diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index fd6250afcafa6aea84d54d0ec29080f61b72e89d..ee2ce2d42119e8d02085013f38e1b542f4407648 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -142,7 +142,6 @@
Acceleration compensation based on GPS
velocity
- modules/attitude_estimator_q
Gyro bias limit
@@ -150,7 +149,6 @@ velocity
2
rad/s
3
- modules/attitude_estimator_q
External heading usage mode (from Motion capture/Vision)
@@ -158,7 +156,6 @@ Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture
0
2
- modules/attitude_estimator_q
None
Vision
@@ -170,32 +167,27 @@ Set to 2 to use heading from motion capture
This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.
deg
2
- modules/attitude_estimator_q
Automatic GPS based declination compensation
- modules/attitude_estimator_q
Complimentary filter accelerometer weight
0
1
2
- modules/attitude_estimator_q
Complimentary filter external heading weight
0
1
- modules/attitude_estimator_q
Complimentary filter gyroscope bias weight
0
1
2
- modules/attitude_estimator_q
Complimentary filter magnetometer weight
@@ -203,20 +195,17 @@ Set to 2 to use heading from motion capture
0
1
2
- modules/attitude_estimator_q
Battery ADC Channel
This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
- 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.
8
- modules/sensors
Battery capacity
@@ -227,19 +216,16 @@ Set to 2 to use heading from motion capture
0
50
true
- lib/battery
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
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
Critical threshold
@@ -250,7 +236,6 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
Emergency threshold
@@ -261,7 +246,6 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
Low threshold
@@ -272,14 +256,12 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
Number of cells
Defines the number of cells the attached battery consists of.
S
true
- lib/battery
Unconfigured
2S Battery
@@ -306,14 +288,12 @@ Set to 2 to use heading from motion capture
0.2
Ohms
true
- lib/battery
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
@@ -326,13 +306,11 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
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)
@@ -341,7 +319,6 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
Voltage drop per cell on full throttle
@@ -352,13 +329,11 @@ Set to 2 to use heading from motion capture
2
0.01
true
- lib/battery
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
@@ -367,7 +342,6 @@ Set to 2 to use heading from motion capture
Sets the camera feedback mode.
0
1
- modules/camera_feedback
Disabled
Feedback on trigger
@@ -382,7 +356,6 @@ Set to 2 to use heading from motion capture
3000
ms
1
- drivers/camera_trigger
Camera trigger distance
@@ -391,13 +364,11 @@ Set to 2 to use heading from motion capture
m
1
1
- drivers/camera_trigger
Camera trigger Interface
Selects the trigger interface
true
- drivers/camera_trigger
GPIO
Seagull MAP2 (over PWM)
@@ -412,14 +383,12 @@ Set to 2 to use heading from motion capture
10000.0
ms
1
- drivers/camera_trigger
Camera trigger mode
0
4
true
- drivers/camera_trigger
Disable
Time based, on command
@@ -435,14 +404,12 @@ Set to 2 to use heading from motion capture
123456
0
true
- 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 low
Active high
@@ -456,7 +423,6 @@ Set to 2 to use heading from motion capture
0
162128
true
- lib/circuit_breaker
Circuit breaker for disabling buzzer
@@ -464,7 +430,6 @@ Set to 2 to use heading from motion capture
0
782097
true
- lib/circuit_breaker
Circuit breaker for engine failure detection
@@ -472,7 +437,6 @@ Set to 2 to use heading from motion capture
0
284953
true
- lib/circuit_breaker
Circuit breaker for flight termination
@@ -480,7 +444,6 @@ Set to 2 to use heading from motion capture
0
121212
true
- lib/circuit_breaker
Circuit breaker for GPS failure detection
@@ -488,7 +451,6 @@ Set to 2 to use heading from motion capture
0
240024
true
- lib/circuit_breaker
Circuit breaker for IO safety
@@ -496,7 +458,6 @@ Set to 2 to use heading from motion capture
0
22027
true
- lib/circuit_breaker
Circuit breaker for rate controller output
@@ -504,7 +465,6 @@ Set to 2 to use heading from motion capture
0
140253
true
- lib/circuit_breaker
Circuit breaker for power supply check
@@ -512,7 +472,6 @@ Set to 2 to use heading from motion capture
0
894281
true
- lib/circuit_breaker
Circuit breaker for USB link check
@@ -520,7 +479,6 @@ Set to 2 to use heading from motion capture
0
197848
true
- lib/circuit_breaker
Circuit breaker for position error check
@@ -528,7 +486,6 @@ Set to 2 to use heading from motion capture
0
201607
true
- lib/circuit_breaker
@@ -541,7 +498,6 @@ Set to 2 to use heading from motion capture
- 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
Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
@@ -551,7 +507,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m/s
4
0.0001
- modules/commander
Maximum value of EKF gyro delta angle bias estimate that will allow arming
@@ -560,7 +515,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
rad
5
0.0001
- modules/commander
Maximum EKF height innovation test ratio that will allow arming
@@ -569,7 +523,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m
2
0.05
- modules/commander
Maximum EKF position innovation test ratio that will allow arming
@@ -578,7 +531,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m
2
0.05
- modules/commander
Maximum EKF velocity innovation test ratio that will allow arming
@@ -587,7 +539,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m/s
2
0.05
- modules/commander
Maximum EKF yaw innovation test ratio that will allow arming
@@ -596,7 +547,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
rad
2
0.05
- modules/commander
Maximum accelerometer inconsistency between IMU units that will allow arming
@@ -605,7 +555,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m/s/s
2
0.05
- modules/commander
Maximum rate gyro inconsistency between IMU units that will allow arming
@@ -614,7 +563,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
rad/s
3
0.01
- modules/commander
Maximum magnetic field inconsistency between units that will allow arming
@@ -623,20 +571,17 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Gauss
2
0.05
- modules/commander
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
1
- modules/commander
Arm switch is a switch that stays on when armed
Arm switch is a button that only triggers arming and disarming
@@ -646,7 +591,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Allow arming without GPS
The default allows to arm the vehicle without GPS signal.
