axis ballistic coefficient used by the multi-rotor specific drag force model. +This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence + 1.0 + 100.0 + kg/m**2 + 1 modules/ekf2 - - Required GDoP to use GPS - 1.5 - 5.0 + + Y-axis ballistic coefficient used by the multi-rotor specific drag force model. +This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence + 1.0 + 100.0 + kg/m**2 1 modules/ekf2 - - Maximum horizontal drift speed to use GPS + + Noise for synthetic sideslip fusion 0.1 1.0 m/s 2 modules/ekf2 - - Maximum vertical drift speed to use GPS - 0.1 - 1.5 - m/s + + Integer bitmask controlling handling of magnetic declination + Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used. + 0 + 7 + true + modules/ekf2 + + use geo_lookup declination + save EKF2_MAG_DECL on disarm + use declination as an observation + + + + Specific drag force observation noise variance used by the multi-rotor specific drag force model. +Increasing it makes the multi-rotor wind estimates adjust more slowly + 0.5 + 10.0 + (m/sec**2)**2 2 modules/ekf2 - - Rate gyro noise for covariance prediction - 0.0001 - 0.1 - rad/s - 4 + + Measurement noise for airspeed fusion + 0.5 + 5.0 + m/s + 1 modules/ekf2 - - Accelerometer noise for covariance prediction + + Measurement noise for vision angle observations used when the vision system does not supply error estimates 0.01 - 1.0 - m/s/s + rad 2 modules/ekf2 - - Process noise for IMU rate gyro bias prediction - 0.0 - 0.01 - rad/s**2 - 6 - modules/ekf2 - - - Process noise for IMU accelerometer bias prediction - 0.0 - 0.01 - m/s**3 - 6 + + Measurement noise for vision position observations used when the vision system does not supply error estimates + 0.01 + m + 2 modules/ekf2 - - Process noise for body magnetic field prediction - 0.0 - 0.1 - Gauss/s - 6 - modules/ekf2 - - - Process noise for earth magnetic field prediction - 0.0 - 0.1 - Gauss/s - 6 - modules/ekf2 - - - Process noise for wind velocity prediction - 0.0 - 1.0 - m/s/s - 3 + + Vision Position Estimator delay relative to IMU measurements + 0 + 300 + ms + 1 + true modules/ekf2 - - Measurement noise for gps horizontal velocity - 0.01 - 5.0 - m/s - 2 + + Gate size for vision estimate fusion + Sets the number of standard deviations used by the innovation consistency test. + 1.0 + SD + 1 modules/ekf2 - - Measurement noise for gps position - 0.01 - 10.0 + + X position of VI sensor focal point in body frame m - 2 + 3 modules/ekf2 - - Measurement noise for non-aiding position hold - 0.5 - 50.0 + + Y position of VI sensor focal point in body frame m - 1 + 3 modules/ekf2 - - Measurement noise for barometric altitude - 0.01 - 15.0 + + Z position of VI sensor focal point in body frame m - 2 - modules/ekf2 - - - Measurement noise for magnetic heading fusion - 0.01 - 1.0 - rad - 2 - modules/ekf2 - - - Measurement noise for magnetometer 3-axis fusion - 0.001 - 1.0 - Gauss 3 modules/ekf2 - - Measurement noise for airspeed fusion - 0.5 - 5.0 - m/s - 1 + + Boolean determining if synthetic sideslip measurements should fused + A value of 1 indicates that fusion is active + modules/ekf2 - - Noise for synthetic sideslip fusion - 0.1 - 1.0 - m/s + + 1-sigma IMU gyro switch-on bias + 0.0 + 0.2 + rad/sec 2 + true modules/ekf2 - - Magnetic declination - deg - 1 - modules/ekf2 - - - Gate size for magnetic heading fusion - Sets the number of standard deviations used by the innovation consistency test. - 1.0 - SD - 1 - modules/ekf2 - - - Gate size for magnetometer XYZ component fusion - Sets the number of standard deviations used by the innovation consistency test. - 1.0 - SD - 1 - modules/ekf2 - - - Integer bitmask controlling handling of magnetic declination - Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used. + + Integer bitmask controlling GPS checks + Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT 0 - 7 - true + 511 modules/ekf2 - use geo_lookup declination - save EKF2_MAG_DECL on disarm - use declination as an observation + Min sat count (EKF2_REQ_NSATS) + Min GDoP (EKF2_REQ_GDOP) + Max horizontal position error (EKF2_REQ_EPH) + Max vertical position error (EKF2_REQ_EPV) + Max speed error (EKF2_REQ_SACC) + Max horizontal position rate (EKF2_REQ_HDRIFT) + Max vertical position rate (EKF2_REQ_VDRIFT) + Max horizontal speed (EKF2_REQ_HDRIFT) + Max vertical velocity discrepancy (EKF2_REQ_VDRIFT) - - Type of magnetometer fusion - Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable. + + GPS measurement delay relative to IMU measurements + 0 + 300 + ms + 1 true modules/ekf2 - - Magnetic heading - Automatic - None - 3-axis fusion - - - Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. -This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion - 0.0 - 5.0 - m/s**2 - 2 + + X position of GPS antenna in body frame + m + 3 modules/ekf2 - - Yaw rate threshold used by automatic selection of magnetometer fusion method. -This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion - 0.0 - 0.5 - rad/s - 2 + + Y position of GPS antenna in body frame + m + 3 modules/ekf2 - - Gate size for barometric and GPS height fusion - Sets the number of standard deviations used by the innovation consistency test. - 1.0 - SD - 1 + + Z position of GPS antenna in body frame + m + 3 modules/ekf2 @@ -1429,6 +1395,14 @@ This parameter is used when the magnetometer fusion method is set automatically 1 modules/ekf2 + + Measurement noise for gps position + 0.01 + 10.0 + m + 2 + modules/ekf2 + Gate size for GPS velocity fusion Sets the number of standard deviations used by the innovation consistency test. @@ -1437,29 +1411,45 @@ This parameter is used when the magnetometer fusion method is set automatically 1 modules/ekf2 - - Gate size for TAS fusion + + Measurement noise for gps horizontal velocity + 0.01 + 5.0 + m/s + 2 + modules/ekf2 + + + Process noise for IMU rate gyro bias prediction + 0.0 + 0.01 + rad/s**2 + 6 + modules/ekf2 + + + Rate gyro noise for covariance prediction + 0.0001 + 0.1 + rad/s + 4 + modules/ekf2 + + + Gate size for magnetic heading fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 - - Integer bitmask controlling data fusion and aiding methods - Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion - 0 - 63 - true + + Measurement noise for magnetic heading fusion + 0.01 + 1.0 + rad + 2 modules/ekf2 - - use GPS - use optical flow - inhibit IMU bias estimation - vision position fusion - vision yaw fusion - multi-rotor drag fusion - Determines the primary source of height data used by the EKF @@ -1467,166 +1457,213 @@ This parameter is used when the magnetometer fusion method is set automatically true modules/ekf2 - GPS Barometric pressure - Vision + GPS Range sensor + Vision - - Measurement noise for range finder fusion - 0.01 + + X position of IMU in body frame m - 2 + 3 modules/ekf2 - - Range finder range dependant noise scaler - Specifies the increase in range finder noise with range. - 0.0 - 0.2 - m/m + + Y position of IMU in body frame + m + 3 modules/ekf2 - - Gate size for range finder fusion - Sets the number of standard deviations used by the innovation consistency test. - 1.0 - SD - 1 + + Z position of IMU in body frame + m + 3 modules/ekf2 - - Minimum valid range for the range finder - 0.01 - m - 2 + + ID of Magnetometer the learned bias is for + true modules/ekf2 - - Measurement noise for vision position observations used when the vision system does not supply error estimates - 0.01 - m - 2 + + Learned value of magnetometer X axis bias. +This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + true modules/ekf2 - - Measurement noise for vision angle observations used when the vision system does not supply error estimates - 0.01 - rad - 2 + + Learned value of magnetometer Y axis bias. +This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + true modules/ekf2 - - Gate size for vision estimate fusion - Sets the number of standard deviations used by the innovation consistency test. - 1.0 - SD - 1 + + Learned value of magnetometer Z axis bias. +This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated + -0.5 + 0.5 + mGauss + 3 + true modules/ekf2 - - Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum - 0.05 - rad/s + + Maximum fraction of learned mag bias saved at each disarm. +Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0 + 0.0 + 1.0 2 modules/ekf2 - - Measurement noise for the optical flow sensor - (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN - 0.05 - rad/s + + State variance assumed for magnetometer bias storage. +This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster + mGauss**2 + 8 + true + modules/ekf2 + + + Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. +This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion + 0.0 + 5.0 + m/s**2 2 modules/ekf2 - - Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN + + Process noise for body magnetic field prediction + 0.0 + 0.1 + Gauss/s + 6 + modules/ekf2 + + + Magnetic declination + deg + 1 + modules/ekf2 + + + Magnetometer measurement delay relative to IMU measurements 0 - 255 + 300 + ms + 1 + true modules/ekf2 - - Gate size for optical flow fusion + + Process noise for earth magnetic field prediction + 0.0 + 0.1 + Gauss/s + 6 + modules/ekf2 + + + Gate size for magnetometer XYZ component fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 - - Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX - 1.0 - rad/s - 2 + + Measurement noise for magnetometer 3-axis fusion + 0.001 + 1.0 + Gauss + 3 modules/ekf2 - - Terrain altitude process noise - accounts for instability in vehicle height estimate - 0.5 - m/s - 1 + + Type of magnetometer fusion + Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable. + true modules/ekf2 + + Automatic + Magnetic heading + 3-axis fusion + None + - - Magnitude of terrain gradient + + Yaw rate threshold used by automatic selection of magnetometer fusion method. +This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion 0.0 - m/m + 0.5 + rad/s 2 modules/ekf2 - - X position of IMU in body frame - m - 3 - modules/ekf2 - - - Y position of IMU in body frame - m - 3 - modules/ekf2 - - - Z position of IMU in body frame - m - 3 + + Minimum time of arrival delta between non-IMU observations before data is downsampled. +Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information + 10 + 50 + ms + true modules/ekf2 - - X position of GPS antenna in body frame + + Minimum valid range for the range finder + 0.01 m - 3 + 2 modules/ekf2 - - Y position of GPS antenna in body frame + + Measurement noise for non-aiding position hold + 0.5 + 50.0 m - 3 + 1 modules/ekf2 - - Z position of GPS antenna in body frame - m - 3 + + Optical flow measurement delay relative to IMU measurements +Assumes measurement is timestamped at trailing edge of integration period + 0 + 300 + ms + 1 + true modules/ekf2 - - X position of range finder origin in body frame - m - 3 + + Gate size for optical flow fusion + Sets the number of standard deviations used by the innovation consistency test. + 1.0 + SD + 1 modules/ekf2 - - Y position of range finder origin in body frame - m - 3 + + Measurement noise for the optical flow sensor + (when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN + 0.05 + rad/s + 2 modules/ekf2 - - Z position of range finder origin in body frame - m - 3 + + Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum + 0.05 + rad/s + 2 modules/ekf2 @@ -1647,136 +1684,104 @@ This parameter is used when the magnetometer fusion method is set automatically 3 modules/ekf2 - - X position of VI sensor focal point in body frame - m - 3 - modules/ekf2 - - - Y position of VI sensor focal point in body frame - m - 3 + + Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN + 0 + 255 modules/ekf2 - - Z position of VI sensor focal point in body frame - m - 3 - modules/ekf2 - - - Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive -value will determine the minimum airspeed which will still be fused - 0.0 - m/s - 1 - modules/ekf2 - - - Boolean determining if synthetic sideslip measurements should fused - A value of 1 indicates that fusion is active - - modules/ekf2 - - - Time constant of the velocity output prediction and smoothing filter - 1.0 - s + + Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX + 1.0 + rad/s 2 modules/ekf2 - - Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states - 0.1 - 1.0 - s + + Static pressure position error coefficient for the negative X axis. +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. +If the baro height estimate rises during backwards flight, then this will be a negative number + -0.5 + 0.5 2 modules/ekf2 - - 1-sigma IMU gyro switch-on bias - 0.0 - 0.2 - rad/sec + + Static pressure position error coefficient for the positive X axis +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. +If the baro height estimate rises during forward flight, then this will be a negative number + -0.5 + 0.5 2 - true modules/ekf2 - - 1-sigma IMU accelerometer switch-on bias - 0.0 + + Pressure position error coefficient for the Y axis. +This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Y body axis. +If the baro height estimate rises during sideways flight, then this will be a negative number + -0.5 0.5 - m/s/s 2 - true modules/ekf2 - - 1-sigma tilt angle uncertainty after gravity vector alignment - 0.0 + + Static pressure position error coefficient for the Z axis. +This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis + -0.5 0.5 - rad - 3 - true + 2 modules/ekf2 - - Range sensor pitch offset - -0.75 - 0.75 - rad - 3 + + Required EPH to use GPS + 2 + 100 + m + 1 modules/ekf2 - - Learned value of magnetometer X axis bias. -This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated - -0.5 - 0.5 - mGauss - 3 - true + + Required EPV to use GPS + 2 + 100 + m + 1 modules/ekf2 - - Learned value of magnetometer Y axis bias. -This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated - -0.5 - 0.5 - mGauss - 3 - true + + Required GDoP to use GPS + 1.5 + 5.0 + 1 modules/ekf2 - - Learned value of magnetometer Z axis bias. -This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated - -0.5 - 0.5 - mGauss - 3 - true + + Maximum horizontal drift speed to use GPS + 0.1 + 1.0 + m/s + 2 modules/ekf2 - - ID of Magnetometer the learned bias is for - true + + Required satellite count to use GPS + 4 + 12 modules/ekf2 - - State variance assumed for magnetometer bias storage. -This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster - mGauss**2 - 8 - true + + Required speed accuracy to use GPS + 0.5 + 5.0 + m/s + 2 modules/ekf2 - - Maximum fraction of learned mag bias saved at each disarm. -Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0 - 0.0 - 1.0 + + Maximum vertical drift speed to use GPS + 0.1 + 1.5 + m/s 2 modules/ekf2 @@ -1785,17 +1790,10 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. modules/ekf2 - Range aid enabled Range aid disabled + Range aid enabled - - Maximum horizontal velocity allowed for range aid mode - If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled). - 0.1 - 2 - modules/ekf2 - Maximum absolute altitude (height above ground level) allowed for range aid mode If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled). @@ -1811,144 +1809,228 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large SD modules/ekf2 - - Specific drag force observation noise variance used by the multi-rotor specific drag force model. -Increasing it makes the multi-rotor wind estimates adjust more slowly - 0.5 - 10.0 - (m/sec**2)**2 - 2 + + Maximum horizontal velocity allowed for range aid mode + If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled). + 0.1 + 2 modules/ekf2 - - X-axis ballistic coefficient used by the multi-rotor specific drag force model. -This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence - 1.0 - 100.0 - kg/m**2 + + Range finder measurement delay relative to IMU measurements + 0 + 300 + ms 1 + true modules/ekf2 - - Y-axis ballistic coefficient used by the multi-rotor specific drag force model. -This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence + + Gate size for range finder fusion + Sets the number of standard deviations used by the innovation consistency test. 1.0 - 100.0 - kg/m**2 + SD 1 modules/ekf2 - - Upper limit on airspeed along individual axes used to correct baro for position error effects - 5.0 - 50.0 - m/s - 1 + + Measurement noise for range finder fusion + 0.01 + m + 2 modules/ekf2 - - Static pressure position error coefficient for the positive X axis -This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. -If the baro height estimate rises during forward flight, then this will be a negative number - -0.5 - 0.5 - 2 + + Range sensor pitch offset + -0.75 + 0.75 + rad + 3 modules/ekf2 - - Static pressure position error coefficient for the negative X axis. -This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. -If the baro height estimate rises during backwards flight, then this will be a negative number - -0.5 - 0.5 - 2 + + X position of range finder origin in body frame + m + 3 modules/ekf2 - - Pressure position error coefficient for the Y axis. -This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Y body axis. -If the baro height estimate rises during sideways flight, then this will be a negative number - -0.5 - 0.5 - 2 + + Y position of range finder origin in body frame + m + 3 modules/ekf2 - - Static pressure position error coefficient for the Z axis. -This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis - -0.5 - 0.5 - 2 + + Z position of range finder origin in body frame + m + 3 modules/ekf2 - - Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value + + Range finder range dependant noise scaler + Specifies the increase in range finder noise with range. 0.0 - 0.8 - m/s/s - 2 + 0.2 + m/m modules/ekf2 - - Maximum IMU accel magnitude that allows IMU bias learning. -If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. -This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates - 20.0 - 200.0 - m/s/s + + Gate size for TAS fusion + Sets the number of standard deviations used by the innovation consistency test. + 1.0 + SD 1 modules/ekf2 - - Maximum IMU gyro angular rate magnitude that allows IMU bias learning. -If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. -This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates - 2.0 - 20.0 - rad/s - 1 + + Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states + 0.1 + 1.0 + s + 2 modules/ekf2 - - Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. -The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. -This parameter controls the time constant of the decay - 0.1 + + Time constant of the velocity output prediction and smoothing filter 1.0 s 2 modules/ekf2 + + Magnitude of terrain gradient + 0.0 + m/m + 2 + modules/ekf2 + + + Terrain altitude process noise - accounts for instability in vehicle height estimate + 0.5 + m/s + 1 + modules/ekf2 + + + Process noise for wind velocity prediction + 0.0 + 1.0 + m/s/s + 3 + modules/ekf2 + - - Attitude Roll Time Constant - This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.4 + + Acro body x max rate + This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode. + 45 + 720 + degrees + modules/fw_att_control + + + Acro body y max rate + This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode. + 45 + 720 + degrees + modules/fw_att_control + + + Acro body z max rate + This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode. + 10 + 180 + degrees + modules/fw_att_control + + + Disable airspeed sensor + For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading + + modules/fw_att_control + + + Whether to scale throttle by battery power level + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + modules/fw_att_control + + + Scale factor for flaperons + 0.0 1.0 - s + norm 2 - 0.05 + 0.01 modules/fw_att_control - - Attitude pitch time constant - This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.2 + + Scale factor for flaps + 0.0 1.0 - s + norm 2 - 0.05 + 0.01 modules/fw_att_control - - Pitch rate proportional gain - This defines how much the elevator input will be commanded depending on the current body angular rate error. - 0.005 + + Max manual pitch + Max pitch for manual control in attitude stabilized mode + 0.0 + 90.0 + deg + 1 + 0.5 + modules/fw_att_control + + + Manual pitch scale + Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + modules/fw_att_control + + + Max manual roll + Max roll for manual control in attitude stabilized mode + 0.0 + 90.0 + deg + 1 + 0.5 + modules/fw_att_control + + + Manual roll scale + Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 1.0 + norm + 2 + 0.01 + modules/fw_att_control + + + Manual yaw scale + Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + modules/fw_att_control + + + Pitch rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 %/rad/s - 3 - 0.005 + 2 + 0.05 modules/fw_att_control @@ -1961,12 +2043,31 @@ This parameter controls the time constant of the decay 0.005 modules/fw_att_control - - Maximum positive / up pitch rate - This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. + + Pitch rate integrator limit + The portion of the integrator part in the control surface deflection is limited to this value 0.0 + 1.0 + 2 + 0.05 + modules/fw_att_control + + + Pitch rate proportional gain + This defines how much the elevator input will be commanded depending on the current body angular rate error. + 0.005 + 1.0 + %/rad/s + 3 + 0.005 + modules/fw_att_control + + + Pitch setpoint offset + An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe. + -90.0 90.0 - deg/s + deg 1 0.5 modules/fw_att_control @@ -1981,23 +2082,51 @@ This parameter controls the time constant of the decay 0.5 modules/fw_att_control - - Pitch rate integrator limit - The portion of the integrator part in the control surface deflection is limited to this value + + Maximum positive / up pitch rate + This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 + 90.0 + deg/s + 1 + 0.5 + modules/fw_att_control + + + Attitude pitch time constant + This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.2 1.0 + s 2 0.05 modules/fw_att_control - - Roll rate proportional Gain - This defines how much the aileron input will be commanded depending on the current body angular rate error. - 0.005 + + Threshold for Rattitude mode + Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints + 0.0 1.0 + 2 + 0.01 + modules/fw_att_control + + + Roll control to yaw control feedforward gain + This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect. + 0.0 + 1 + 0.01 + modules/fw_att_control + + + Roll rate feed forward + Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification. + 0.0 + 10.0 %/rad/s - 3 - 0.005 + 2 + 0.05 modules/fw_att_control @@ -2019,19 +2148,9 @@ This parameter controls the time constant of the decay 0.05 modules/fw_att_control - - Maximum roll rate - This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - 1 - 0.5 - modules/fw_att_control - - - Yaw rate proportional gain - This defines how much the rudder input will be commanded depending on the current body angular rate error. + + Roll rate proportional Gain + This defines how much the aileron input will be commanded depending on the current body angular rate error. 0.005 1.0 %/rad/s @@ -2039,28 +2158,19 @@ This parameter controls the time constant of the decay 0.005 modules/fw_att_control - - Yaw rate integrator gain - This gain defines how much control response will result out of a steady state error. It trims any constant error. - 0.0 - 50.0 - %/rad + + Roll setpoint offset + An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe. + -90.0 + 90.0 + deg 1 0.5 modules/fw_att_control - - Yaw rate integrator limit - The portion of the integrator part in the control surface deflection is limited to this value - 0.0 - 1.0 - 2 - 0.05 - modules/fw_att_control - - - Maximum yaw rate - This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. + + Maximum roll rate + This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 90.0 deg/s @@ -2068,27 +2178,24 @@ This parameter controls the time constant of the decay 0.5 modules/fw_att_control - - Roll control to yaw control feedforward gain - This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect. - 0.0 - 1 - 0.01 - modules/fw_att_control - - - Enable wheel steering controller - + + Attitude Roll Time Constant + This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.4 + 1.0 + s + 2 + 0.05 modules/fw_att_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. - 0.005 - 1.0 + + Wheel steering rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 %/rad/s - 3 - 0.005 + 2 + 0.05 modules/fw_att_control @@ -2110,6 +2217,21 @@ This parameter controls the time constant of the decay 0.05 modules/fw_att_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. + 0.005 + 1.0 + %/rad/s + 3 + 0.005 + modules/fw_att_control + + + Enable wheel steering controller + + modules/fw_att_control + Maximum wheel steering rate This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit. @@ -2120,24 +2242,25 @@ This parameter controls the time constant of the decay 0.5 modules/fw_att_control - - Roll rate feed forward - Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification. - 0.0 - 10.0 - %/rad/s - 2 - 0.05 + + Method used for yaw coordination + The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration + 0 + 1 modules/fw_att_control + + open-loop + closed-loop + - - Pitch rate feed forward - Direct feed forward from rate setpoint to control surface output + + Minimal speed for yaw coordination + For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. 0.0 - 10.0 - %/rad/s - 2 - 0.05 + 1000.0 + m/s + 1 + 0.5 modules/fw_att_control @@ -2150,214 +2273,176 @@ This parameter controls the time constant of the decay 0.05 modules/fw_att_control - - Wheel steering rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - %/rad/s - 2 - 0.05 - modules/fw_att_control - - - Minimal speed for yaw coordination - For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. + + Yaw rate integrator gain + This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 1000.0 - m/s + 50.0 + %/rad 1 0.5 modules/fw_att_control - - Method used for yaw coordination - The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration - 0 - 1 + + Yaw rate integrator limit + The portion of the integrator part in the control surface deflection is limited to this value + 0.0 + 1.0 + 2 + 0.05 modules/fw_att_control - - closed-loop - open-loop - - - Roll setpoint offset - An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe. - -90.0 - 90.0 - deg - 1 - 0.5 + + Yaw rate proportional gain + This defines how much the rudder input will be commanded depending on the current body angular rate error. + 0.005 + 1.0 + %/rad/s + 3 + 0.005 modules/fw_att_control - - Pitch setpoint offset - An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe. - -90.0 + + Maximum yaw rate + This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. + 0.0 90.0 - deg + deg/s 1 0.5 modules/fw_att_control - - Max manual roll - Max roll for manual control in attitude stabilized mode + + Attitude Wheel Time Constant + This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.4 + 1.0 + s + 2 + 0.05 + modules/gnd_att_control + + + + + Climbout Altitude difference + If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended). 0.0 - 90.0 - deg + 150.0 + m 1 0.5 - modules/fw_att_control + modules/fw_pos_control_l1 - - Max manual pitch - Max pitch for manual control in attitude stabilized mode - 0.0 - 90.0 - deg + + L1 damping + Damping factor for L1 control. + 0.6 + 0.9 + 2 + 0.05 + modules/fw_pos_control_l1 + + + L1 period + This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. + 12.0 + 50.0 + m 1 0.5 - modules/fw_att_control + modules/fw_pos_control_l1 - - Scale factor for flaps - 0.0 - 1.0 + + Min. airspeed scaling factor for landing + Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC + 1.0 + 1.5 norm 2 0.01 - modules/fw_att_control + modules/fw_pos_control_l1 - - Scale factor for flaperons - 0.0 - 1.0 - norm - 2 - 0.01 - modules/fw_att_control + + Landing slope angle + 1.0 + 15.0 + deg + 1 + 0.5 + modules/fw_pos_control_l1 - - Disable airspeed sensor - For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading - - modules/fw_att_control - - - Manual roll scale - Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - 1.0 - norm - 2 - 0.01 - modules/fw_att_control - - - Manual pitch scale - Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - norm - 2 - 0.01 - modules/fw_att_control - - - Manual yaw scale - Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + + Landing flare altitude (relative to landing altitude) 0.0 - norm - 2 - 0.01 - modules/fw_att_control - - - Whether to scale throttle by battery power level - This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. - - modules/fw_att_control - - - Acro body x max rate - This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode. - 45 - 720 - degrees - modules/fw_att_control - - - Acro body y max rate - This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode. - 45 - 720 - degrees - modules/fw_att_control + 25.0 + m + 1 + 0.5 + modules/fw_pos_control_l1 - - Acro body z max rate - This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode. - 10 - 180 - degrees - modules/fw_att_control + + Flare, maximum pitch + Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached + 0 + 45.0 + deg + 1 + 0.5 + modules/fw_pos_control_l1 - - Threshold for Rattitude mode - Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints - 0.0 - 1.0 - 2 - 0.01 - modules/fw_att_control + + Flare, minimum pitch + Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached + 0 + 15.0 + deg + 1 + 0.5 + modules/fw_pos_control_l1 - - Attitude Wheel Time Constant - This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.4 - 1.0 - s - 2 - 0.05 - modules/gnd_att_control + + Landing heading hold horizontal distance. +Set to 0 to disable heading hold + 0 + 30.0 + m + 1 + 0.5 + modules/fw_pos_control_l1 - - - - L1 period - This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. - 12.0 - 50.0 + + FW_LND_HVIRT + 1.0 + 15.0 m 1 0.5 modules/fw_pos_control_l1 - - L1 damping - Damping factor for L1 control. - 0.6 - 0.9 - 2 - 0.05 + + Landing throttle limit altitude (relative landing altitude) + Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude. + -1.0 + 30.0 + m + 1 + 0.5 modules/fw_pos_control_l1 - - Cruise throttle - This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. - 0.0 - 1.0 - norm - 2 - 0.01 + + Use terrain estimate during landing + modules/fw_pos_control_l1 - - Throttle max slew rate - Maximum slew rate for the commanded throttle + + Positive pitch limit + The maximum positive pitch the controller will output. 0.0 - 1.0 + 60.0 + deg + 1 + 0.5 modules/fw_pos_control_l1 @@ -2370,16 +2455,6 @@ This parameter controls the time constant of the decay 0.5 modules/fw_pos_control_l1 - - Positive pitch limit - The maximum positive pitch the controller will output. - 0.0 - 60.0 - deg - 1 - 0.5 - modules/fw_pos_control_l1 - Controller roll limit The maximum roll the controller will output. @@ -2390,19 +2465,9 @@ This parameter controls the time constant of the decay 0.5 modules/fw_pos_control_l1 - - Throttle limit max - 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. - 0.0 - 1.0 - norm - 2 - 0.01 - modules/fw_pos_control_l1 - - - Throttle limit min - 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. + + Cruise throttle + This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. 0.0 1.0 norm @@ -2430,122 +2495,47 @@ This parameter controls the time constant of the decay 0.01 modules/fw_pos_control_l1 - - Climbout Altitude difference - If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended). + + Throttle limit max + 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. 0.0 - 150.0 - m - 1 - 0.5 - modules/fw_pos_control_l1 - - - Landing slope angle - 1.0 - 15.0 - deg - 1 - 0.5 + 1.0 + norm + 2 + 0.01 modules/fw_pos_control_l1 - - FW_LND_HVIRT - 1.0 - 15.0 - m - 1 - 0.5 + + Throttle limit min + 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. + 0.0 + 1.0 + norm + 2 + 0.01 modules/fw_pos_control_l1 - - Landing flare altitude (relative to landing altitude) + + Throttle max slew rate + Maximum slew rate for the commanded throttle 0.0 - 25.0 - m - 1 - 0.5 + 1.0 modules/fw_pos_control_l1 - - Landing throttle limit altitude (relative landing altitude) - Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude. - -1.0 - 30.0 - m - 1 - 0.5 - modules/fw_pos_control_l1 + + + + Launch detection + + lib/launchdetection - - Landing heading hold horizontal distance. -Set to 0 to disable heading hold + + Catapult accelerometer threshold + LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. 0 - 30.0 - m + m/s/s 1 0.5 - modules/fw_pos_control_l1 - - - Use terrain estimate during landing - - modules/fw_pos_control_l1 - - - Flare, minimum pitch - Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached - 0 - 15.0 - deg - 1 - 0.5 - modules/fw_pos_control_l1 - - - Flare, maximum pitch - Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached - 0 - 45.0 - deg - 1 - 0.5 - modules/fw_pos_control_l1 - - - Min. airspeed scaling factor for landing - Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC - 1.0 - 1.5 - norm - 2 - 0.01 - modules/fw_pos_control_l1 - - - - - Launch detection - - lib/launchdetection - - - Catapult accelerometer threshold - LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. - 0 - m/s/s - 1 - 0.5 - lib/launchdetection - - - Catapult time threshold - LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. - 0.0 - 5.0 - s - 2 - 0.05 lib/launchdetection @@ -2568,11 +2558,21 @@ Set to 0 to disable heading hold 0.5 lib/launchdetection + + Catapult time threshold + LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. + 0.0 + 5.0 + s + 2 + 0.05 + lib/launchdetection + - - Minimum Airspeed - If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. + + Maximum Airspeed + If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively. 0.0 40 m/s @@ -2580,9 +2580,9 @@ Set to 0 to disable heading hold 0.5 modules/fw_pos_control_l1 - - Maximum Airspeed - If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively. + + Minimum Airspeed + If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. 0.0 40 m/s @@ -2610,53 +2610,30 @@ Set to 0 to disable heading hold 0.5 modules/fw_pos_control_l1 - - Minimum descent rate - This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX. - 1.0 - 5.0 - m/s - 1 - 0.5 - modules/fw_pos_control_l1 - - - Maximum descent rate - This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft. - 2.0 - 15.0 - m/s - 1 - 0.5 - modules/fw_pos_control_l1 - - - TECS time constant - This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. + + Complementary filter "omega" parameter for height + This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data. 1.0 10.0 - s + rad/s 1 0.5 modules/fw_pos_control_l1 - - TECS Throttle time constant - This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. - 1.0 - 10.0 - s - 1 - 0.5 + + Height rate feed forward + 0.0 + 1.0 + 2 + 0.05 modules/fw_pos_control_l1 - - Throttle damping factor - This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height. + + Height rate proportional factor 0.0 - 2.0 - 1 - 0.1 + 1.0 + 2 + 0.05 modules/fw_pos_control_l1 @@ -2668,41 +2645,40 @@ Set to 0 to disable heading hold 0.05 modules/fw_pos_control_l1 - - Maximum vertical acceleration - This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions. - 1.0 - 10.0 - m/s/s + + Pitch damping factor + This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly. + 0.0 + 2.0 1 - 0.5 + 0.1 modules/fw_pos_control_l1 - - Complementary filter "omega" parameter for height - This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data. - 1.0 - 10.0 - rad/s + + Roll -> Throttle feedforward + Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value. + 0.0 + 20.0 1 0.5 modules/fw_pos_control_l1 - - Complementary filter "omega" parameter for speed - This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. - 1.0 - 10.0 - rad/s + + Maximum descent rate + This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft. + 2.0 + 15.0 + m/s 1 0.5 modules/fw_pos_control_l1 - - Roll -> Throttle feedforward - Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value. - 0.0 - 20.0 + + Minimum descent rate + This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX. + 1.0 + 5.0 + m/s 1 0.5 modules/fw_pos_control_l1 @@ -2716,41 +2692,65 @@ Set to 0 to disable heading hold 1.0 modules/fw_pos_control_l1 - - Pitch damping factor - This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly. - 0.0 - 2.0 + + Complementary filter "omega" parameter for speed + This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. + 1.0 + 10.0 + rad/s 1 - 0.1 + 0.5 modules/fw_pos_control_l1 - - Height rate proportional factor + + Speed rate P factor 0.0 - 1.0 + 2.0 2 - 0.05 + 0.01 modules/fw_pos_control_l1 - - Height rate feed forward - 0.0 - 1.0 - 2 - 0.05 + + TECS Throttle time constant + This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. + 1.0 + 10.0 + s + 1 + 0.5 modules/fw_pos_control_l1 - - Speed rate P factor + + Throttle damping factor + This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height. 0.0 2.0 - 2 - 0.01 + 1 + 0.1 modules/fw_pos_control_l1 - - Trim ground speed + + TECS time constant + This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. + 1.0 + 10.0 + s + 1 + 0.5 + modules/fw_pos_control_l1 + + + Maximum vertical acceleration + This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions. + 1.0 + 10.0 + m/s/s + 1 + 0.5 + modules/fw_pos_control_l1 + + + Maximum ground speed 0.0 40 m/s @@ -2758,8 +2758,8 @@ Set to 0 to disable heading hold 0.5 modules/gnd_pos_control - - Maximum ground speed + + Trim ground speed 0.0 40 m/s @@ -2769,13 +2769,6 @@ Set to 0 to disable heading hold - - Minimum follow target altitude - The minimum height in meters relative to home for following a target - 8.0 - meters - modules/navigator - Distance to follow target from The distance in meters to follow the target at @@ -2801,23 +2794,43 @@ but also ignore less noise 2 modules/navigator + + Minimum follow target altitude + The minimum height in meters relative to home for following a target + 8.0 + meters + modules/navigator + - - 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 - + + Whether to scale throttle by battery power level + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + modules/gnd_att_control - + + Groundspeed speed trim + This allows to scale the turning radius depending on the speed. + 0.0 + norm + 2 + 0.1 + modules/gnd_att_control + + + Manual yaw scale + Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + modules/gnd_att_control + + Speed proportional gain - This is the proportional gain for the speed closed loop controller - 0.005 + This is the derivative gain for the speed closed loop controller + 0.00 50.0 %m/s 3 @@ -2834,19 +2847,19 @@ but also ignore less noise 0.005 modules/gnd_pos_control - - Speed proportional gain - This is the derivative gain for the speed closed loop controller - 0.00 + + 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 integral maximum value - This is the maxim value the integral can reach to prevent wind-up. + + Speed proportional gain + This is the proportional gain for the speed closed loop controller 0.005 50.0 %m/s @@ -2864,30 +2877,41 @@ but also ignore less noise 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. - 0.005 - 1.0 - %/rad/s - 3 - 0.005 - 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 + + open loop control + close the loop with gps speed + - + Wheel steering rate integrator gain - This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.00 - 0.5 + 30 %/rad 3 0.005 modules/gnd_att_control - + + Wheel steering rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.0 + 10.0 + %/rad/s + 2 + 0.05 + modules/gnd_att_control + + Wheel steering rate integrator gain + This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.00 - 30 + 0.5 %/rad 3 0.005 @@ -2902,6 +2926,16 @@ but also ignore less noise 0.05 modules/gnd_att_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. + 0.005 + 1.0 + %/rad/s + 3 + 0.005 + modules/gnd_att_control + Maximum wheel steering rate This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit. @@ -2912,42 +2946,17 @@ but also ignore less noise 0.5 modules/gnd_att_control - - Wheel steering rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - %/rad/s + + + + L1 damping + Damping factor for L1 control. + 0.6 + 0.9 2 0.05 - modules/gnd_att_control - - - Manual yaw scale - Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - norm - 2 - 0.01 - modules/gnd_att_control - - - Groundspeed speed trim - This allows to scale the turning radius depending on the speed. - 0.0 - norm - 2 - 0.1 - modules/gnd_att_control - - - Whether to scale throttle by battery power