- modules/commander
Time-out for auto disarm after landing
@@ -655,7 +599,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
20
s
2
- modules/commander
Datalink loss time threshold
@@ -665,7 +608,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
s
1
0.5
- modules/commander
Datalink regain time threshold
@@ -675,7 +617,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
s
1
0.5
- modules/commander
Engine Failure Current/Throttle Threshold
@@ -685,7 +626,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
A/%
2
1
- modules/commander
Engine Failure Throttle Threshold
@@ -695,7 +635,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
norm
2
0.01
- modules/commander
Engine Failure Time Threshold
@@ -705,18 +644,15 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
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
Unassigned
Manual
@@ -737,7 +673,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Second flightmode slot (1160-1320)
If the main switch channel is in this range the selected flight mode will be applied.
- modules/commander
Unassigned
Manual
@@ -758,7 +693,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Third flightmode slot (1320-1480)
If the main switch channel is in this range the selected flight mode will be applied.
- modules/commander
Unassigned
Manual
@@ -779,7 +713,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Fourth flightmode slot (1480-1640)
If the main switch channel is in this range the selected flight mode will be applied.
- modules/commander
Unassigned
Manual
@@ -800,7 +733,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Fifth flightmode slot (1640-1800)
If the main switch channel is in this range the selected flight mode will be applied.
- modules/commander
Unassigned
Manual
@@ -821,7 +753,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
Sixth flightmode slot (1800-2000)
If the main switch channel is in this range the selected flight mode will be applied.
- modules/commander
Unassigned
Manual
@@ -845,7 +776,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
60
3600
s
- modules/commander
High Latency Datalink regain time threshold
@@ -853,7 +783,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
0
60
s
- modules/commander
Home set horizontal threshold
@@ -863,7 +792,6 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m
2
0.5
- modules/commander
Home set vertical threshold
@@ -873,14 +801,12 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
m
2
0.5
- modules/commander
Battery failsafe mode
Action the system takes on low battery. Defaults to off
0
1
- modules/commander
Warning
Return mode
@@ -895,7 +821,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
60
s
1
- modules/commander
Loss of position failsafe activation delay
@@ -904,25 +829,21 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
100
sec
true
- modules/commander
Horizontal position error threshold
This is the horizontal position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
- modules/commander
Vertical position error threshold
This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
- 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
@@ -931,21 +852,18 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
100
sec
true
- modules/commander
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
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
@@ -960,12 +878,10 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
s
1
0.1
- modules/commander
Enable RC stick override of auto modes
- modules/commander
RC stick override threshold
@@ -975,13 +891,11 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
%
0
0.05
- modules/commander
Horizontal velocity error threshold
This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m/s
- modules/commander
@@ -992,7 +906,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
m
1
0.5
- modules/navigator
Airfield home Lat
@@ -1000,7 +913,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
-900000000
900000000
deg * 1e7
- modules/navigator
Airfield home Lon
@@ -1008,7 +920,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
-1800000000
1800000000
deg * 1e7
- modules/navigator
Airfield home wait time
@@ -1018,13 +929,11 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
s
0
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
@@ -1034,7 +943,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
m
1
0.5
- modules/navigator
Comms hold Lat
@@ -1042,7 +950,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
-900000000
900000000
deg * 1e7
- modules/navigator
Comms hold Lon
@@ -1050,7 +957,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
-1800000000
1800000000
deg * 1e7
- modules/navigator
Comms hold wait time
@@ -1060,14 +966,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
s
0
1
- modules/navigator
Number of allowed Datalink timeouts
After more than this number of data link timeouts the aircraft returns home directly
0
1000
- modules/navigator
@@ -1078,7 +982,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
m/s/s
2
true
- modules/ekf2
Maximum IMU accel magnitude that allows IMU bias learning.
@@ -1088,7 +991,6 @@ This reduces the adverse effect of high manoeuvre accelerations and IMU nonliner
200.0
m/s/s
1
- modules/ekf2
Maximum IMU gyro angular rate magnitude that allows IMU bias learning.
@@ -1098,7 +1000,6 @@ This reduces the adverse effect of rapid rotation rates and associated errors on
20.0
rad/s
1
- modules/ekf2
Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value
@@ -1106,7 +1007,6 @@ This reduces the adverse effect of rapid rotation rates and associated errors on
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.