level - This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. - - modules/gnd_att_control + modules/gnd_pos_control - - L1 distance This is the waypoint radius @@ -2968,15 +2977,6 @@ but also ignore less noise 0.5 modules/gnd_pos_control - - L1 damping - Damping factor for L1 control. - 0.6 - 0.9 - 2 - 0.05 - modules/gnd_pos_control - Cruise throttle This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode @@ -2987,6 +2987,16 @@ but also ignore less noise 0.01 modules/gnd_pos_control + + Idle throttle + This is the minimum throttle while on the ground, it should be 0 for a rover + 0.0 + 0.4 + norm + 2 + 0.01 + modules/gnd_pos_control + Throttle limit max This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough @@ -3007,16 +3017,6 @@ but also ignore less noise 0.01 modules/gnd_pos_control - - Idle throttle - This is the minimum throttle while on the ground, it should be 0 for a rover - 0.0 - 0.4 - norm - 2 - 0.01 - modules/gnd_pos_control - @@ -3026,8 +3026,8 @@ but also ignore less noise 1 drivers/gps - Enable Disable + Enable @@ -3038,11 +3038,11 @@ but also ignore less noise true drivers/gps - airborne with <4g acceleration stationary automotive - airborne with <2g acceleration airborne with <1g acceleration + airborne with <2g acceleration + airborne with <4g acceleration @@ -3057,20 +3057,20 @@ but also ignore less noise 1 modules/navigator - - Fixed bank angle - Roll in degrees during the loiter - 0.0 + + Fixed pitch angle + Pitch in degrees during the open loop loiter + -30.0 30.0 deg 1 0.5 modules/navigator - - Fixed pitch angle - Pitch in degrees during the open loop loiter - -30.0 + + Fixed bank angle + Roll in degrees during the loiter + 0.0 30.0 deg 1 @@ -3096,10 +3096,10 @@ but also ignore less noise 4 modules/navigator - Warning None - Return to Land + Warning Loiter + Return to Land Flight terminate @@ -3110,19 +3110,8 @@ but also ignore less noise 1 modules/navigator - AMSL WGS84 - - - - Geofence source - Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS - 0 - 1 - modules/navigator - - GPS - GPOS + AMSL @@ -3151,6 +3140,17 @@ but also ignore less noise 1 modules/navigator + + Geofence source + Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS + 0 + 1 + modules/navigator + + GPOS + GPS + + @@ -3162,26 +3162,50 @@ but also ignore less noise - - Multicopter max climb rate - Maximum vertical velocity allowed in the landed state (m/s up and down) + + Airspeed max + Maximum airspeed allowed in the landed state (m/s) + 4 + 20 m/s 1 modules/land_detector - - Multicopter max horizontal velocity - Maximum horizontal velocity allowed in the landed state (m/s) + + Fixedwing max short-term velocity + Maximum velocity integral in flight direction allowed in the landed state (m/s) + 2 + 10 m/s 1 modules/land_detector - - Multicopter max rotation - Maximum allowed angular velocity around each axis allowed in the landed state. - deg/s - 1 - modules/land_detector + + Fixedwing max horizontal velocity + Maximum horizontal velocity allowed in the landed state (m/s) + 0.5 + 10 + m/s + 1 + modules/land_detector + + + Fixedwing max climb rate + Maximum vertical velocity allowed in the landed state (m/s up and down) + 5 + 20 + m/s + 1 + modules/land_detector + + + Maximum altitude for multicopters + The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation. + -1 + 10000 + m + 2 + modules/land_detector Multicopter specific force threshold @@ -3192,14 +3216,6 @@ but also ignore less noise 2 modules/land_detector - - Multicopter sub-hover throttle scaling - The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed. - 0.05 - 0.5 - 2 - modules/land_detector - Multicopter free-fall trigger time Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h @@ -3209,38 +3225,31 @@ but also ignore less noise 2 modules/land_detector - - Fixedwing max horizontal velocity - Maximum horizontal velocity allowed in the landed state (m/s) - 0.5 - 10 - m/s + + Multicopter max rotation + Maximum allowed angular velocity around each axis allowed in the landed state. + deg/s 1 modules/land_detector - - Fixedwing max climb rate - Maximum vertical velocity allowed in the landed state (m/s up and down) - 5 - 20 - m/s - 1 + + Multicopter sub-hover throttle scaling + The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed. + 0.05 + 0.5 + 2 modules/land_detector - - Fixedwing max short-term velocity - Maximum velocity integral in flight direction allowed in the landed state (m/s) - 2 - 10 + + Multicopter max horizontal velocity + Maximum horizontal velocity allowed in the landed state (m/s) m/s 1 modules/land_detector - - Airspeed max - Maximum airspeed allowed in the landed state (m/s) - 4 - 20 + + Multicopter max climb rate + Maximum vertical velocity allowed in the landed state (m/s up and down) m/s 1 modules/land_detector @@ -3257,113 +3266,120 @@ but also ignore less noise 0 modules/land_detector - - Maximum altitude for multicopters - The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation. - -1 - 10000 - m - 2 - modules/land_detector - - - Optical flow z offset from center - -1 - 1 - m - 3 + + Accelerometer xy noise density + Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error. + 0.00001 + 2 + m/s^2/sqrt(Hz) + 4 modules/local_position_estimator - - Optical flow scale - 0.1 - 10.0 + + Accelerometer z noise density + Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) + 0.00001 + 2 + m/s^2/sqrt(Hz) + 4 + modules/local_position_estimator + + + Barometric presssure altitude z standard deviation + 0.01 + 100 m - 3 + 2 modules/local_position_estimator - - Optical flow rotation (roll/pitch) noise gain - 0.1 - 10.0 - m/s / (rad) + + Max EPH allowed for GPS initialization + 1.0 + 5.0 + m 3 modules/local_position_estimator - - Optical flow angular velocity noise gain - 0.0 - 10.0 - m/s / (rad/s) + + Max EPV allowed for GPS initialization + 1.0 + 5.0 + m 3 modules/local_position_estimator - - Optical flow minimum quality threshold + + Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) +by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable 0 - 255 - 0 + 1 modules/local_position_estimator - - Sonar z standard deviation - 0.01 - 1 - m + + Flow gyro high pass filter cut off frequency + 0 + 2 + Hz 3 modules/local_position_estimator - - Sonar z offset from center of vehicle +down + + Optical flow z offset from center -1 1 m 3 modules/local_position_estimator - - Lidar z standard deviation - 0.01 - 1 - m - 3 + + Optical flow minimum quality threshold + 0 + 255 + 0 modules/local_position_estimator - - Lidar z offset from center of vehicle +down - -1 - 1 - m + + Optical flow rotation (roll/pitch) noise gain + 0.1 + 10.0 + m/s / (rad) 3 modules/local_position_estimator - - Accelerometer xy noise density - Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error. - 0.00001 - 2 - m/s^2/sqrt(Hz) - 4 + + Optical flow angular velocity noise gain + 0.0 + 10.0 + m/s / (rad/s) + 3 modules/local_position_estimator - - Accelerometer z noise density - Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) - 0.00001 - 2 - m/s^2/sqrt(Hz) - 4 + + Optical flow scale + 0.1 + 10.0 + m + 3 modules/local_position_estimator - - Barometric presssure altitude z standard deviation - 0.01 - 100 - m - 2 + + Integer bitmask controlling data fusion + Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS only) + 0 + 255 modules/local_position_estimator + + fuse GPS, requires GPS for alt. init + fuse optical flow + fuse vision position + fuse vision yaw + fuse land detector + pub agl as lpos down + flow gyro compensation + fuse baro + GPS delay compensaton @@ -3373,6 +3389,23 @@ but also ignore less noise 2 modules/local_position_estimator + + GPS xy velocity standard deviation. +EPV used if greater than this value + 0.01 + 2 + m/s + 3 + modules/local_position_estimator + + + GPS z velocity standard deviation + 0.01 + 2 + m/s + 3 + modules/local_position_estimator + Minimum GPS xy standard deviation, uses reported EPH if greater 0.01 @@ -3389,70 +3422,60 @@ but also ignore less noise 2 modules/local_position_estimator - - GPS xy velocity standard deviation. -EPV used if greater than this value - 0.01 - 2 - m/s - 3 - modules/local_position_estimator - - - GPS z velocity standard deviation + + Land detector xy velocity standard deviation 0.01 - 2 + 10.0 m/s 3 modules/local_position_estimator - - Max EPH allowed for GPS initialization - 1.0 - 5.0 - m - 3 - modules/local_position_estimator - - - Max EPV allowed for GPS initialization - 1.0 - 5.0 + + Land detector z standard deviation + 0.001 + 10.0 m 3 modules/local_position_estimator - - Vision delay compensaton - Set to zero to enable automatic compensation from measurement timestamps - 0 - 0.1 - sec - 2 + + Local origin latitude for nav w/o GPS + -90 + 90 + deg + 8 modules/local_position_estimator - - Vision xy standard deviation - 0.01 + + Lidar z offset from center of vehicle +down + -1 1 m 3 modules/local_position_estimator - - Vision z standard deviation + + Lidar z standard deviation 0.01 - 100 + 1 m 3 modules/local_position_estimator - - Vicon position standard deviation - 0.0001 + + Local origin longitude for nav w/o GPS + -180 + 180 + deg + 8 + modules/local_position_estimator + + + Accel bias propagation noise density + 0 1 - m - 4 + (m/s^2)/s/sqrt(Hz) + 8 modules/local_position_estimator @@ -3464,6 +3487,14 @@ EPV used if greater than this value 8 modules/local_position_estimator + + Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) + 0 + 1 + (m/s)/(sqrt(hz)) + 3 + modules/local_position_estimator + Velocity propagation noise density Increase to trust measurements more. Decrease to trust model more. @@ -3473,19 +3504,19 @@ EPV used if greater than this value 8 modules/local_position_estimator - - Accel bias propagation noise density - 0 + + Sonar z offset from center of vehicle +down + -1 1 - (m/s^2)/s/sqrt(Hz) - 8 + m + 3 modules/local_position_estimator - - Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) - 0 + + Sonar z standard deviation + 0.01 1 - (m/s)/(sqrt(hz)) + m 3 modules/local_position_estimator @@ -3498,35 +3529,45 @@ Used to calculate increased terrain random walk nosie due to movement3 modules/local_position_estimator - - Flow gyro high pass filter cut off frequency - 0 - 2 - Hz - 3 + + Vicon position standard deviation + 0.0001 + 1 + m + 4 modules/local_position_estimator - - Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) -by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable + + Vision delay compensaton + Set to zero to enable automatic compensation from measurement timestamps 0 + 0.1 + sec + 2 + modules/local_position_estimator + + + Vision xy standard deviation + 0.01 1 + m + 3 modules/local_position_estimator - - Local origin latitude for nav w/o GPS - -90 - 90 - deg - 8 + + Vision z standard deviation + 0.01 + 100 + m + 3 modules/local_position_estimator - - Local origin longitude for nav w/o GPS - -180 - 180 - deg - 8 + + Required velocity xy standard deviation to publish position + 0.01 + 1.0 + m/s + 3 modules/local_position_estimator @@ -3537,14 +3578,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 0 modules/local_position_estimator - - Required velocity xy standard deviation to publish position - 0.01 - 1.0 - m/s - 3 - modules/local_position_estimator - Required z standard deviation to publish altitude/ terrain 0.3 @@ -3553,47 +3586,16 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 1 modules/local_position_estimator - - Land detector z standard deviation - 0.001 - 10.0 - m - 3 - modules/local_position_estimator - - - Land detector xy velocity standard deviation - 0.01 - 10.0 - m/s - 3 - modules/local_position_estimator - - - Integer bitmask controlling data fusion - Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS only) - 0 - 255 - modules/local_position_estimator - - fuse GPS, requires GPS for alt. init - fuse optical flow - fuse vision position - fuse vision yaw - fuse land detector - pub agl as lpos down - flow gyro compensation - fuse baro - - - - MAVLink system ID - 1 - 250 - true + + Broadcast heartbeats on local network + This allows a ground control station to automatically find the drone on the local network. modules/mavlink + + Never broadcast + Always broadcast + MAVLink component ID @@ -3602,12 +3604,18 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat true modules/mavlink + + Forward external setpoint messages + If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode + + modules/mavlink + MAVLink protocol version modules/mavlink - Always use version 1 Default to 1, switch to 2 if GCS sends version 2 + Always use version 1 Always use version 2 @@ -3618,6 +3626,20 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 240 modules/mavlink + + MAVLink system ID + 1 + 250 + true + modules/mavlink + + + Test parameter + This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level. + -1000 + 1000 + modules/mavlink + MAVLink airframe type 1 @@ -3629,28 +3651,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat modules/mavlink - - Forward external setpoint messages - If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode - - modules/mavlink - - - Broadcast heartbeats on local network - This allows a ground control station to automatically find the drone on the local network. - modules/mavlink - - Always broadcast - Never broadcast - - - - Test parameter - This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level. - -1000 - 1000 - modules/mavlink - @@ -3660,28 +3660,13 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - - Enable weather-vane mode takeoff for missions - - modules/vtol_att_control - - - Weather-vane mode for loiter - - modules/vtol_att_control - - - Weather-vane mode landings for missions - - modules/vtol_att_control - 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 + Loiter Return to Land @@ -3690,12 +3675,12 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 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 + Altitude control Manual - Loiter + Return to Land Land at current position + Loiter @@ -3703,20 +3688,100 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 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. + Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. - - Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 25 - 1000 + + 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 + + Zero Order Hold + First Order Hold + + + + 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 + + + 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 + + + Take-off altitude + This is the minimum altitude the system will take off to. + 0 + 80 m 1 0.5 modules/navigator + + Multirotor only. Yaw setpoint mode + The values are defined in the enum mission_altitude_mode + 0 + 3 + modules/navigator + + Heading as set by waypoint + Heading towards waypoint + Heading towards home + Heading away from home + Heading towards ROI + + + + Max yaw error in degrees needed for waypoint heading acceptance + 0 + 90 + deg + 1 + 1 + modules/navigator + + + Time in seconds we wait on reaching target heading at a waypoint if it is forced + If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default. + -1 + 20 + s + 1 + 1 + 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. @@ -3727,6 +3792,25 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 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 + + Disabled + Loiter + Return to Land + Land at current position + Data Link Auto Recovery (CASA Outback Challenge rules) + Terminate + Lockdown + + + + Force VTOL mode takeoff and land + + modules/navigator + FW Altitude Acceptance Radius Acceptance radius for fixedwing altitude. @@ -3737,6 +3821,16 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 0.5 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 + MC Altitude Acceptance Radius Acceptance radius for multicopter altitude. @@ -3747,31 +3841,17 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 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 + Loiter Return to Land - Terminate + Land at current position RC Auto Recovery (CASA Outback Challenge rules) + Terminate Lockdown @@ -3780,109 +3860,87 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders modules/navigator - Warn only Disabled - Land immediately + Warn only Return to Land + Land immediately - - Force VTOL mode takeoff and land + + Weather-vane mode landings for missions - modules/navigator - - - Take-off altitude - This is the minimum altitude the system will take off to. - 0 - 80 - m - 1 - 0.5 - modules/navigator + modules/vtol_att_control - - 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 + + Weather-vane mode for loiter + + modules/vtol_att_control - - Persistent onboard mission storage - When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. + + Enable weather-vane mode takeoff for missions - modules/navigator + modules/vtol_att_control - - 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 + + + + Stabilize the mount (set to true for servo gimbal, false for passthrough). +Does not affect MAVLINK_ROI input + + drivers/vmount - - 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. + + Auxiliary channel to control pitch (in AUX input or manual mode) 0 - 10000 - m - 1 - 100 - modules/navigator + 5 + drivers/vmount + + Disable + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + - - 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 + + Auxiliary channel to control roll (in AUX input or manual mode) 0 - 1 - modules/navigator + 5 + drivers/vmount - First Order Hold - Zero Order Hold + Disable + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 - - Multirotor only. Yaw setpoint mode - The values are defined in the enum mission_altitude_mode + + Auxiliary channel to control yaw (in AUX input or manual mode) 0 - 3 - modules/navigator + 5 + drivers/vmount - Heading towards waypoint - Heading as set by waypoint - Heading away from home - Heading towards home - Heading towards ROI + Disable + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 - - Time in seconds we wait on reaching target heading at a waypoint if it is forced - If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default. - -1 - 20 - s - 1 - 1 - modules/navigator + + Mavlink Component ID of the mount + If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID. + drivers/vmount - - Max yaw error in degrees needed for waypoint heading acceptance - 0 - 90 - deg - 1 - 1 - modules/navigator + + Mavlink System ID of the mount + If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID. + drivers/vmount - - Mount input mode RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount. @@ -3891,11 +3949,11 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat true drivers/vmount - RC + DISABLED AUTO - MAVLINK_DO_MOUNT + RC MAVLINK_ROI - DISABLED + MAVLINK_DO_MOUNT @@ -3905,28 +3963,10 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 1 drivers/vmount - MAVLINK AUX + MAVLINK - - Mavlink System ID of the mount - If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID. - drivers/vmount - - - Mavlink Component ID of the mount - If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID. - drivers/vmount - - - Mixer value for selecting normal mode -if required by the gimbal (only in AUX output mode) - -1.0 - 1.0 - 3 - drivers/vmount - Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode) @@ -3935,52 +3975,33 @@ if required for the gimbal (only in AUX output mode) 3 drivers/vmount - - Auxiliary channel to control roll (in AUX input or manual mode) - 0 - 5 + + Mixer value for selecting normal mode +if required by the gimbal (only in AUX output mode) + -1.0 + 1.0 + 3 drivers/vmount - - AUX1 - Disable - AUX3 - AUX2 - AUX5 - AUX4 - - - Auxiliary channel to control pitch (in AUX input or manual mode) - 0 - 5 + + Offset for pitch channel output in degrees + -360.0 + 360.0 + 1 drivers/vmount - - AUX1 - Disable - AUX3 - AUX2 - AUX5 - AUX4 - - - Auxiliary channel to control yaw (in AUX input or manual mode) - 0 - 5 + + Offset for roll channel output in degrees + -360.0 + 360.0 + 1 drivers/vmount - - AUX1 - Disable - AUX3 - AUX2 - AUX5 - AUX4 - - - Stabilize the mount (set to true for servo gimbal, false for passthrough). -Does not affect MAVLINK_ROI input - + + Offset for yaw channel output in degrees + -360.0 + 360.0 + 1 drivers/vmount @@ -4004,108 +4025,93 @@ Does not affect MAVLINK_ROI input 1 drivers/vmount - - Offset for pitch channel output in degrees - -360.0 - 360.0 - 1 - drivers/vmount - - - Offset for roll channel output in degrees - -360.0 - 360.0 - 1 - drivers/vmount - - - 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. - 0.15 - 0.25 - s + + Acro Expo factor +applied to input of all axis: roll, pitch, yaw + 0 Purely linear input curve 1 Purely cubic input curve + 0 + 1 2 - 0.01 modules/mc_att_control - - Pitch time constant - Reduce if the system is too twitchy, increase if the response is too slow and sluggish. - 0.15 - 0.25 - s - 2 - 0.01 + + Max acro pitch rate +default: 2 turns per second + 0.0 + 1000.0 + deg/s + 1 + 5 modules/mc_att_control - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Max acro roll rate +default: 2 turns per second 0.0 - 8 - 1/s - 2 - 0.1 + 1000.0 + deg/s + 1 + 5 modules/mc_att_control - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - 0.5 - 3 - 0.01 + + Acro SuperExpo factor +applied to input of all axis: roll, pitch, yaw + 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect + 0 + 0.95 + 2 modules/mc_att_control - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Max acro yaw rate +default 1.5 turns per second 0.0 - 3 - 0.01 + 1000.0 + deg/s + 1 + 5 modules/mc_att_control - - Roll rate integrator limit - Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. - 0.0 - 2 - 0.01 + + Battery power level scaler + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + modules/mc_att_control - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + + 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 - 0.01 4 0.0005 modules/mc_att_control - - Roll rate feedforward + + Pitch rate feedforward Improves tracking performance. 0.0 4 modules/mc_att_control - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - 10 - 1/s - 2 - 0.1 + 3 + 0.01 + modules/mc_att_control + + + Max pitch rate + Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. + 0.0 + 1800.0 + deg/s + 1 + 5 modules/mc_att_control @@ -4117,94 +4123,64 @@ Does not affect MAVLINK_ROI input 0.01 modules/mc_att_control - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - 3 - 0.01 - modules/mc_att_control - - - Pitch rate integrator limit - Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. - 0.0 - 2 - 0.01 - modules/mc_att_control - - - 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 - 4 - 0.0005 - modules/mc_att_control - - - Pitch rate feedforward - Improves tracking performance. - 0.0 - 4 - modules/mc_att_control - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 5 + 10 1/s 2 0.1 modules/mc_att_control - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - 0.6 + + Pitch time constant + Reduce if the system is too twitchy, increase if the response is too slow and sluggish. + 0.15 + 0.25 + s 2 0.01 modules/mc_att_control - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Pitch rate integrator limit + Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. 0.0 2 0.01 modules/mc_att_control - - Yaw rate integrator limit - Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. + + Threshold for Rattitude mode + Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints 0.0 + 1.0 2 0.01 modules/mc_att_control - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + + 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 - 2 - 0.01 + 0.01 + 4 + 0.0005 modules/mc_att_control - - Yaw rate feedforward + + Roll rate feedforward Improves tracking performance. 0.0 4 - 0.01 modules/mc_att_control - - Yaw feed forward - Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - 1.0 - 2 + 3 0.01 modules/mc_att_control @@ -4218,101 +4194,46 @@ Does not affect MAVLINK_ROI input 5 modules/mc_att_control - - Max pitch rate - Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. - 0.0 - 1800.0 - deg/s - 1 - 5 - modules/mc_att_control - - - Max yaw rate - 0.0 - 1800.0 - deg/s - 1 - 5 - modules/mc_att_control - - - Max yaw rate in auto mode - 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 - 1 - 5 - modules/mc_att_control - - - Max acro roll rate -default: 2 turns per second - 0.0 - 1000.0 - deg/s - 1 - 5 - modules/mc_att_control - - - Max acro pitch rate -default: 2 turns per second + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - 1000.0 - deg/s - 1 - 5 + 0.5 + 3 + 0.01 modules/mc_att_control - - Max acro yaw rate -default 1.5 turns per second + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - 1000.0 - deg/s - 1 - 5 - modules/mc_att_control - - - Acro Expo factor -applied to input of all axis: roll, pitch, yaw - 0 Purely linear input curve 1 Purely cubic input curve - 0 - 1 + 8 + 1/s 2 + 0.1 modules/mc_att_control - - Acro SuperExpo factor -applied to input of all axis: roll, pitch, yaw - 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect - 0 - 0.95 + + Roll time constant + Reduce if the system is too twitchy, increase if the response is too slow and sluggish. + 0.15 + 0.25 + s 2 + 0.01 modules/mc_att_control - - Threshold for Rattitude mode - Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints + + Roll rate integrator limit + Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. 0.0 - 1.0 2 0.01 modules/mc_att_control - - Battery power level scaler - This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. - - modules/mc_att_control - - - TPA P Breakpoint - Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain + + TPA D Breakpoint + Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain 0.0 1.0 2 @@ -4328,18 +4249,18 @@ applied to input of all axis: roll, pitch, yaw 0.1 modules/mc_att_control - - TPA D Breakpoint - Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain + + TPA P Breakpoint + Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain 0.0 1.0 2 0.1 modules/mc_att_control - - TPA Rate P - Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) + + TPA Rate D + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) 0.0 1.0 2 @@ -4355,69 +4276,137 @@ applied to input of all axis: roll, pitch, yaw 0.05 modules/mc_att_control - - TPA Rate D - Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) + + TPA Rate P + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) 0.0 1.0 2 0.05 modules/mc_att_control - - Max manual roll + + 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 - 90.0 - deg - examples/mc_pos_control_multiplatform + 2 + 0.01 + modules/mc_att_control - - Max manual pitch + + Yaw rate feedforward + Improves tracking performance. 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 4 + 0.01 + modules/mc_att_control - - Max manual yaw rate + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - deg/s - examples/mc_pos_control_multiplatform + 2 + 0.01 + modules/mc_att_control - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Max yaw rate 0.0 - examples/mc_att_control_multiplatform + 1800.0 + deg/s + 1 + 5 + modules/mc_att_control - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + 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 + 0.6 + 2 + 0.01 + modules/mc_att_control - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Max yaw rate in auto mode + 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 + 1 + 5 + modules/mc_att_control + + + 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 + 2 + 0.01 + modules/mc_att_control + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 5 + 1/s + 2 + 0.1 + modules/mc_att_control + + + Yaw rate integrator limit + Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. + 0.0 + 2 + 0.01 + modules/mc_att_control + + + Max manual pitch + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Max manual roll 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Max manual yaw rate + 0.0 + deg/s + examples/mc_pos_control_multiplatform + + + Max acro pitch rate + 0.0 + 360.0 + deg/s examples/mc_att_control_multiplatform - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + + Max acro roll rate 0.0 + 360.0 + deg/s examples/mc_att_control_multiplatform - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Max acro yaw rate 0.0 - 1/s + deg/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. + + 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 @@ -4427,28 +4416,40 @@ applied to input of all axis: roll, pitch, yaw 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. + + 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 - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + 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 - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + 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 - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + 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 + + + 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 + + + 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 @@ -4458,11 +4459,10 @@ applied to input of all axis: roll, pitch, yaw 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. + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - 1.0 examples/mc_att_control_multiplatform @@ -4473,192 +4473,228 @@ applied to input of all axis: roll, pitch, yaw deg/s examples/mc_att_control_multiplatform - - Max acro roll rate + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - 360.0 - deg/s examples/mc_att_control_multiplatform - - Max acro pitch rate + + 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 - 360.0 - deg/s + 1.0 examples/mc_att_control_multiplatform - - Max acro yaw rate + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - deg/s + 1/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. - 0.05 - 1.0 - norm + + Maximum vertical acceleration in velocity controlled modes down + 2.0 + 15.0 + m/s/s 2 - 0.01 + 1 modules/mc_pos_control - - Hover thrust - 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. - 0.2 - 0.8 - norm + + Acceleration for auto and for manual + 2.0 + 15.0 + m/s/s 2 - 0.01 + 1 modules/mc_pos_control - - Maximum thrust in auto thrust control - 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. - 0.0 - 0.95 - norm + + Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode + 2.0 + 15.0 + m/s/s 2 - 0.01 + 1 modules/mc_pos_control - - Minimum manual thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - 0.0 - 1.0 - norm + + Maximum vertical acceleration in velocity controlled modes upward + 2.0 + 15.0 + m/s/s 2 - 0.01 + 1 modules/mc_pos_control - - Maximum manual thrust - 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. + + Altitude control mode, note mode 1 only tested with LPE + 0 + 1 + modules/mc_pos_control + + Altitude following + Terrain following + + + + Cruise speed when angle prev-current/current-next setpoint +is 90 degrees. It should be lower than MPC_XY_CRUISE + Applies only in AUTO modes (includes also RTL / hold / etc.) + 1.0 + m/s + 2 + 1 + modules/mc_pos_control + + + Slow horizontal manual deceleration for manual mode + 0.5 + 10.0 + m/s/s + 2 + 1 + modules/mc_pos_control + + + Deadzone of sticks where position hold is enabled 0.0 1.0 - norm 2 - 0.01 modules/mc_pos_control - - Proportional gain for vertical position error + + Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 - 1.5 + 3.0 + m/s 2 modules/mc_pos_control - - Proportional gain for vertical velocity error - 0.1 - 0.4 + + Maximum vertical velocity for which position hold is enabled (use 0 to disable check) + 0.0 + 3.0 + m/s 2 modules/mc_pos_control - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.01 - 0.1 - 3 - modules/mc_pos_control - - - Differential gain for vertical velocity error + + Maximum jerk in manual controlled mode for BRAKING to zero. +If this value is below MPC_JERK_MIN, the acceleration limit in xy and z +is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the +user demands brake (=zero stick input). +Otherwise the acceleration limit increases from current acceleration limit +towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.0 - 0.1 - 3 + 15.0 + m/s/s/s + 2 + 1 modules/mc_pos_control - - Maximum vertical ascent velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). + + Minimum jerk in manual controlled mode for BRAKING to zero 0.5 - 8.0 - m/s + 10.0 + m/s/s/s + 2 + 1 + modules/mc_pos_control + + + Altitude for 1. step of slow landing (descend) + Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2" + 0 + 122 + m 1 modules/mc_pos_control - - Maximum vertical descent velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). - 0.5 - 4.0 + + Altitude for 2. step of slow landing (landing) + Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1" + 0 + 122 + m + 1 + modules/mc_pos_control + + + Landing descend rate + 0.6 m/s + 1 modules/mc_pos_control - - Proportional gain for horizontal position error + + Maximum manual thrust + 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. 0.0 - 2.0 + 1.0 + norm 2 + 0.01 modules/mc_pos_control - - Proportional gain for horizontal velocity error - 0.06 - 0.15 + + Minimum manual thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + norm 2 + 0.01 modules/mc_pos_control - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. + + Maximal tilt angle in manual or altitude mode 0.0 - 0.1 - 3 - modules/mc_pos_control - - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.005 - 0.1 - 3 + 90.0 + deg + 1 modules/mc_pos_control - - Maximum horizontal velocity in mission - Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL). - 3.0 - 20.0 - m/s - 2 - 1 + + Max manual yaw rate + 0.0 + 400 + deg/s + 1 modules/mc_pos_control - - Cruise speed when angle prev-current/current-next setpoint -is 90 degrees. It should be lower than MPC_XY_CRUISE - Applies only in AUTO modes (includes also RTL / hold / etc.) - 1.0 - m/s + + Hover thrust + 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. + 0.2 + 0.8 + norm 2 - 1 + 0.01 modules/mc_pos_control - - Maximum horizontal velocity setpoint for manual controlled mode -If velocity setpoint larger than MPC_XY_VEL_MAX is set, then -the setpoint will be capped to MPC_XY_VEL_MAX - 3.0 - 20.0 - m/s + + Maximum thrust in auto thrust control + 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. + 0.0 + 0.95 + norm 2 - 1 + 0.01 modules/mc_pos_control - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity. - 0.0 - 20.0 - m/s + + Minimum thrust in auto thrust control + It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.05 + 1.0 + norm 2 - 1 + 0.01 modules/mc_pos_control @@ -4679,11 +4715,11 @@ the setpoint will be capped to MPC_XY_VEL_MAX 1 modules/mc_pos_control - - Landing descend rate - 0.6 - m/s - 1 + + Position control smooth takeoff ramp time constant + Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. + 0.1 + 1 modules/mc_pos_control @@ -4694,177 +4730,140 @@ the setpoint will be capped to MPC_XY_VEL_MAX 2 modules/mc_pos_control - - Maximal tilt angle in manual or altitude mode - 0.0 - 90.0 - deg - 1 - modules/mc_pos_control - - - Max manual yaw rate + + Low pass filter cut freq. for numerical velocity derivative 0.0 - 400 - deg/s - 1 + 10 + Hz + 2 modules/mc_pos_control - - Deadzone of sticks where position hold is enabled - 0.0 - 1.0 + + Maximum horizontal velocity setpoint for manual controlled mode +If velocity setpoint larger than MPC_XY_VEL_MAX is set, then +the setpoint will be capped to MPC_XY_VEL_MAX + 3.0 + 20.0 + m/s 2 + 1 modules/mc_pos_control - - Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) - 0.0 - 3.0 + + Maximum horizontal velocity in mission + Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL). + 3.0 + 20.0 m/s 2 + 1 modules/mc_pos_control - - Maximum vertical velocity for which position hold is enabled (use 0 to disable check) - 0.0 - 3.0 - m/s + + Manual control stick exponential curve sensitivity attenuation with small velocity setpoints + The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve + 0 + 1 2 modules/mc_pos_control - - Low pass filter cut freq. for numerical velocity derivative + + Proportional gain for horizontal position error 0.0 - 10 - Hz + 2.0 2 modules/mc_pos_control - - Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode - 2.0 - 15.0 - m/s/s - 2 - 1 + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.005 + 0.1 + 3 modules/mc_pos_control - - Acceleration for auto and for manual - 2.0 - 15.0 - m/s/s - 2 - 1 + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + 0.1 + 3 modules/mc_pos_control - - Slow horizontal manual deceleration for manual mode - 0.5 - 10.0 - m/s/s + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity. + 0.0 + 20.0 + m/s 2 1 modules/mc_pos_control - - Maximum vertical acceleration in velocity controlled modes upward - 2.0 - 15.0 - m/s/s + + Proportional gain for horizontal velocity error + 0.06 + 0.15 2 - 1 modules/mc_pos_control - - Maximum vertical acceleration in velocity controlled modes down - 2.0 - 15.0 - m/s/s + + Manual control stick vertical exponential curve + The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve + 0 + 1 2 - 1 modules/mc_pos_control - - Maximum jerk in manual controlled mode for BRAKING to zero. -If this value is below MPC_JERK_MIN, the acceleration limit in xy and z -is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the -user demands brake (=zero stick input). -Otherwise the acceleration limit increases from current acceleration limit -towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit + + Proportional gain for vertical position error 0.0 - 15.0 - m/s/s/s - 2 - 1 - modules/mc_pos_control - - - Minimum jerk in manual controlled mode for BRAKING to zero - 0.5 - 10.0 - m/s/s/s + 1.5 2 - 1 modules/mc_pos_control - - Altitude control mode, note mode 1 only tested with LPE - 0 - 1 - modules/mc_pos_control - - Terrain following - Altitude following - - - - Manual control stick exponential curve sensitivity attenuation with small velocity setpoints - The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve - 0 - 1 - 2 + + Differential gain for vertical velocity error + 0.0 + 0.1 + 3 modules/mc_pos_control - - Manual control stick vertical exponential curve - The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve - 0 - 1 - 2 + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.01 + 0.1 + 3 modules/mc_pos_control - - Altitude for 1. step of slow landing (descend) - Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2" - 0 - 122 - m - 1 + + Maximum vertical descent velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). + 0.5 + 4.0 + m/s modules/mc_pos_control - - Altitude for 2. step of slow landing (landing) - Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1" - 0 - 122 - m + + Maximum vertical ascent velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). + 0.5 + 8.0 + m/s 1 modules/mc_pos_control - - Position control smooth takeoff ramp time constant - Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. + + Proportional gain for vertical velocity error 0.1 - 1 + 0.4 + 2 modules/mc_pos_control - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + + Landing descend rate 0.0 - 1.0 + m/s examples/mc_pos_control_multiplatform @@ -4874,37 +4873,32 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 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. + + 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 - - Differential gain for vertical velocity error + + 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 vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + + Maximum tilt during landing + Limits maximum tilt angle on landing. 