@@ -1116,7 +1016,6 @@ This parameter controls the time constant of the decay
1.0
s
2
- modules/ekf2
Process noise for IMU accelerometer bias prediction
@@ -1124,7 +1023,6 @@ This parameter controls the time constant of the decay
0.01
m/s**3
6
- modules/ekf2
Accelerometer noise for covariance prediction
@@ -1132,7 +1030,6 @@ This parameter controls the time constant of the decay
1.0
m/s/s
2
- modules/ekf2
Integer bitmask controlling data fusion and aiding methods
@@ -1140,7 +1037,6 @@ This parameter controls the time constant of the decay
0
127
true
- modules/ekf2
use GPS
use optical flow
@@ -1158,7 +1054,6 @@ This parameter controls the time constant of the decay
rad
3
true
- modules/ekf2
Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
@@ -1168,7 +1063,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
0.0
m/s
1
- modules/ekf2
Upper limit on airspeed along individual axes used to correct baro for position error effects
@@ -1176,7 +1070,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
50.0
m/s
1
- modules/ekf2
Airspeed measurement delay relative to IMU measurements
@@ -1185,7 +1078,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
ms
1
true
- modules/ekf2
Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements
@@ -1194,7 +1086,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
ms
1
true
- modules/ekf2
Barometer measurement delay relative to IMU measurements
@@ -1203,7 +1094,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
ms
1
true
- modules/ekf2
Gate size for barometric and GPS height fusion
@@ -1211,7 +1101,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
1.0
SD
1
- modules/ekf2
Measurement noise for barometric altitude
@@ -1219,7 +1108,6 @@ Use EKF2_FUSE_BETA to activate sideslip fusion
15.0
m
2
- modules/ekf2
X-axis ballistic coefficient used by the multi-rotor specific drag force model.
@@ -1228,7 +1116,6 @@ This should be adjusted to minimise variance of the X-axis drag specific force i
100.0
kg/m**2
1
- modules/ekf2
Y-axis ballistic coefficient used by the multi-rotor specific drag force model.
@@ -1237,7 +1124,6 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
100.0
kg/m**2
1
- modules/ekf2
Gate size for synthetic sideslip fusion
@@ -1245,7 +1131,6 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
1.0
SD
1
- modules/ekf2
Noise for synthetic sideslip fusion
@@ -1253,7 +1138,6 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
1.0
m/s
2
- modules/ekf2
Integer bitmask controlling handling of magnetic declination
@@ -1261,7 +1145,6 @@ This should be adjusted to minimise variance of the Y-axis drag specific force i
0
7
true
- modules/ekf2
use geo_lookup declination
save EKF2_MAG_DECL on disarm
@@ -1275,7 +1158,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly10.0
(m/sec**2)**2
2
- modules/ekf2
Measurement noise for airspeed fusion
@@ -1283,21 +1165,18 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly5.0
m/s
1
- modules/ekf2
Measurement noise for vision angle observations used when the vision system does not supply error estimates
0.01
rad
2
- modules/ekf2
Measurement noise for vision position observations used when the vision system does not supply error estimates
0.01
m
2
- modules/ekf2
Vision Position Estimator delay relative to IMU measurements
@@ -1306,7 +1185,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowlyms
1
true
- modules/ekf2
Gate size for vision estimate fusion
@@ -1314,31 +1192,26 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly1.0
SD
1
- 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
- modules/ekf2
Z position of VI sensor focal point in body frame
m
3
- modules/ekf2
Boolean determining if synthetic sideslip measurements should fused
A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.
- modules/ekf2
1-sigma IMU gyro switch-on bias
@@ -1347,14 +1220,12 @@ Increasing it makes the multi-rotor wind estimates adjust more slowlyrad/sec
2
true
- 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 will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 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)
@@ -1374,14 +1245,12 @@ Increasing it makes the multi-rotor wind estimates adjust more slowlyms
1
true
- modules/ekf2
Multi GPS Blending Control Mask
Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy
0
7
- modules/ekf2
use speed accuracy
use hpos accuracy
@@ -1392,19 +1261,16 @@ Increasing it makes the multi-rotor wind estimates adjust more slowlyX position of GPS antenna in body frame
m
3
- modules/ekf2
Y position of GPS antenna in body frame
m
3
- modules/ekf2
Z position of GPS antenna in body frame
m
3
- modules/ekf2
Gate size for GPS horizontal position fusion
@@ -1412,7 +1278,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly1.0
SD
1
- modules/ekf2
Measurement noise for gps position
@@ -1420,7 +1285,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly10.0
m
2
- modules/ekf2
Multi GPS Blending Time Constant
@@ -1429,7 +1293,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly100.0
s
1
- modules/ekf2
Gate size for GPS velocity fusion
@@ -1437,7 +1300,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly1.0
SD
1
- modules/ekf2
Measurement noise for gps horizontal velocity
@@ -1445,7 +1307,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly5.0
m/s
2
- modules/ekf2
Process noise for IMU rate gyro bias prediction
@@ -1453,7 +1314,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly0.01
rad/s**2
6
- modules/ekf2
Rate gyro noise for covariance prediction
@@ -1461,7 +1321,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly0.1
rad/s
4
- modules/ekf2
Gate size for magnetic heading fusion
@@ -1469,7 +1328,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly1.0
SD
1
- modules/ekf2
Measurement noise for magnetic heading fusion
@@ -1477,13 +1335,11 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly1.0
rad
2
- modules/ekf2
Determines the primary source of height data used by the EKF
The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
true
- modules/ekf2
Barometric pressure
GPS
@@ -1495,24 +1351,20 @@ Increasing it makes the multi-rotor wind estimates adjust more slowlyX 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
- modules/ekf2
ID of Magnetometer the learned bias is for
true
- modules/ekf2
Learned value of magnetometer X axis bias.
@@ -1522,7 +1374,6 @@ This is the amount of X-axis magnetometer bias learned by the EKF and saved from
mGauss
3
true
- modules/ekf2
Learned value of magnetometer Y axis bias.