0.0 - m/s + 90.0 + deg 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. + + 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 @@ -4914,8 +4908,8 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.0 examples/mc_pos_control_multiplatform - - Proportional gain for horizontal velocity error + + 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 @@ -4925,11 +4919,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 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). @@ -4937,184 +4926,94 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 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. + + Proportional gain for horizontal velocity error + 0.0 + 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 - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. + + Proportional gain for vertical position error 0.0 - 90.0 - deg examples/mc_pos_control_multiplatform - - Maximum tilt during landing - Limits maximum tilt angle on landing. + + Differential gain for vertical velocity error 0.0 - 90.0 - deg examples/mc_pos_control_multiplatform - - Landing descend rate + + 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 + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 m/s examples/mc_pos_control_multiplatform + + Proportional gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform + - - Set the PWM output frequency for the main outputs - Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. - -1 - 2000 - Hz - true - modules/sensors + + Minimum motor rise time (slew rate limit) + Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. + 0.0 + s/(1000*PWM) + drivers/px4fmu - - Set the minimum PWM for the main outputs - Set to 1000 for industry default or 900 to increase servo travel. - 800 - 1400 + + Set the disarmed PWM for the AUX 1 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used + -1 + 2200 us true modules/sensors - - Set the maximum PWM for the main outputs - Set to 2000 for industry default or 2100 to increase servo travel. - 1600 + + Set the disarmed PWM for the AUX 2 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used + -1 2200 us true modules/sensors - - Set the disarmed PWM for the main outputs - This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. - 0 + + Set the disarmed PWM for the AUX 3 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used + -1 2200 us true modules/sensors - - Set the disarmed PWM for the main 1 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + + Set the disarmed PWM for the AUX 4 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used -1 2200 us true modules/sensors - - Set the disarmed PWM for the main 2 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 3 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 4 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 5 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 6 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 7 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the main 8 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the AUX 1 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the AUX 2 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the AUX 3 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the AUX 4 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used - -1 - 2200 - us - true - modules/sensors - - - Set the disarmed PWM for the AUX 5 output - This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used + + Set the disarmed PWM for the AUX 5 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used -1 2200 us @@ -5130,11 +5029,11 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit true modules/sensors - - Set the minimum PWM for the auxiliary outputs - Set to 1000 for default or 900 to increase servo travel - 800 - 1400 + + Set the disarmed PWM for auxiliary outputs + This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + 0 + 2200 us true modules/sensors @@ -5148,11 +5047,11 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit true modules/sensors - - Set the disarmed PWM for auxiliary outputs - This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. - 0 - 2200 + + Set the minimum PWM for the auxiliary outputs + Set to 1000 for default or 900 to increase servo travel + 800 + 1400 us true modules/sensors @@ -5247,19 +5146,86 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 2 drivers/px4fmu - - Thrust to PWM model parameter - Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 - 0.0 - 1.0 - drivers/px4fmu + + Set the disarmed PWM for the main outputs + This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + 0 + 2200 + us + true + modules/sensors - - Minimum motor rise time (slew rate limit) - Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. - 0.0 - s/(1000*PWM) - drivers/px4fmu + + Set the disarmed PWM for the main 1 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 2 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 3 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 4 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 5 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 6 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 7 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors + + + Set the disarmed PWM for the main 8 output + This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used + -1 + 2200 + us + true + modules/sensors Invert direction of main output channel 1 @@ -5381,12 +5347,46 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 2 drivers/px4io + + Set the maximum PWM for the main outputs + Set to 2000 for industry default or 2100 to increase servo travel. + 1600 + 2200 + us + true + modules/sensors + + + Set the minimum PWM for the main outputs + Set to 1000 for industry default or 900 to increase servo travel. + 800 + 1400 + us + true + modules/sensors + + + Set the PWM output frequency for the main outputs + Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. + -1 + 2000 + Hz + true + modules/sensors + S.BUS out Set to 1 to enable S.BUS version 1 output instead of RSSI. drivers/px4io + + Thrust to PWM model parameter + Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 + 0.0 + 1.0 + drivers/px4fmu + @@ -5396,27 +5396,11 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.1 examples/bottle_drop - - Plane turn radius - The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop. - 30.0 - 500.0 - m - examples/bottle_drop - - - Drop precision - If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy. - 1.0 - 80.0 - m - 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 + + 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 examples/bottle_drop @@ -5435,52 +5419,35 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit m^2 examples/bottle_drop - - - - Velocity estimate delay - The delay in milliseconds of the velocity estimate from GPS. - 0 - 1000 - ms - examples/ekf_att_pos_estimator - - - Position estimate delay - The delay in milliseconds of the position estimate from GPS. - 0 - 1000 - ms - examples/ekf_att_pos_estimator - - - Height estimate delay - The delay in milliseconds of the height estimate from the barometer. - 0 - 1000 - ms - examples/ekf_att_pos_estimator + + Drop precision + If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy. + 1.0 + 80.0 + m + examples/bottle_drop - - Mag estimate delay - The delay in milliseconds of the magnetic field estimate from the magnetometer. - 0 - 1000 - ms - examples/ekf_att_pos_estimator + + Plane turn radius + The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop. + 30.0 + 500.0 + m + examples/bottle_drop - - True airspeeed estimate delay - The delay in milliseconds of the airspeed estimate. - 0 - 1000 - ms + + + + Accelerometer bias estimate process noise + Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. + 0.00001 + 0.001 examples/ekf_att_pos_estimator - - GPS vs. barometric altitude update weight - RE-CHECK this. - 0.0 + + Accelerometer process noise + Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. + 0.05 1.0 examples/ekf_att_pos_estimator @@ -5491,38 +5458,17 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 5.0 examples/ekf_att_pos_estimator - - Velocity measurement noise in north-east (horizontal) direction - Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 - 0.05 - 5.0 - examples/ekf_att_pos_estimator - - - Velocity noise in down (vertical) direction - Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 - 0.2 - 3.0 - examples/ekf_att_pos_estimator - - - Position noise in north-east (horizontal) direction - Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 - 0.1 - 10.0 - examples/ekf_att_pos_estimator - - - Position noise in down (vertical) direction - Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 - 0.5 - 3.0 + + Gyro bias estimate process noise + Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. + 0.00000005 + 0.00001 examples/ekf_att_pos_estimator - - Magnetometer measurement noise - Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - 0.01 + + GPS vs. barometric altitude update weight + RE-CHECK this. + 0.0 1.0 examples/ekf_att_pos_estimator @@ -5533,32 +5479,12 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.05 examples/ekf_att_pos_estimator - - Accelerometer process noise - Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. - 0.05 - 1.0 - examples/ekf_att_pos_estimator - - - Gyro bias estimate process noise - Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. - 0.00000005 - 0.00001 - examples/ekf_att_pos_estimator - - - Accelerometer bias estimate process noise - Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. - 0.00001 - 0.001 - examples/ekf_att_pos_estimator - - - Magnetometer earth frame offsets process noise - Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. - 0.0001 - 0.01 + + Height estimate delay + The delay in milliseconds of the height estimate from the barometer. + 0 + 1000 + ms examples/ekf_att_pos_estimator @@ -5589,6 +5515,28 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.6 examples/ekf_att_pos_estimator + + Magnetometer earth frame offsets process noise + Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. + 0.0001 + 0.01 + examples/ekf_att_pos_estimator + + + Mag estimate delay + The delay in milliseconds of the magnetic field estimate from the magnetometer. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + + + Magnetometer measurement noise + Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 + 0.01 + 1.0 + examples/ekf_att_pos_estimator + Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. @@ -5596,104 +5544,99 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 10.0 examples/ekf_att_pos_estimator + + Position noise in down (vertical) direction + Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 + 0.5 + 3.0 + examples/ekf_att_pos_estimator + + + Position noise in north-east (horizontal) direction + Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 + 0.1 + 10.0 + examples/ekf_att_pos_estimator + + + Position estimate delay + The delay in milliseconds of the position estimate from GPS. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + + + True airspeeed estimate delay + The delay in milliseconds of the airspeed estimate. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + + + Velocity noise in down (vertical) direction + Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 + 0.2 + 3.0 + examples/ekf_att_pos_estimator + + + Velocity measurement noise in north-east (horizontal) direction + Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 + 0.05 + 5.0 + examples/ekf_att_pos_estimator + + + Velocity estimate delay + The delay in milliseconds of the velocity estimate from GPS. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + - - Z axis weight for barometer - Weight (cutoff frequency) for barometer altitude measurements. - 0.0 - 10.0 + + Disable vision input + Set to the appropriate key (328754) to disable vision input. + 0 + 328754 + true modules/position_estimator_inav - - Z axis weight for GPS - Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. + + GPS delay + GPS delay compensation 0.0 - 10.0 + 1.0 + s modules/position_estimator_inav - - Z velocity weight for GPS - Weight (cutoff frequency) for GPS altitude velocity measurements. - 0.0 - 10.0 + + Mo-cap + Set to 0 if using fake GPS modules/position_estimator_inav + + Mo-cap enabled + Mo-cap disabled + - - Z axis weight for vision - Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. - 0.0 - 10.0 - modules/position_estimator_inav - - - Z axis weight for lidar - Weight (cutoff frequency) for lidar measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for GPS position - Weight (cutoff frequency) for GPS position measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for GPS velocity - Weight (cutoff frequency) for GPS velocity measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for vision position - Weight (cutoff frequency) for vision position measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for vision velocity - Weight (cutoff frequency) for vision velocity measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - Weight for mocap system - Weight (cutoff frequency) for mocap position measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for optical flow - Weight (cutoff frequency) for optical flow (velocity) measurements. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight for resetting velocity - When velocity sources lost slowly decrease estimated horizontal velocity with this weight. - 0.0 - 10.0 - modules/position_estimator_inav - - - XY axis weight factor for GPS when optical flow available - When optical flow data available, multiply GPS weights (for position and velocity) by this factor. - 0.0 + + Flow module offset (center of rotation) in X direction + Yaw X flow compensation + -1.0 1.0 + m modules/position_estimator_inav - - Accelerometer bias estimation weight - Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. - 0.0 - 0.1 + + Flow module offset (center of rotation) in Y direction + Yaw Y flow compensation + -1.0 + 1.0 + m modules/position_estimator_inav @@ -5710,11 +5653,11 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1.0 modules/position_estimator_inav - - Sonar maximal error for new surface - If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). + + Land detector altitude dispersion threshold + Dispersion threshold for triggering land detector. 0.0 - 1.0 + 10.0 m modules/position_estimator_inav @@ -5726,14 +5669,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit s modules/position_estimator_inav - - Land detector altitude dispersion threshold - Dispersion threshold for triggering land detector. - 0.0 - 10.0 - m - modules/position_estimator_inav - Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. @@ -5741,39 +5676,14 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1.0 modules/position_estimator_inav - - GPS delay - GPS delay compensation + + Sonar maximal error for new surface + If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). 0.0 1.0 - s - modules/position_estimator_inav - - - Flow module offset (center of rotation) in X direction - Yaw X flow compensation - -1.0 - 1.0 m modules/position_estimator_inav - - Flow module offset (center of rotation) in Y direction - Yaw Y flow compensation - -1.0 - 1.0 - m - modules/position_estimator_inav - - - Mo-cap - Set to 0 if using fake GPS - modules/position_estimator_inav - - Mo-cap disabled - Mo-cap enabled - - LIDAR for altitude estimation @@ -5787,740 +5697,793 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit m modules/position_estimator_inav - - Disable vision input - Set to the appropriate key (328754) to disable vision input. - 0 - 328754 - true + + Accelerometer bias estimation weight + Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. + 0.0 + 0.1 modules/position_estimator_inav - - - - 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 - 800.0 - 1500.0 - us - modules/sensors - - - RC channel 1 trim - Mid point value (same as min for throttle) - 800.0 - 2200.0 - us - modules/sensors - - - RC channel 1 maximum - Maximum value for RC channel 1 - 1500.0 - 2200.0 - us - modules/sensors - - - RC channel 1 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 1 dead zone - The +- range of this value around the trim value will be considered as zero. + + XY axis weight factor for GPS when optical flow available + When optical flow data available, multiply GPS weights (for position and velocity) by this factor. 0.0 - 100.0 - us - modules/sensors - - - RC channel 2 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors - - - RC channel 2 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors - - - RC channel 2 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors - - - RC channel 2 reverse - Set to -1 to reverse channel. - -1.0 1.0 - modules/sensors + modules/position_estimator_inav - - RC channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. + + Weight for mocap system + Weight (cutoff frequency) for mocap position measurements. 0.0 - 100.0 - us - modules/sensors - - - RC channel 3 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors - - - RC channel 3 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors - - - RC channel 3 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors - - - RC channel 3 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors + 10.0 + modules/position_estimator_inav - - RC channel 3 dead zone - The +- range of this value around the trim value will be considered as zero. + + XY axis weight for optical flow + Weight (cutoff frequency) for optical flow (velocity) measurements. 0.0 - 100.0 - us - modules/sensors - - - RC channel 4 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors - - - RC channel 4 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors - - - RC channel 4 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors - - - RC channel 4 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors + 10.0 + modules/position_estimator_inav - - RC channel 4 dead zone - The +- range of this value around the trim value will be considered as zero. + + XY axis weight for GPS position + Weight (cutoff frequency) for GPS position measurements. 0.0 - 100.0 - us - modules/sensors + 10.0 + modules/position_estimator_inav - - RC channel 5 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors + + XY axis weight for GPS velocity + Weight (cutoff frequency) for GPS velocity measurements. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 5 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors + + XY axis weight for resetting velocity + When velocity sources lost slowly decrease estimated horizontal velocity with this weight. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 5 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors + + XY axis weight for vision position + Weight (cutoff frequency) for vision position measurements. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 5 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors + + XY axis weight for vision velocity + Weight (cutoff frequency) for vision velocity measurements. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 5 dead zone - The +- range of this value around the trim value will be considered as zero. + + Z axis weight for barometer + Weight (cutoff frequency) for barometer altitude measurements. 0.0 - 100.0 - modules/sensors + 10.0 + modules/position_estimator_inav - - RC channel 6 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors + + Z axis weight for GPS + Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 6 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors + + Z velocity weight for GPS + Weight (cutoff frequency) for GPS altitude velocity measurements. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 6 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors + + Z axis weight for lidar + Weight (cutoff frequency) for lidar measurements. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 6 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors + + Z axis weight for vision + Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. + 0.0 + 10.0 + modules/position_estimator_inav - - RC channel 6 dead zone + + + + RC channel 10 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors - - RC channel 7 minimum - Minimum value for this channel. - 800.0 - 1500.0 - us - modules/sensors - - - RC channel 7 trim - Mid point value (has to be set to the same as min for throttle channel). - 800.0 - 2200.0 - us - modules/sensors - - - RC channel 7 maximum - Maximum value for this channel. - 1500.0 - 2200.0 - us - modules/sensors - - - RC channel 7 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 7 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 + + RC channel 10 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us modules/sensors - - RC channel 8 minimum + + RC channel 10 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 8 trim + + RC channel 10 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 10 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 8 maximum + + RC channel 11 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 11 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 8 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 8 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - modules/sensors - - - RC channel 9 minimum + + RC channel 11 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 9 trim + + RC channel 11 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 11 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 9 maximum + + RC channel 12 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 12 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 9 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 9 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - modules/sensors - - - RC channel 10 minimum + + RC channel 12 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 10 trim + + RC channel 12 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 12 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 10 maximum + + RC channel 13 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 13 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 10 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 10 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - modules/sensors - - - RC channel 11 minimum + + RC channel 13 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 11 trim + + RC channel 13 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 13 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 11 maximum + + RC channel 14 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 14 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 11 reverse - Set to -1 to reverse channel. - -1.0 - 1.0 - modules/sensors - - - RC channel 11 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - modules/sensors - - - RC channel 12 minimum + + RC channel 14 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 12 trim + + RC channel 14 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 14 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 12 maximum + + RC channel 15 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 15 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 12 reverse + + RC channel 15 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 15 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 12 dead zone + + RC channel 15 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 16 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors - - RC channel 13 minimum + + RC channel 16 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 16 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 13 trim + + RC channel 16 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 16 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 13 maximum + + RC channel 17 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 17 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 13 reverse + + RC channel 17 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 17 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 13 dead zone + + RC channel 17 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 18 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors - - RC channel 14 minimum + + RC channel 18 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 18 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 14 trim + + RC channel 18 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 18 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 14 maximum - Maximum value for this channel. + + RC channel 1 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + us + modules/sensors + + + RC channel 1 maximum + Maximum value for RC channel 1 1500.0 2200.0 us modules/sensors - - RC channel 14 reverse + + RC channel 1 minimum + Minimum value for RC channel 1 + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 1 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 14 dead zone + + RC channel 1 trim + Mid point value (same as min for throttle) + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 2 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us modules/sensors - - RC channel 15 minimum + + RC channel 2 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 2 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 15 trim + + RC channel 2 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 2 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 15 maximum + + RC channel 3 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + us + modules/sensors + + + RC channel 3 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 15 reverse + + RC channel 3 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 3 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 15 dead zone + + RC channel 3 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 4 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + us modules/sensors - - RC channel 16 minimum + + RC channel 4 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 4 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 16 trim + + RC channel 4 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 4 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 16 maximum + + RC channel 5 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 5 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 16 reverse + + RC channel 5 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 5 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 16 dead zone + + RC channel 5 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 6 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors - - RC channel 17 minimum + + RC channel 6 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 6 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 17 trim + + RC channel 6 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 6 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 17 maximum + + RC channel 7 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 7 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 17 reverse + + RC channel 7 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 7 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 17 dead zone + + RC channel 7 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us + modules/sensors + + + RC channel 8 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors - - RC channel 18 minimum + + RC channel 8 maximum + Maximum value for this channel. + 1500.0 + 2200.0 + us + modules/sensors + + + RC channel 8 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors - - RC channel 18 trim + + RC channel 8 reverse + Set to -1 to reverse channel. + -1.0 + 1.0 + modules/sensors + + + RC channel 8 trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us modules/sensors - - RC channel 18 maximum + + RC channel 9 dead zone + The +- range of this value around the trim value will be considered as zero. + 0.0 + 100.0 + modules/sensors + + + RC channel 9 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors - - RC channel 18 reverse + + RC channel 9 minimum + Minimum value for this channel. + 800.0 + 1500.0 + us + modules/sensors + + + RC channel 9 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors - - RC channel 18 dead zone - The +- range of this value around the trim value will be considered as zero. - 0.0 - 100.0 - modules/sensors - - - Relay control of relay 1 mapped to the Spektrum receiver power supply - 0 - 1 + + RC channel 9 trim + Mid point value (has to be set to the same as min for throttle channel). + 800.0 + 2200.0 + us modules/sensors - - Relay controls DSM power - Disabled - RC channel count @@ -6529,395 +6492,399 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 18 modules/sensors - - RC mode switch threshold automatic distribution - This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use. - + + Failsafe channel PWM threshold + Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation. + 0 + 2200 + us modules/sensors - - Roll control channel mapping - The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned. + + Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle + Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. + 0.1 + Hz + modules/sensors + + + Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle + Has an influence on the cutoff frequency precision. + 1.0 + Hz + modules/sensors + + + AUX1 Passthrough RC channel + Default function: Camera pitch 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Pitch control channel mapping - The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned. + + AUX2 Passthrough RC channel + Default function: Camera roll 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Failsafe channel mapping - The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use + + AUX3 Passthrough RC channel + Default function: Camera azimuth / yaw 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Throttle control channel mapping - The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned. + + AUX4 Passthrough RC channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Yaw control channel mapping - The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned. + + AUX5 Passthrough RC channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - AUX1 Passthrough RC channel - Default function: Camera pitch + + Failsafe channel mapping + The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - AUX2 Passthrough RC channel - Default function: Camera roll + + PARAM1 tuning channel + Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate * 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - AUX3 Passthrough RC channel - Default function: Camera azimuth / yaw + + PARAM2 tuning channel + Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate * 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - AUX4 Passthrough RC channel + + PARAM3 tuning channel + Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate * 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - AUX5 Passthrough RC channel + + Pitch control channel mapping + The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned. 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - PARAM1 tuning channel - Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate * + + Roll control channel mapping + The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned. 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - PARAM2 tuning channel - Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate * + + Throttle control channel mapping + The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned. 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - PARAM3 tuning channel - Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate * + + Yaw control channel mapping + The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned. 0 18 modules/sensors - Channel 11 + Unassigned + Channel 1 + Channel 2 + Channel 3 + Channel 4 + Channel 5 + Channel 6 + Channel 7 + Channel 8 + Channel 9 Channel 10 - Channel 13 + Channel 11 Channel 12 - Channel 15 + Channel 13 Channel 14 - Channel 17 + Channel 15 Channel 16 + Channel 17 Channel 18 - Channel 1 - Unassigned - Channel 3 - Channel 2 - Channel 5 - Channel 4 - Channel 7 - Channel 6 - Channel 9 - Channel 8 - - Failsafe channel PWM threshold - Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation. + + Relay control of relay 1 mapped to the Spektrum receiver power supply 0 - 2200 - us - modules/sensors - - - Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle - Has an influence on the cutoff frequency precision. - 1.0 - Hz - modules/sensors - - - Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle - Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. - 0.1 - Hz + 1 modules/sensors + + Disabled + Relay controls DSM power + PWM input channel that provides RSSI @@ -6926,25 +6893,25 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 18 drivers/px4io - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 @@ -6961,6 +6928,39 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 2000 drivers/px4io + + RC mode switch threshold automatic distribution + This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use. + + modules/sensors + + + 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 + + + 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 + + + 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 + @@ -6974,141 +6974,223 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit - - Single channel flight mode selection - If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots. + + Threshold for selecting acro mode + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for the arm switch + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for selecting assist mode + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for selecting auto mode + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for the landing gear switch + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for the kill switch + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for selecting loiter mode + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Threshold for the manual switch + 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th + -1 + 1 + modules/sensors + + + Acro switch channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Mode switch channel mapping - This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned. + + Arm switch channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Return switch channel + + Flaps channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Rattitude switch channel + + Single channel flight mode selection + If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots. 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Position Control switch channel + + Landing gear switch channel 0 18 modules/sensors - Channel 11 + Unassigned + Channel 1 + Channel 2 + Channel 3 + Channel 4 + Channel 5 + Channel 6 + Channel 7 + Channel 8 + Channel 9 Channel 10 - Channel 13 + Channel 11 Channel 12 - Channel 15 + Channel 13 Channel 14 - Channel 17 + Channel 15 Channel 16 + Channel 17 Channel 18 - Channel 1 + + + + Kill switch channel + 0 + 18 + modules/sensors + Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 @@ -7117,52 +7199,80 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Acro switch channel + + Manual switch channel mapping 0 18 modules/sensors - Channel 11 + Unassigned + Channel 1 + Channel 2 + Channel 3 + Channel 4 + Channel 5 + Channel 6 + Channel 7 + Channel 8 + Channel 9 Channel 10 - Channel 13 + Channel 11 Channel 12 - Channel 15 + Channel 13 Channel 14 - Channel 17 + Channel 15 Channel 16 + Channel 17 Channel 18 - Channel 1 + + + + Mode switch channel mapping + This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned. + 0 + 18 + modules/sensors + Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 @@ -7171,160 +7281,106 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 - - - - Kill switch channel - 0 - 18 - modules/sensors - - Channel 11 + Channel 9 Channel 10 - Channel 13 + Channel 11 Channel 12 - Channel 15 + Channel 13 Channel 14 - Channel 17 + Channel 15 Channel 16 + Channel 17 Channel 18 - Channel 1 - Unassigned - Channel 3 - Channel 2 - Channel 5 - Channel 4 - Channel 7 - Channel 6 - Channel 9 - Channel 8 - - Arm switch channel + + Position Control switch channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 - - - - Flaps channel - 0 - 18 - modules/sensors - - Channel 11 + Channel 9 Channel 10 - Channel 13 + Channel 11 Channel 12 - Channel 15 + Channel 13 Channel 14 - Channel 17 + Channel 15 Channel 16 + Channel 17 Channel 18 - Channel 1 - Unassigned - Channel 3 - Channel 2 - Channel 5 - Channel 4 - Channel 7 - Channel 6 - Channel 9 - Channel 8 - - VTOL transition switch channel mapping + + Rattitude switch channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Landing gear switch channel + + Return switch channel 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 @@ -7333,63 +7389,63 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Manual switch channel mapping + + VTOL transition switch channel mapping 0 18 modules/sensors - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 Unassigned - Channel 3 + Channel 1 Channel 2 - Channel 5 + Channel 3 Channel 4 - Channel 7 + Channel 5 Channel 6 - Channel 9 + Channel 7 Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + Channel 17 + Channel 18 - - Threshold for selecting assist mode + + Threshold for selecting offboard mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors - - Threshold for selecting auto mode + + Threshold for selecting posctl mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 @@ -7402,13 +7458,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/sensors - - Threshold for selecting posctl mode - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - Threshold for selecting return to launch mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th @@ -7416,55 +7465,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/sensors - - Threshold for selecting loiter mode - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for selecting acro mode - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for selecting offboard mode - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for the kill switch - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for the arm switch - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for the VTOL transition switch - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - - - Threshold for the landing gear switch - 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th - -1 - 1 - modules/sensors - Threshold for the stabilize switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th @@ -7472,8 +7472,8 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/sensors - - Threshold for the manual switch + + Threshold for the VTOL transition switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 @@ -7481,16 +7481,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit - - RTL altitude - Altitude to fly back in RTL in meters - 0 - 150 - m - 1 - 0.5 - modules/navigator - RTL loiter altitude Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed. @@ -7521,57 +7511,39 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.5 modules/navigator - - - - Runway takeoff with landing gear - - lib/runway_takeoff - - - Specifies which heading should be held during runnway takeoff - 0: airframe heading, 1: heading towards takeoff waypoint + + RTL altitude + Altitude to fly back in RTL in meters 0 - 1 - lib/runway_takeoff - - Waypoint - Airframe - - - - Altitude AGL at which we have enough ground clearance to allow some roll. -Until RWTO_NAV_ALT is reached the plane is held level and only -rudder is used to keep the heading (see RWTO_HDG). This should be below -FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0 - 0.0 - 100.0 + 150 m 1 - 1 - lib/runway_takeoff - - - Max throttle during runway takeoff. -(Can be used to test taxi on runway) - 0.0 - 1.0 - norm - 2 - 0.01 - lib/runway_takeoff - - - Pitch setpoint during taxi / before takeoff airspeed is reached. -A taildragger with stearable wheel might need to pitch up -a little to keep it's wheel on the ground before airspeed -to takeoff is reached - 0.0 - 20.0 - deg - 1 0.5 + modules/navigator + + + + + Min. airspeed scaling factor for takeoff. +Pitch up will be commanded when the following airspeed is reached: +FW_AIRSPD_MIN * RWTO_AIRSPD_SCL + 0.0 + 2.0 + norm + 2 + 0.01 + lib/runway_takeoff + + + Specifies which heading should be held during runnway takeoff + 0: airframe heading, 1: heading towards takeoff waypoint + 0 + 1 lib/runway_takeoff + + Airframe + Waypoint + Max pitch during takeoff. @@ -7595,26 +7567,54 @@ navigation before we're on a safe height 0.5 lib/runway_takeoff - - Min. airspeed scaling factor for takeoff. -Pitch up will be commanded when the following airspeed is reached: -FW_AIRSPD_MIN * RWTO_AIRSPD_SCL + + Max throttle during runway takeoff. +(Can be used to test taxi on runway) 0.0 - 2.0 + 1.0 norm 2 0.01 lib/runway_takeoff + + Altitude AGL at which we have enough ground clearance to allow some roll. +Until RWTO_NAV_ALT is reached the plane is held level and only +rudder is used to keep the heading (see RWTO_HDG). This should be below +FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0 + 0.0 + 100.0 + m + 1 + 1 + lib/runway_takeoff + + + Pitch setpoint during taxi / before takeoff airspeed is reached. +A taildragger with stearable wheel might need to pitch up +a little to keep it's wheel on the ground before airspeed +to takeoff is reached + 0.0 + 20.0 + deg + 1 + 0.5 + lib/runway_takeoff + + + Runway takeoff with landing gear + + lib/runway_takeoff + - - Logging rate - A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). - -1 - 250 - Hz - modules/sdlog2 + + Maximum number of log directories to keep + If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. + 0 + 1000 + true + modules/logger Extended logging mode @@ -7623,9 +7623,9 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 1 modules/sdlog2 - Enable - Disable Command Line + Disable + Enable @@ -7634,28 +7634,6 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL modules/sdlog2 - - Give logging app higher thread priority to avoid data loss. -This is used for gathering replay logs for the ekf2 module - A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. - 0 - 3 - modules/sdlog2 - - Default priority - Low priority - Max priority - Medium priority - - - - UTC offset (unit: min) - the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets - -1000 - 1000 - min - modules/logger - Logging Mode Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). @@ -7664,11 +7642,25 @@ This is used for gathering replay logs for the ekf2 module true modules/logger - from boot until disarm when armed until disarm (default) + from boot until disarm from boot until shutdown + + Give logging app higher thread priority to avoid data loss. +This is used for gathering replay logs for the ekf2 module + A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. + 0 + 3 + modules/sdlog2 + + Low priority + Default priority + Medium priority + Max priority + + 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 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) @@ -7686,12 +7678,20 @@ This is used for gathering replay logs for the ekf2 module sensor comparison - - Maximum number of log directories to keep - If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. - 0 + + Logging rate + A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). + -1 + 250 + Hz + modules/sdlog2 + + + UTC offset (unit: min) + the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets + -1000 1000 - true + min modules/logger @@ -7702,10 +7702,6 @@ This is used for gathering replay logs for the ekf2 module - - Simulator UDP port - modules/simulator - Simulator Battery drain interval 1 @@ -7714,228 +7710,131 @@ This is used for gathering replay logs for the ekf2 module 1 modules/simulator + + Simulator UDP port + modules/simulator + - - Primary gyro ID + + Accelerometer 0 enabled + modules/sensors - + ID of the Accelerometer that the calibration is for modules/sensors - - Accelerometer 1 enabled - - 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 Accelerometer that the calibration is for - modules/sensors - - - Accelerometer 2 enabled - - 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 + + Accelerometer Z-axis offset modules/sensors - - Primary accel ID + + Accelerometer Z-axis scaling factor modules/sensors - - ID of Magnetometer the calibration is for + + Accelerometer 1 enabled + modules/sensors - - Mag 3 enabled - + + ID of the Accelerometer that the calibration is for modules/sensors - - Rotation of magnetometer 2 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 + + Accelerometer X-axis scaling factor modules/sensors - - Magnetometer Y-axis offset + + Accelerometer Y-axis offset modules/sensors - - Magnetometer Z-axis offset + + Accelerometer Y-axis scaling factor modules/sensors - - Magnetometer X-axis scaling factor + + Accelerometer Z-axis offset modules/sensors - - Magnetometer Y-axis scaling factor + + Accelerometer Z-axis scaling factor modules/sensors - - Magnetometer Z-axis scaling factor + + Accelerometer 2 enabled + modules/sensors - - Primary mag ID + + ID of the Accelerometer that the calibration is for modules/sensors - - ID of Magnetometer the calibration is for + + Accelerometer X-axis offset modules/sensors - - Mag 1 enabled - + + Accelerometer X-axis scaling factor modules/sensors - - Rotation of magnetometer 1 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 Y-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 + + Accelerometer Y-axis scaling factor modules/sensors - - Magnetometer Y-axis offset + + Accelerometer Z-axis offset modules/sensors - - Magnetometer Z-axis offset + + Accelerometer Z-axis scaling factor modules/sensors - - Magnetometer X-axis scaling factor + + Primary accel ID modules/sensors - - Magnetometer Y-axis scaling factor + + Airspeed sensor pitot model modules/sensors + + HB Pitot + - - Magnetometer Z-axis scaling factor + + Airspeed sensor tube length + 0.01 + 0.5 + meter modules/sensors - - ID of the Gyro that the calibration is for + + Primary baro ID modules/sensors @@ -7943,531 +7842,626 @@ This is used for gathering replay logs for the ekf2 module modules/sensors + + ID of the Gyro that the calibration is for + modules/sensors + Gyro X-axis offset modules/sensors + + Gyro X-axis scaling factor + modules/sensors + Gyro Y-axis offset modules/sensors + + Gyro Y-axis scaling factor + modules/sensors + Gyro Z-axis offset modules/sensors - + + Gyro Z-axis scaling factor + modules/sensors + + + Gyro 1 enabled + + modules/sensors + + + ID of the Gyro that the calibration is for + modules/sensors + + + Gyro X-axis offset + modules/sensors + + Gyro X-axis scaling factor modules/sensors - + + Gyro Y-axis offset + modules/sensors + + Gyro Y-axis scaling factor modules/sensors - + + Gyro Z-axis offset + modules/sensors + + Gyro Z-axis scaling factor modules/sensors - - ID of Magnetometer the calibration is for + + Gyro 2 enabled + modules/sensors - - Mag 2 enabled + + ID of the Gyro that the calibration is for + modules/sensors + + + Gyro X-axis offset + modules/sensors + + + Gyro X-axis scaling factor + modules/sensors + + + Gyro Y-axis offset + modules/sensors + + + Gyro Y-axis scaling factor + modules/sensors + + + Gyro Z-axis offset + modules/sensors + + + Gyro Z-axis scaling factor + modules/sensors + + + Primary gyro ID + modules/sensors + + + Mag 0 enabled modules/sensors - - Rotation of magnetometer 2 relative to airframe + + ID of Magnetometer 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 modules/sensors - Pitch 90° - Pitch 270° - Roll 270° - Roll 270°, Yaw 45° - Roll 270°, Yaw 90° - Roll 270°, Yaw 135° - Yaw 45° + Internal mag No rotation - Yaw 135° + Yaw 45° Yaw 90° - Yaw 225° + Yaw 135° Yaw 180° - Yaw 315° + Yaw 225° Yaw 270° - Roll 180°, Yaw 45° + Yaw 315° Roll 180° - Roll 180°, Yaw 135° + Roll 180°, Yaw 45° Roll 180°, Yaw 90° - Roll 180°, Yaw 225° + Roll 180°, Yaw 135° Pitch 180° - Roll 180°, Yaw 315° + Roll 180°, Yaw 225° Roll 180°, Yaw 270° - Roll 90°, Yaw 45° + Roll 180°, Yaw 315° Roll 90° - Roll 90°, Yaw 135° + Roll 90°, Yaw 45° Roll 90°, Yaw 90° - Internal mag - - - - Magnetometer X-axis offset - modules/sensors - - - Magnetometer Y-axis offset - modules/sensors - - - 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 - - - ID of the Gyro that the calibration is for - modules/sensors + Roll 90°, Yaw 135° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Pitch 90° + Pitch 270° + - - Gyro 1 enabled - + + Magnetometer X-axis offset modules/sensors - - Gyro X-axis offset + + Magnetometer X-axis scaling factor modules/sensors - - Gyro Y-axis offset + + Magnetometer Y-axis offset modules/sensors - - Gyro Z-axis offset + + Magnetometer Y-axis scaling factor modules/sensors - - Gyro X-axis scaling factor + + Magnetometer Z-axis offset modules/sensors - - Gyro Y-axis scaling factor + + Magnetometer Z-axis scaling factor modules/sensors - - Gyro Z-axis scaling factor + + Mag 1 enabled + modules/sensors - - Primary baro ID + + ID of Magnetometer the calibration is for modules/sensors - - Airspeed sensor pitot model + + Rotation of magnetometer 1 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 - HB Pitot + Internal mag + No rotation + Yaw 45° + Yaw 90° + Yaw 135° + Yaw 180° + Yaw 225° + Yaw 270° + Yaw 315° + Roll 180° + Roll 180°, Yaw 45° + Roll 180°, Yaw 90° + Roll 180°, Yaw 135° + Pitch 180° + Roll 180°, Yaw 225° + Roll 180°, Yaw 270° + Roll 180°, Yaw 315° + Roll 90° + Roll 90°, Yaw 45° + Roll 90°, Yaw 90° + Roll 90°, Yaw 135° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Pitch 90° + Pitch 270° - - Airspeed sensor tube length - 0.01 - 0.5 - meter - modules/sensors - - - Differential pressure sensor offset - The offset (zero-reading) in Pascal - 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. - modules/sensors - - - ID of the Gyro that the calibration is for + + Magnetometer X-axis offset modules/sensors - - Gyro 2 enabled - + + Magnetometer X-axis scaling factor modules/sensors - - Gyro X-axis offset + + Magnetometer Y-axis offset modules/sensors - - Gyro Y-axis offset + + Magnetometer Y-axis scaling factor modules/sensors - - Gyro Z-axis offset + + Magnetometer Z-axis offset modules/sensors - - Gyro X-axis scaling factor + + Magnetometer Z-axis scaling factor modules/sensors - - Gyro Y-axis scaling factor + + Mag 2 enabled + modules/sensors - - Gyro Z-axis scaling factor + + ID of Magnetometer the calibration is for modules/sensors - - ID of the Accelerometer that the calibration is for + + Rotation of magnetometer 2 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 + + Internal mag + No rotation + Yaw 45° + Yaw 90° + Yaw 135° + Yaw 180° + Yaw 225° + Yaw 270° + Yaw 315° + Roll 180° + Roll 180°, Yaw 45° + Roll 180°, Yaw 90° + Roll 180°, Yaw 135° + Pitch 180° + Roll 180°, Yaw 225° + Roll 180°, Yaw 270° + Roll 180°, Yaw 315° + Roll 90° + Roll 90°, Yaw 45° + Roll 90°, Yaw 90° + Roll 90°, Yaw 135° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Pitch 90° + Pitch 270° + - - Accelerometer 0 enabled - + + Magnetometer X-axis offset modules/sensors - - Accelerometer X-axis offset + + Magnetometer X-axis scaling factor modules/sensors - - Accelerometer Y-axis offset + + Magnetometer Y-axis offset modules/sensors - - Accelerometer Z-axis offset + + Magnetometer Y-axis scaling factor modules/sensors - - Accelerometer X-axis scaling factor + + Magnetometer Z-axis offset modules/sensors - - Accelerometer Y-axis scaling factor + + Magnetometer Z-axis scaling factor modules/sensors - - Accelerometer Z-axis scaling factor + + Mag 3 enabled + modules/sensors - + ID of Magnetometer the calibration is for modules/sensors - - Mag 0 enabled - - modules/sensors - - - Rotation of magnetometer 0 relative to airframe + + Rotation of magnetometer 2 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° + Internal mag No rotation - Yaw 135° + Yaw 45° Yaw 90° - Yaw 225° + Yaw 135° Yaw 180° - Yaw 315° + Yaw 225° Yaw 270° - Roll 180°, Yaw 45° + Yaw 315° Roll 180° - Roll 180°, Yaw 135° + Roll 180°, Yaw 45° Roll 180°, Yaw 90° - Roll 180°, Yaw 225° + Roll 180°, Yaw 135° Pitch 180° - Roll 180°, Yaw 315° + Roll 180°, Yaw 225° Roll 180°, Yaw 270° - Roll 90°, Yaw 45° + Roll 180°, Yaw 315° Roll 90° - Roll 90°, Yaw 135° + Roll 90°, Yaw 45° Roll 90°, Yaw 90° - Internal mag + Roll 90°, Yaw 135° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Pitch 90° + Pitch 270° - + Magnetometer X-axis offset modules/sensors - + + Magnetometer X-axis scaling factor + modules/sensors + + Magnetometer Y-axis offset modules/sensors - + + Magnetometer Y-axis scaling factor + modules/sensors + + Magnetometer Z-axis offset modules/sensors - - Magnetometer X-axis scaling factor + + Magnetometer Z-axis scaling factor + modules/sensors + + + Primary mag ID modules/sensors - - Magnetometer Y-axis scaling factor + + 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 - - Magnetometer Z-axis scaling factor + + Differential pressure sensor offset + The offset (zero-reading) in Pascal modules/sensors - - Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable - 0 - 1 - modules/sensors - - - ID of Gyro that the calibration is for + + ID of Accelerometer that the calibration is for modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - X axis + + Accelerometer scale factor - X axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Y axis + + Accelerometer scale factor - Y axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Z axis + + Accelerometer scale factor - Z axis modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - X axis + + Accelerometer calibration maximum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Y axis + + Accelerometer calibration minimum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Z axis + + Accelerometer calibration reference temperature modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - X axis + + Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Y axis + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Z axis + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - X axis + + Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Y axis + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Z axis + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Gyro scale factor - X axis + + Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Gyro scale factor - Y axis + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Gyro scale factor - Z axis + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Gyro calibration reference temperature + + Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Gyro calibration minimum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Gyro calibration maximum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - ID of Gyro that the calibration is for + + ID of Accelerometer that the calibration is for modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - X axis + + Accelerometer scale factor - X axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Y axis + + Accelerometer scale factor - Y axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Z axis + + Accelerometer scale factor - Z axis modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - X axis + + Accelerometer calibration maximum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Y axis + + Accelerometer calibration minimum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Z axis + + Accelerometer calibration reference temperature modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - X axis + + Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Y axis + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Z axis + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - X axis + + Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Y axis + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Z axis + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Gyro scale factor - X axis + + Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Gyro scale factor - Y axis + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Gyro scale factor - Z axis + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Gyro calibration reference temperature + + Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Gyro calibration minimum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Gyro calibration maximum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - ID of Gyro that the calibration is for + + ID of Accelerometer that the calibration is for modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - X axis + + Accelerometer scale factor - X axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Y axis + + Accelerometer scale factor - Y axis modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Z axis + + Accelerometer scale factor - Z axis modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - X axis + + Accelerometer calibration maximum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Y axis + + Accelerometer calibration minimum temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Z axis + + Accelerometer calibration reference temperature modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - X axis + + Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Y axis + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Z axis + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - X axis + + Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Y axis + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Z axis + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Gyro scale factor - X axis + + Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Gyro scale factor - Y axis + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Gyro scale factor - Z axis + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Gyro calibration reference temperature + + Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Gyro calibration minimum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Gyro calibration maximum temperature + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors @@ -8476,374 +8470,387 @@ This is used for gathering replay logs for the ekf2 module 1 modules/sensors - - ID of Accelerometer that the calibration is for + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - X axis + + Barometer scale factor - X axis + modules/sensors + + + Barometer calibration maximum temperature modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis + + Barometer calibration minimum temperature modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis + + Barometer calibration reference temperature modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - X axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - X axis + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis + + Barometer offset temperature ^4 polynomial coefficient 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 + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Barometer scale factor - X axis modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Barometer calibration maximum temperature modules/sensors - - Accelerometer scale factor - X axis + + Barometer calibration minimum temperature modules/sensors - - Accelerometer scale factor - Y axis + + Barometer calibration reference temperature modules/sensors - - Accelerometer scale factor - Z axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Accelerometer calibration reference temperature + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Accelerometer calibration minimum temperature + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Accelerometer calibration maximum temperature + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - ID of Accelerometer that the calibration is for + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - X axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis + + ID of Barometer that the calibration is for modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis + + Barometer scale factor - X axis modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - X axis + + Barometer calibration maximum temperature modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis + + Barometer calibration minimum temperature modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis + + Barometer calibration reference temperature modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - X axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis + + Barometer offset temperature ^1 polynomial coefficients 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 ^3 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Accelerometer scale factor - X axis + + Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + 0 + 1 modules/sensors - - Accelerometer scale factor - Y axis + + ID of Gyro that the calibration is for modules/sensors - - Accelerometer scale factor - Z axis + + Gyro scale factor - X axis modules/sensors - - Accelerometer calibration reference temperature + + Gyro scale factor - Y axis modules/sensors - - Accelerometer calibration minimum temperature + + Gyro scale factor - Z axis modules/sensors - - Accelerometer calibration maximum temperature + + Gyro calibration maximum temperature modules/sensors - - ID of Accelerometer that the calibration is for + + Gyro calibration minimum temperature modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - X axis + + Gyro calibration reference temperature modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis + + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - X axis + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis + + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - X axis + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - X axis + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Accelerometer scale factor - X axis + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Accelerometer scale factor - Y axis + + ID of Gyro that the calibration is for modules/sensors - - Accelerometer scale factor - Z axis + + Gyro scale factor - X axis modules/sensors - - Accelerometer calibration reference temperature + + Gyro scale factor - Y axis modules/sensors - - Accelerometer calibration minimum temperature + + Gyro scale factor - Z axis modules/sensors - - Accelerometer calibration maximum temperature + + Gyro calibration maximum temperature modules/sensors - - Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable - 0 - 1 + + Gyro calibration minimum temperature modules/sensors - - ID of Barometer that the calibration is for + + Gyro calibration reference