@@ -1532,7 +1383,6 @@ This is the amount of Y-axis magnetometer bias learned by the EKF and saved from
mGauss
3
true
- modules/ekf2
Learned value of magnetometer Z axis bias.
@@ -1542,7 +1392,6 @@ This is the amount of Z-axis magnetometer bias learned by the EKF and saved from
mGauss
3
true
- modules/ekf2
Maximum fraction of learned mag bias saved at each disarm.
@@ -1550,7 +1399,6 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large
0.0
1.0
2
- modules/ekf2
State variance assumed for magnetometer bias storage.
@@ -1558,7 +1406,6 @@ This is a reference variance used to calculate the fraction of learned magnetome
mGauss**2
8
true
- modules/ekf2
Horizontal acceleration threshold used by automatic selection of magnetometer fusion method.
@@ -1567,7 +1414,6 @@ This parameter is used when the magnetometer fusion method is set automatically
5.0
m/s**2
2
- modules/ekf2
Process noise for body magnetic field prediction
@@ -1575,13 +1421,11 @@ This parameter is used when the magnetometer fusion method is set automatically
0.1
Gauss/s
6
- modules/ekf2
Magnetic declination
deg
1
- modules/ekf2
Magnetometer measurement delay relative to IMU measurements
@@ -1590,7 +1434,6 @@ This parameter is used when the magnetometer fusion method is set automatically
ms
1
true
- modules/ekf2
Process noise for earth magnetic field prediction
@@ -1598,7 +1441,6 @@ This parameter is used when the magnetometer fusion method is set automatically
0.1
Gauss/s
6
- modules/ekf2
Gate size for magnetometer XYZ component fusion
@@ -1606,7 +1448,6 @@ This parameter is used when the magnetometer fusion method is set automatically
1.0
SD
1
- modules/ekf2
Measurement noise for magnetometer 3-axis fusion
@@ -1614,13 +1455,11 @@ This parameter is used when the magnetometer fusion method is set automatically
1.0
Gauss
3
- modules/ekf2
Type of magnetometer fusion
Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight.
true
- modules/ekf2
Automatic
Magnetic heading
@@ -1636,7 +1475,6 @@ This parameter is used when the magnetometer fusion method is set automatically
0.5
rad/s
2
- modules/ekf2
Minimum time of arrival delta between non-IMU observations before data is downsampled.
@@ -1645,14 +1483,12 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
50
ms
true
- modules/ekf2
Minimum valid range for the range finder
0.01
m
2
- modules/ekf2
Vehicle movement test threshold
@@ -1660,7 +1496,6 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
0.1
10.0
1
- modules/ekf2
Measurement noise for non-aiding position hold
@@ -1668,14 +1503,12 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
50.0
m
1
- modules/ekf2
Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid
500000
10000000
uSec
- modules/ekf2
Optical flow measurement delay relative to IMU measurements
@@ -1685,7 +1518,6 @@ Assumes measurement is timestamped at trailing edge of integration periodms
1
true
- modules/ekf2
Gate size for optical flow fusion
@@ -1693,7 +1525,6 @@ Assumes measurement is timestamped at trailing edge of integration period1.0
SD
1
- modules/ekf2
Measurement noise for the optical flow sensor
@@ -1701,38 +1532,32 @@ Assumes measurement is timestamped at trailing edge of integration period0.05
rad/s
2
- modules/ekf2
Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
0.05
rad/s
2
- modules/ekf2
X position of optical flow focal point in body frame
m
3
- modules/ekf2
Y position of optical flow focal point in body frame
m
3
- modules/ekf2
Z position of optical flow focal point in body frame
m
3
- modules/ekf2
Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN
0
255
- modules/ekf2
Static pressure position error coefficient for the negative X axis.
@@ -1741,7 +1566,6 @@ If the baro height estimate rises during backwards flight, then this will be a n
-0.5
0.5
2
- modules/ekf2
Static pressure position error coefficient for the positive X axis
@@ -1750,7 +1574,6 @@ If the baro height estimate rises during forward flight, then this will be a neg
-0.5
0.5
2
- modules/ekf2
Pressure position error coefficient for the Y axis.
@@ -1759,7 +1582,6 @@ If the baro height estimate rises during sideways flight, then this will be a ne
-0.5
0.5
2
- modules/ekf2
Static pressure position error coefficient for the Z axis.
@@ -1767,7 +1589,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
-0.5
0.5
2
- modules/ekf2
Required EPH to use GPS
@@ -1775,7 +1596,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
100
m
1
- modules/ekf2
Required EPV to use GPS
@@ -1783,14 +1603,12 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
100
m
1
- modules/ekf2
Required GDoP to use GPS
1.5
5.0
1
- modules/ekf2
Maximum horizontal drift speed to use GPS
@@ -1798,13 +1616,11 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
m/s
2
- modules/ekf2
Required satellite count to use GPS
4
12
- modules/ekf2
Required speed accuracy to use GPS
@@ -1812,7 +1628,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
5.0
m/s
2
- modules/ekf2
Maximum vertical drift speed to use GPS
@@ -1820,12 +1635,10 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.5
m/s
2
- modules/ekf2
Range sensor aid
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. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.
- modules/ekf2
Range aid disabled
Range aid enabled
@@ -1836,7 +1649,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
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).