temperature modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Barometer scale factor - X axis + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Barometer calibration reference temperature + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Barometer calibration maximum temperature + + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - - ID of Barometer that the calibration is for + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + ID of Gyro that the calibration is for modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro scale factor - X axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro scale factor - Y axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro scale factor - Z axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro calibration maximum temperature modules/sensors - - Barometer scale factor - X axis + + Gyro calibration minimum temperature modules/sensors - - Barometer calibration reference temperature + + Gyro calibration reference temperature modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Barometer calibration maximum temperature + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - ID of Barometer that the calibration is for + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Barometer scale factor - X axis + + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Barometer calibration reference temperature + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Barometer calibration maximum temperature + + Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable + 0 + 1 modules/sensors + + Threshold (of RMS) to warn about high vibration levels + 0.01 + 10 + 2 + 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 @@ -8852,10 +8859,28 @@ This is used for gathering replay logs for the ekf2 module modules/sensors Two side calibration - Six side calibration Three side calibration + Six side calibration + + 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 + + + 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 + QNH for barometer 500 @@ -8869,49 +8894,39 @@ This is used for gathering replay logs for the ekf2 module 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 45° Yaw 90° - Yaw 225° + Yaw 135° Yaw 180° - Yaw 315° + Yaw 225° Yaw 270° - Roll 180°, Yaw 45° + Yaw 315° Roll 180° - Roll 180°, Yaw 135° + Roll 180°, Yaw 45° Roll 180°, Yaw 90° - Roll 180°, Yaw 225° + Roll 180°, Yaw 135° Pitch 180° - Roll 180°, Yaw 315° + Roll 180°, Yaw 225° Roll 180°, Yaw 270° - Roll 90°, Yaw 45° + Roll 180°, Yaw 315° Roll 90° - Roll 90°, Yaw 135° + Roll 90°, Yaw 45° Roll 90°, Yaw 90° + Roll 90°, Yaw 135° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Pitch 90° + Pitch 270° - - 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 + + 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 - - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - Board rotation Y (Pitch) offset @@ -8919,25 +8934,12 @@ This is used for gathering replay logs for the ekf2 module deg 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 - 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 modules/sensors - - Threshold (of RMS) to warn about high vibration levels - 0.01 - 10 - 2 - modules/sensors - Lidar-Lite (LL40LS) 0 @@ -8945,43 +8947,30 @@ This is used for gathering replay logs for the ekf2 module true modules/sensors - PWM Disabled + PWM I2C - - Lightware laser rangefinder (serial) - 0 - 4 - true - modules/sensors - - SF02 - Disabled - SF10/b - SF10/a - SF11/c - SF10/c - - Maxbotix Soanr (mb12xx) true modules/sensors - - TeraRanger Rangefinder (i2c) + + Lightware laser rangefinder (serial) 0 - 3 + 4 true modules/sensors - Autodetect Disabled - TREvo - TROne + SF02 + SF10/a + SF10/b + SF10/c + SF11/c @@ -8991,39 +8980,50 @@ This is used for gathering replay logs for the ekf2 module true modules/sensors - SF10/a Disabled - SF10/c + SF10/a SF10/b - SF/LW20 + SF10/c SF11/c + SF/LW20 Thermal control of sensor temperature modules/sensors - Thermal control off Thermal control unavailable + Thermal control off - - 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 + + TeraRanger Rangefinder (i2c) + 0 + 3 true 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 + + Disabled + Autodetect + TROne + TREvo + + + + 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 + + No rotation + Yaw 45° + Yaw 90° + Yaw 135° + Yaw 180° + Yaw 225° + Yaw 270° + Yaw 315° + @@ -9038,6 +9038,14 @@ This is used for gathering replay logs for the ekf2 module + + Operating address of the NRF51 (most significant byte) + modules/syslink + + + Operating address of the NRF51 (least significant 4 bytes) + modules/syslink + Operating channel of the NRF51 0 @@ -9050,23 +9058,14 @@ This is used for gathering replay logs for the ekf2 module 2 modules/syslink - - Operating address of the NRF51 (most significant byte) - modules/syslink - - - Operating address of the NRF51 (least significant 4 bytes) - modules/syslink - - - Auto-start script index - CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. + + RGB Led brightness limit + Set to 0 to disable, 1 for minimum brightness up to 15 (max) 0 - 99999 - true - modules/systemlib + 15 + drivers/rgbled Automatically configure default values @@ -9075,40 +9074,57 @@ This is used for gathering replay logs for the ekf2 module 1 modules/systemlib - Reset parameters Keep parameters + Reset parameters - - Enable HITL mode on next boot - While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors. - + + Auto-start script index + CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. + 0 + 99999 true modules/systemlib - - Set restart type - Set by px4io to indicate type of restart + + Enable auto start of accelerometer thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) 0 - 2 + 1 modules/systemlib - - Data survives in-flight resets only - Data survives resets - Data does not survive reset - - - Set multicopter estimator group - Set the group of estimators used for multicopters and VTOLs - 1 - 2 - true + + Enable auto start of barometer thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + 0 + 1 + modules/systemlib + + + Enable auto start of rate gyro thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + 0 + 1 + modules/systemlib + + + Required temperature rise during thermal calibration + A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit. + 10 + deg C + modules/systemlib + + + Maximum starting temperature for thermal calibration + Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX. + deg C + modules/systemlib + + + Minimum starting temperature for thermal calibration + Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN. + deg C modules/systemlib - - local_position_estimator, attitude_estimator_q - ekf2 - TELEM2 as companion computer link @@ -9118,25 +9134,33 @@ This is used for gathering replay logs for the ekf2 module true modules/systemlib + Disabled FrSky Telemetry Crazyflie (Syslink) - Normal Telemetry (57600 baud, 8N1) - Command Receiver (57600 baud, 8N1) + Companion Link (57600 baud, 8N1) OSD (57600 baud, 8N1) - Iridium Telemetry (19200 baud, 8N1) - Normal Telemetry (38400 baud, 8N1) - Disabled + Command Receiver (57600 baud, 8N1) Normal Telemetry (19200 baud, 8N1) - ESP8266 (921600 baud, 8N1) - Companion Link (57600 baud, 8N1) + Normal Telemetry (38400 baud, 8N1) + Normal Telemetry (57600 baud, 8N1) + Iridium Telemetry (19200 baud, 8N1) Companion Link (921600 baud, 8N1) + ESP8266 (921600 baud, 8N1) Normal Telemetry (115200 baud, 8N1) - - Parameter version - This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration. - 0 + + Run the FMU as a task to reduce latency + If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. + + true + drivers/px4fmu + + + Enable HITL mode on next boot + While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors. + + true modules/systemlib @@ -9146,61 +9170,44 @@ This is used for gathering replay logs for the ekf2 module true modules/systemlib - logger (default) sdlog2 (legacy) + logger (default) - - Enable stack checking - - modules/systemlib - - - Enable auto start of rate gyro thermal calibration at the next power up - 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) - 0 - 1 + + Set multicopter estimator group + Set the group of estimators used for multicopters and VTOLs + 1 + 2 + true modules/systemlib + + local_position_estimator, attitude_estimator_q + ekf2 + - - Enable auto start of accelerometer thermal calibration at the next power up - 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + + Parameter version + This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration. 0 - 1 modules/systemlib - - Enable auto start of barometer thermal calibration at the next power up - 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + + Set restart type + Set by px4io to indicate type of restart 0 - 1 - modules/systemlib - - - Required temperature rise during thermal calibration - A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit. - 10 - deg C - modules/systemlib - - - Minimum starting temperature for thermal calibration - Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN. - deg C - modules/systemlib - - - Maximum starting temperature for thermal calibration - Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX. - deg C + 2 modules/systemlib + + Data survives resets + Data survives in-flight resets only + Data does not survive reset + - - Run the FMU as a task to reduce latency - If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. + + Enable stack checking - true - drivers/px4fmu + modules/systemlib Set usage of IO board @@ -9211,13 +9218,6 @@ This is used for gathering replay logs for the ekf2 module true drivers/px4io - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) - 0 - 15 - drivers/rgbled - @@ -9228,74 +9228,80 @@ This is used for gathering replay logs for the ekf2 module TEST_2 systemcmds/tests - - TEST_RC_X - systemcmds/tests - - - TEST_RC2_X - systemcmds/tests - - - TEST_PARAMS - systemcmds/tests - - - TEST_MIN + + TEST_D lib/controllib/controllib_test - - TEST_MAX + + TEST_DEV lib/controllib/controllib_test - - TEST_TRIM + + TEST_D_LP lib/controllib/controllib_test TEST_HP lib/controllib/controllib_test - - TEST_LP + + TEST_I lib/controllib/controllib_test - - TEST_P + + TEST_I_MAX lib/controllib/controllib_test - - TEST_I + + TEST_LP + lib/controllib/controllib_test + + + TEST_MAX lib/controllib/controllib_test - - TEST_I_MAX + + TEST_MEAN lib/controllib/controllib_test - - TEST_D + + TEST_MIN lib/controllib/controllib_test - - TEST_D_LP + + TEST_P lib/controllib/controllib_test - - TEST_MEAN - lib/controllib/controllib_test + + TEST_PARAMS + systemcmds/tests - - TEST_DEV + + TEST_RC2_X + systemcmds/tests + + + TEST_RC_X + systemcmds/tests + + + TEST_TRIM lib/controllib/controllib_test - + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcannode + + UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 - modules/uavcanesc + modules/uavcannode UAVCAN CAN bus bitrate @@ -9303,26 +9309,12 @@ This is used for gathering replay logs for the ekf2 module 1000000 modules/uavcanesc - - 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. - 0 - 3 - true - modules/uavcan - - Disabled - Sensors and Motors - Only Sensors - - - + UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 - true - modules/uavcan + modules/uavcanesc UAVCAN CAN bus bitrate @@ -9332,56 +9324,82 @@ This is used for gathering replay logs for the ekf2 module true modules/uavcan + + 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. + 0 + 3 + true + modules/uavcan + + Disabled + Only Sensors + Sensors and Motors + + UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints true modules/uavcan - + 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 + true + modules/uavcan - - Target throttle value for pusher/puller motor during the transition to fw mode + + Transition blending airspeed + Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable. + 0.00 + 30.00 + m/s + 2 + 1 + modules/vtol_att_control + + + Total airspeed estimate low-pass filter gain + Gain for tuning the low-pass filter for the total airspeed estimate 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 - 0.0 - 45.0 + + Transition airspeed + Airspeed at which we can switch to fw mode + 0.00 + 30.00 + m/s + 2 + 1 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. - 0.0 - 2.0 + + Approximate deceleration during back transition + The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. + 0.00 + 20.00 + m/s/s + 2 + 1 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 + + 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 + 10 + 2 + 1 modules/vtol_att_control @@ -9394,16 +9412,24 @@ Airbrakes need to be enables for your selected model/mixer 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 - 0 - 10 + + Duration of a back transition + Time in seconds used for a back transition + 0.00 + 20.00 + s 2 1 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 + 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 @@ -9414,112 +9440,93 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV 0.01 modules/vtol_att_control - - VTOL number of engines - 0 - 8 - 0 - 1 - modules/vtol_att_control - - - Idle speed of VTOL when in multicopter mode - 900 - 2000 - us - 0 - 1 + + 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 + 45.0 modules/vtol_att_control - - Minimum airspeed in multicopter mode - This is the minimum speed of the air flowing over the control surfaces. - 0.0 - 30.0 - m/s - 2 - 0.5 + + Lock elevons in multicopter mode + If set to 1 the elevons are locked in multicopter mode + modules/vtol_att_control - - Maximum airspeed in multicopter mode - This is the maximum speed of the air flowing over the control surfaces. + + 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 - 30.0 - m/s - 2 - 0.5 + 2.0 modules/vtol_att_control - - Trim airspeed when in multicopter mode - This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + + Adaptive QuadChute + Maximum negative altitude error, when in fixed wing the altitude drops below this copared to the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL 0.0 - 30.0 - m/s - 2 - 0.5 + 200.0 modules/vtol_att_control - - Permanent stabilization in fw mode - If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake. - + + Differential thrust in forwards flight + Set to 1 to enable differential thrust in fixed-wing flight. + 0 + 1 + 0 modules/vtol_att_control - - Fixed wing pitch trim - This parameter allows to adjust the neutral elevon position in fixed wing mode. - -1.0 + + Differential thrust scaling factor + This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. + 0.0 1.0 2 - 0.01 + 0.1 modules/vtol_att_control - - Motor max power - Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map. - 1 - 10000 - W - 0 - 1 + + QuadChute Altitude + Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL + 0.0 + 200.0 modules/vtol_att_control - - Propeller efficiency parameter - Influences propeller efficiency at different power settings. Should be tuned beforehand. - 0.0 - 1.0 - 3 - 0.01 + + The channel number of motors that must be turned off in fixed wing mode + 0 + 12345678 + 0 + 1 modules/vtol_att_control - - Total airspeed estimate low-pass filter gain - Gain for tuning the low-pass filter for the total airspeed estimate - 0.0 + + Permanent stabilization in fw mode + If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake. + + modules/vtol_att_control + + + Fixed wing pitch trim + This parameter allows to adjust the neutral elevon position in fixed wing mode. + -1.0 1.0 - 3 + 2 0.01 modules/vtol_att_control - - VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) + + QuadChute Max Pitch + Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL 0 - 2 - 0 + 180 modules/vtol_att_control - - Tiltrotor - Tailsitter - Standard - - - Lock elevons in multicopter mode - If set to 1 the elevons are locked in multicopter mode - + + QuadChute Max Roll + Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL + 0 + 180 modules/vtol_att_control @@ -9532,43 +9539,58 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV 1 modules/vtol_att_control - - Duration of a back transition - Time in seconds used for a back transition - 0.00 - 20.00 - s - 2 + + Airspeed less front transition time (open loop) + The duration of the front transition when there is no airspeed feedback available. + 1.0 + 30.0 + seconds + modules/vtol_att_control + + + Idle speed of VTOL when in multicopter mode + 900 + 2000 + us + 0 1 modules/vtol_att_control - - Approximate deceleration during back transition - The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. - 0.00 - 20.00 - m/s/s + + Maximum airspeed in multicopter mode + This is the maximum speed of the air flowing over the control surfaces. + 0.0 + 30.0 + m/s 2 - 1 + 0.5 modules/vtol_att_control - - Transition blending airspeed - Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable. - 0.00 - 30.00 + + Minimum airspeed in multicopter mode + This is the minimum speed of the air flowing over the control surfaces. + 0.0 + 30.0 m/s 2 - 1 + 0.5 modules/vtol_att_control - - Transition airspeed - Airspeed at which we can switch to fw mode - 0.00 - 30.00 + + Trim airspeed when in multicopter mode + This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + 0.0 + 30.0 m/s 2 + 0.5 + modules/vtol_att_control + + + VTOL number of engines + 0 + 8 + 0 1 modules/vtol_att_control @@ -9577,63 +9599,27 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV modules/vtol_att_control - - Front transition timeout - Time in seconds after which transition will be cancelled. Disabled if set to 0. - 0.00 - 30.00 - s - 2 + + Motor max power + Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map. + 1 + 10000 + W + 0 1 modules/vtol_att_control - - Front transition minimum time - Minimum time in seconds for front transition. - 0.0 - 10.0 - s - modules/vtol_att_control - - - QuadChute Altitude - Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL - 0.0 - 200.0 - modules/vtol_att_control - - - Adaptive QuadChute - Maximum negative altitude error, when in fixed wing the altitude drops below this copared to the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL + + Propeller efficiency parameter + Influences propeller efficiency at different power settings. Should be tuned beforehand. 0.0 - 200.0 - modules/vtol_att_control - - - QuadChute Max Pitch - Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL - 0 - 180 - modules/vtol_att_control - - - QuadChute Max Roll - Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL - 0 - 180 - modules/vtol_att_control - - - Airspeed less front transition time (open loop) - The duration of the front transition when there is no airspeed feedback available. - 1.0 - 30.0 - seconds + 1.0 + 3 + 0.01 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. + + Position of tilt servo in fw mode 0.0 1.0 3 @@ -9656,12 +9642,12 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV 0.01 modules/vtol_att_control - - Position of tilt servo in fw mode + + Front transition minimum time + Minimum time in seconds for front transition. 0.0 - 1.0 - 3 - 0.01 + 10.0 + s modules/vtol_att_control @@ -9674,39 +9660,65 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV 0.01 modules/vtol_att_control - - The channel number of motors that must be turned off in fixed wing mode - 0 - 12345678 - 0 + + Target throttle value for pusher/puller motor during the transition to fw mode + 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. + 0.00 + 30.00 + s + 2 1 modules/vtol_att_control - - Differential thrust in forwards flight - Set to 1 to enable differential thrust in fixed-wing flight. + + VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) 0 - 1 + 2 0 modules/vtol_att_control + + Tailsitter + Tiltrotor + Standard + - - Differential thrust scaling factor - This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. + + 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 - 2 - 0.1 + 3 + 0.01 modules/vtol_att_control + + EXFW_HDNG_P + examples/fixedwing_control + + + EXFW_PITCH_P + examples/fixedwing_control + + + EXFW_ROLL_P + examples/fixedwing_control + RV_YAW_P examples/rover_steering_control - - SEG_TH2V_P + + SEG_Q2V examples/segway @@ -9717,21 +9729,9 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV SEG_TH2V_I_MAX examples/segway - - SEG_Q2V + + SEG_TH2V_P examples/segway - - EXFW_HDNG_P - examples/fixedwing_control - - - EXFW_ROLL_P - examples/fixedwing_control - - - EXFW_PITCH_P - examples/fixedwing_control -