1.0
10.0
- modules/ekf2
Gate size used for innovation consistency checks for range aid fusion
@@ -1844,14 +1656,12 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.1
5.0
SD
- modules/ekf2
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
Range finder measurement delay relative to IMU measurements
@@ -1860,7 +1670,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
ms
1
true
- modules/ekf2
Gate size for range finder fusion
@@ -1868,14 +1677,12 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
SD
1
- modules/ekf2
Measurement noise for range finder fusion
0.01
m
2
- modules/ekf2
Range sensor pitch offset
@@ -1883,25 +1690,21 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.75
rad
3
- modules/ekf2
X position of range finder origin in body frame
m
3
- modules/ekf2
Y position of range finder origin in body frame
m
3
- modules/ekf2
Z position of range finder origin in body frame
m
3
- modules/ekf2
Range finder range dependant noise scaler
@@ -1909,7 +1712,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.0
0.2
m/m
- modules/ekf2
Gate size for TAS fusion
@@ -1917,7 +1719,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
SD
1
- modules/ekf2
Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states
@@ -1925,28 +1726,24 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
s
2
- modules/ekf2
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
@@ -1954,7 +1751,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
m/s/s
3
- modules/ekf2
@@ -1963,14 +1759,12 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.
true
- modules/events
Status Display
Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -
true
- modules/events
@@ -1980,7 +1774,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
45
720
degrees
- modules/fw_att_control
Acro body y max rate
@@ -1988,7 +1781,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
45
720
degrees
- modules/fw_att_control
Acro body z max rate
@@ -1996,12 +1788,10 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
10
180
degrees
- modules/fw_att_control
Airspeed mode
For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading
- modules/fw_att_control
Normal (use airspeed if available)
Airspeed disabled
@@ -2011,7 +1801,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
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
Pitch trim increment for flaps configuration
@@ -2020,7 +1809,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Pitch trim increment at maximum airspeed
@@ -2029,7 +1817,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Pitch trim increment at minimum airspeed
@@ -2038,7 +1825,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Roll trim increment for flaps configuration
@@ -2047,7 +1833,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Roll trim increment at maximum airspeed
@@ -2056,7 +1841,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Roll trim increment at minimum airspeed
@@ -2065,7 +1849,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Yaw trim increment at maximum airspeed
@@ -2074,7 +1857,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Yaw trim increment at minimum airspeed
@@ -2083,7 +1865,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.25
2
0.01
- modules/fw_att_control
Scale factor for flaperons
@@ -2092,7 +1873,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Scale factor for flaps
@@ -2101,7 +1881,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Flaps setting during take-off
@@ -2111,7 +1890,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Max manual pitch
@@ -2121,7 +1899,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_att_control
Manual pitch scale
@@ -2130,7 +1907,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Max manual roll
@@ -2140,7 +1916,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_att_control
Manual roll scale
@@ -2150,7 +1925,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Manual yaw scale
@@ -2159,7 +1933,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_att_control
Pitch rate feed forward
@@ -2169,7 +1942,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
2
0.05
- modules/fw_att_control
Pitch rate integrator gain
@@ -2179,7 +1951,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad
3
0.005
- modules/fw_att_control
Pitch rate integrator limit
@@ -2188,7 +1959,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
2
0.05
- modules/fw_att_control
Pitch rate proportional gain
@@ -2198,7 +1968,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
3
0.005
- modules/fw_att_control
Pitch setpoint offset
@@ -2208,7 +1977,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_att_control
Maximum negative / down pitch rate
@@ -2218,7 +1986,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg/s
1
0.5
- modules/fw_att_control
Maximum positive / up pitch rate
@@ -2228,7 +1995,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg/s
1
0.5
- modules/fw_att_control
Attitude pitch time constant
@@ -2238,7 +2004,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
s
2
0.05
- modules/fw_att_control
Threshold for Rattitude mode
@@ -2247,7 +2012,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
2
0.01
- modules/fw_att_control
Roll control to yaw control feedforward gain
@@ -2255,7 +2019,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.0
1
0.01
- modules/fw_att_control
Roll rate feed forward
@@ -2265,7 +2028,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
2
0.05
- modules/fw_att_control
Roll rate integrator Gain
@@ -2275,7 +2037,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad
3
0.005
- modules/fw_att_control
Roll integrator anti-windup
@@ -2284,7 +2045,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
2
0.05
- modules/fw_att_control
Roll rate proportional Gain
@@ -2294,7 +2054,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
3
0.005
- modules/fw_att_control
Roll setpoint offset
@@ -2304,7 +2063,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_att_control
Maximum roll rate
@@ -2314,7 +2072,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg/s
1
0.5
- modules/fw_att_control
Attitude Roll Time Constant
@@ -2324,7 +2081,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
s
2
0.05
- modules/fw_att_control
Wheel steering rate feed forward
@@ -2334,7 +2090,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
2
0.05
- modules/fw_att_control
Wheel steering rate integrator gain
@@ -2344,7 +2099,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad
3
0.005
- modules/fw_att_control
Wheel steering rate integrator limit
@@ -2353,7 +2107,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
2
0.05
- modules/fw_att_control
Wheel steering rate proportional gain
@@ -2363,12 +2116,10 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
3
0.005
- modules/fw_att_control
Enable wheel steering controller
- modules/fw_att_control
Maximum wheel steering rate
@@ -2378,7 +2129,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg/s
1
0.5
- modules/fw_att_control
Yaw rate feed forward
@@ -2388,7 +2138,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
2
0.05
- modules/fw_att_control
Yaw rate integrator gain
@@ -2398,7 +2147,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad
1
0.5
- modules/fw_att_control
Yaw rate integrator limit
@@ -2407,7 +2155,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
1.0
2
0.05
- modules/fw_att_control
Yaw rate proportional gain
@@ -2417,7 +2164,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
%/rad/s
3
0.005
- modules/fw_att_control
Maximum yaw rate
@@ -2427,7 +2173,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg/s
1
0.5
- modules/fw_att_control
@@ -2439,7 +2184,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
m
1
0.5
- modules/fw_pos_control_l1
L1 damping
@@ -2448,7 +2192,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0.9
2
0.05
- modules/fw_pos_control_l1
L1 period
@@ -2458,7 +2201,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
m
1
0.5
- modules/fw_pos_control_l1
L1 controller roll slew rate limit
@@ -2466,7 +2208,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
0
deg/s
1
- modules/fw_pos_control_l1
Min. airspeed scaling factor for landing
@@ -2476,7 +2217,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
norm
2
0.01
- modules/fw_pos_control_l1
Landing slope angle
@@ -2485,12 +2225,10 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_pos_control_l1
Early landing configuration deployment
When set to 0/disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When set to 1/enabled, it is already activated when entering the final loiter-down (loiter-to-alt) WP before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.
- modules/fw_pos_control_l1
Disable early land configuration deployment
Enable early land configuration deployment
@@ -2503,7 +2241,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
m
1
0.5
- modules/fw_pos_control_l1
Flare, maximum pitch
@@ -2513,7 +2250,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_pos_control_l1
Flare, minimum pitch
@@ -2523,7 +2259,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
deg
1
0.5
- modules/fw_pos_control_l1
Landing heading hold horizontal distance.
@@ -2533,7 +2268,6 @@ Set to 0 to disable heading hold
m
1
0.5
- modules/fw_pos_control_l1
FW_LND_HVIRT
@@ -2542,7 +2276,6 @@ Set to 0 to disable heading hold
m
1
0.5
- modules/fw_pos_control_l1
Throttle time constant factor for landing
@@ -2551,7 +2284,6 @@ Set to 0 to disable heading hold
1.0
0.1
- modules/fw_pos_control_l1
Landing throttle limit altitude (relative landing altitude)
@@ -2561,12 +2293,10 @@ Set to 0 to disable heading hold
m
1
0.5
- modules/fw_pos_control_l1
Use terrain estimate during landing
- modules/fw_pos_control_l1
Positive pitch limit
@@ -2576,7 +2306,6 @@ Set to 0 to disable heading hold
deg
1
0.5
- modules/fw_pos_control_l1
Negative pitch limit
@@ -2586,7 +2315,6 @@ Set to 0 to disable heading hold
deg
1
0.5
- modules/fw_pos_control_l1
Controller roll limit
@@ -2596,7 +2324,6 @@ Set to 0 to disable heading hold
deg
1
0.5
- modules/fw_pos_control_l1
Scale throttle by pressure change
@@ -2605,7 +2332,6 @@ Set to 0 to disable heading hold
10.0
1
0.1
- modules/fw_pos_control_l1
Cruise throttle
@@ -2615,7 +2341,6 @@ Set to 0 to disable heading hold
norm
2
0.01
- modules/fw_pos_control_l1
Idle throttle
@@ -2625,7 +2350,6 @@ Set to 0 to disable heading hold
norm
2
0.01
- modules/fw_pos_control_l1
Throttle limit during landing below throttle limit altitude
@@ -2635,7 +2359,6 @@ Set to 0 to disable heading hold
norm
2
0.01
- modules/fw_pos_control_l1
Throttle limit max
@@ -2645,7 +2368,6 @@ Set to 0 to disable heading hold
norm
2
0.01
- modules/fw_pos_control_l1
Throttle limit min
@@ -2655,21 +2377,18 @@ Set to 0 to disable heading hold
norm
2
0.01
- modules/fw_pos_control_l1
Throttle max slew rate
Maximum slew rate for the commanded throttle
0.0
1.0
- modules/fw_pos_control_l1
Launch detection
- modules/fw_pos_control_l1/launchdetection
Catapult accelerometer threshold
@@ -2678,7 +2397,6 @@ Set to 0 to disable heading hold
m/s/s
1
0.5
- modules/fw_pos_control_l1/launchdetection
Motor delay
@@ -2688,7 +2406,6 @@ Set to 0 to disable heading hold
s
1
0.5
- modules/fw_pos_control_l1/launchdetection
Maximum pitch before the throttle is powered up (during motor delay phase)
@@ -2698,7 +2415,6 @@ Set to 0 to disable heading hold
deg
1
0.5
- modules/fw_pos_control_l1/launchdetection
Catapult time threshold
@@ -2708,7 +2424,6 @@ Set to 0 to disable heading hold
s
2
0.05
- modules/fw_pos_control_l1/launchdetection
@@ -2720,7 +2435,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Minimum Airspeed
@@ -2730,7 +2444,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Cruise Airspeed
@@ -2740,7 +2453,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Maximum climb rate
@@ -2750,7 +2462,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Complementary filter "omega" parameter for height
@@ -2760,7 +2471,6 @@ Set to 0 to disable heading hold
rad/s
1
0.5
- modules/fw_pos_control_l1
Height rate feed forward
@@ -2768,7 +2478,6 @@ Set to 0 to disable heading hold
1.0
2
0.05
- modules/fw_pos_control_l1
Height rate proportional factor
@@ -2776,7 +2485,6 @@ Set to 0 to disable heading hold
1.0
2
0.05
- modules/fw_pos_control_l1
Integrator gain
@@ -2785,7 +2493,6 @@ Set to 0 to disable heading hold
2.0
2
0.05
- modules/fw_pos_control_l1
Pitch damping factor
@@ -2794,7 +2501,6 @@ Set to 0 to disable heading hold
2.0
1
0.1
- modules/fw_pos_control_l1
Roll -> Throttle feedforward
@@ -2803,7 +2509,6 @@ Set to 0 to disable heading hold
20.0
1
0.5
- modules/fw_pos_control_l1
Maximum descent rate
@@ -2813,7 +2518,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Minimum descent rate
@@ -2823,7 +2527,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/fw_pos_control_l1
Speed <--> Altitude priority
@@ -2832,7 +2535,6 @@ Set to 0 to disable heading hold
2.0
1
1.0
- modules/fw_pos_control_l1
Complementary filter "omega" parameter for speed
@@ -2842,7 +2544,6 @@ Set to 0 to disable heading hold
rad/s
1
0.5
- modules/fw_pos_control_l1
Speed rate P factor
@@ -2850,7 +2551,6 @@ Set to 0 to disable heading hold
2.0
2
0.01
- modules/fw_pos_control_l1
TECS Throttle time constant
@@ -2860,7 +2560,6 @@ Set to 0 to disable heading hold
s
1
0.5
- modules/fw_pos_control_l1
Throttle damping factor
@@ -2869,7 +2568,6 @@ Set to 0 to disable heading hold
2.0
1
0.1
- modules/fw_pos_control_l1
TECS time constant
@@ -2879,7 +2577,6 @@ Set to 0 to disable heading hold
s
1
0.5
- modules/fw_pos_control_l1
Maximum vertical acceleration
@@ -2889,7 +2586,6 @@ Set to 0 to disable heading hold
m/s/s
1
0.5
- modules/fw_pos_control_l1
Maximum ground speed
@@ -2898,7 +2594,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/gnd_pos_control
Trim ground speed
@@ -2907,7 +2602,6 @@ Set to 0 to disable heading hold
m/s
1
0.5
- modules/gnd_pos_control
@@ -2917,7 +2611,6 @@ Set to 0 to disable heading hold
0
180
degrees
- modules/commander/failure_detector
FailureDetector Max Roll
@@ -2925,7 +2618,6 @@ Set to 0 to disable heading hold
0
180
degrees
- modules/commander/failure_detector
@@ -2934,7 +2626,6 @@ Set to 0 to disable heading hold
The distance in meters to follow the target at
1.0
meters
- modules/navigator
Side to follow target from
@@ -2942,7 +2633,6 @@ Set to 0 to disable heading hold
0
3
n/a
- modules/navigator
Dynamic filtering algorithm responsiveness to target movement
@@ -2952,14 +2642,12 @@ but also ignore less noise
1.0
n/a
2
- modules/navigator
Minimum follow target altitude
The minimum height in meters relative to home for following a target
8.0
meters
- modules/navigator
@@ -2967,7 +2655,6 @@ but also ignore less noise
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
@@ -2976,7 +2663,6 @@ but also ignore less noise
norm
2
0.1
- modules/gnd_att_control
Manual yaw scale
@@ -2985,7 +2671,6 @@ but also ignore less noise
norm
2
0.01
- modules/gnd_att_control
Speed proportional gain
@@ -2995,7 +2680,6 @@ but also ignore less noise
%m/s
3
0.005
- modules/gnd_pos_control
Speed Integral gain
@@ -3005,7 +2689,6 @@ but also ignore less noise
%m/s
3
0.005
- modules/gnd_pos_control
Speed integral maximum value
@@ -3015,7 +2698,6 @@ but also ignore less noise
%m/s
3
0.005
- modules/gnd_pos_control
Speed proportional gain
@@ -3025,7 +2707,6 @@ but also ignore less noise
%m/s
3
0.005
- modules/gnd_pos_control
Speed to throttle scaler
@@ -3035,14 +2716,12 @@ but also ignore less noise
%m/s
3
0.005
- modules/gnd_pos_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
@@ -3055,7 +2734,6 @@ but also ignore less noise
%/rad
3
0.005
- modules/gnd_att_control
Wheel steering rate feed forward
@@ -3065,7 +2743,6 @@ but also ignore less noise
%/rad/s
2
0.05
- modules/gnd_att_control
Wheel steering rate integrator gain
@@ -3075,7 +2752,6 @@ but also ignore less noise
%/rad
3
0.005
- modules/gnd_att_control
Wheel steering rate integrator limit
@@ -3084,7 +2760,6 @@ but also ignore less noise
1.0
2
0.05
- modules/gnd_att_control
Wheel steering rate proportional gain
@@ -3094,7 +2769,6 @@ but also ignore less noise
%/rad/s
3
0.005
- modules/gnd_att_control
Attitude Wheel Time Constant
@@ -3104,7 +2778,6 @@ but also ignore less noise
s
2
0.05
- modules/gnd_att_control
Maximum wheel steering rate
@@ -3114,7 +2787,6 @@ but also ignore less noise
deg/s
1
0.5
- modules/gnd_att_control
@@ -3125,7 +2797,6 @@ but also ignore less noise
0.9
2
0.05
- modules/gnd_pos_control
L1 distance
@@ -3135,7 +2806,6 @@ but also ignore less noise
m
1
0.1
- modules/gnd_pos_control
L1 period
@@ -3145,7 +2815,6 @@ but also ignore less noise
m
1
0.5
- modules/gnd_pos_control
Cruise throttle
@@ -3155,7 +2824,6 @@ but also ignore less noise
norm
2
0.01
- modules/gnd_pos_control
Idle throttle
@@ -3165,7 +2833,6 @@ but also ignore less noise
norm
2
0.01
- modules/gnd_pos_control
Throttle limit max
@@ -3175,7 +2842,6 @@ but also ignore less noise
norm
2
0.01
- modules/gnd_pos_control
Throttle limit min
@@ -3185,7 +2851,6 @@ but also ignore less noise
norm
2
0.01
- modules/gnd_pos_control
@@ -3194,7 +2859,6 @@ but also ignore less noise
If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.
0
1
- drivers/gps
Disable
Enable
@@ -3206,7 +2870,6 @@ but also ignore less noise
0
9
true
- drivers/gps
stationary
automotive
@@ -3223,13 +2886,11 @@ but also ignore less noise
deg
0
true
- drivers/gps
GPS Baudrate
Configure the Baudrate for the GPS Serial Port. In most cases this can be set to Auto. The Trimble MB-Two GPS does not support auto-detection and uses a baudrate of 115200.
true
- drivers/gps
Auto
9600 8N1
@@ -3249,7 +2910,6 @@ but also ignore less noise
s
0
1
- modules/navigator
Fixed pitch angle
@@ -3259,7 +2919,6 @@ but also ignore less noise
deg
1
0.5
- modules/navigator
Fixed bank angle
@@ -3269,7 +2928,6 @@ but also ignore less noise
deg
1
0.5
- modules/navigator
Thrust
@@ -3279,7 +2937,6 @@ but also ignore less noise
norm
2
0.05
- modules/navigator
@@ -3288,7 +2945,6 @@ but also ignore less noise
Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.
0
4
- modules/navigator
None
Warning
@@ -3302,7 +2958,6 @@ but also ignore less noise
Select which altitude reference should be used 0 = WGS84, 1 = AMSL
0
1
- modules/navigator
WGS84
AMSL
@@ -3314,7 +2969,6 @@ but also ignore less noise
-1
10
1
- modules/navigator
Max horizontal distance in meters
@@ -3323,7 +2977,6 @@ but also ignore less noise
10000
m
1
- modules/navigator
Max vertical distance in meters
@@ -3332,14 +2985,12 @@ but also ignore less noise
10000
m
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
@@ -3352,14 +3003,12 @@ but also ignore less noise
0
5000
s
- drivers/telemetry/iridiumsbd
Iridium SBD session timeout
0
300
s
- drivers/telemetry/iridiumsbd
Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message
@@ -3367,7 +3016,6 @@ Value 0 turns the functionality off
0
500
ms
- drivers/telemetry/iridiumsbd
@@ -3378,7 +3026,6 @@ Value 0 turns the functionality off
20
m/s
1
- modules/land_detector
Fixedwing max horizontal velocity
@@ -3387,7 +3034,6 @@ Value 0 turns the functionality off
10
m/s
1
- modules/land_detector
Fixedwing max climb rate
@@ -3396,7 +3042,6 @@ Value 0 turns the functionality off
20
m/s
1
- modules/land_detector
Fixedwing max horizontal acceleration
@@ -3405,7 +3050,6 @@ Value 0 turns the functionality off
15
m/s^2
1
- modules/land_detector
Maximum altitude for multicopters
@@ -3414,7 +3058,6 @@ Value 0 turns the functionality off
10000
m
2
- modules/land_detector
Multicopter specific force threshold
@@ -3423,7 +3066,6 @@ Value 0 turns the functionality off
10
m/s^2
2
- modules/land_detector
Multicopter free-fall trigger time
@@ -3432,14 +3074,12 @@ Value 0 turns the functionality off
5
s
2
- modules/land_detector
Multicopter max rotation
Maximum allowed angular velocity around each axis allowed in the landed state.
deg/s
1
- modules/land_detector
Multicopter sub-hover throttle scaling
@@ -3447,33 +3087,28 @@ Value 0 turns the functionality off
0.05
0.5
2
- modules/land_detector
Multicopter max horizontal velocity
Maximum horizontal velocity allowed in the landed state (m/s)
m/s
1
- modules/land_detector
Multicopter max climb rate
Maximum vertical velocity allowed in the landed state (m/s up and down)
m/s
1
- modules/land_detector
Total flight time in microseconds
Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
- modules/land_detector
Total flight time in microseconds
Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
- modules/land_detector
@@ -3483,21 +3118,18 @@ Value 0 turns the functionality off
0.01
(m/s^2)^2
2
- modules/landing_target_estimator
Landing target measurement uncertainty
Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.
tan(rad)^2
4
- modules/landing_target_estimator
Landing target mode
Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
0
1
- modules/landing_target_estimator
Moving
Stationary
@@ -3509,21 +3141,18 @@ Value 0 turns the functionality off
0.001
m^2
3
- modules/landing_target_estimator
Scale factor for sensor measurements in sensor x axis
Landing target x measurements are scaled by this factor before being used
0.01
3
- modules/landing_target_estimator
Scale factor for sensor measurements in sensor y axis
Landing target y measurements are scaled by this factor before being used
0.01
3
- modules/landing_target_estimator
Initial landing target velocity uncertainty
@@ -3531,7 +3160,6 @@ Value 0 turns the functionality off
0.001
(m/s)^2
3
- modules/landing_target_estimator
@@ -3542,7 +3170,6 @@ Value 0 turns the functionality off
2
m/s^2/sqrt(Hz)
4
- modules/local_position_estimator
Accelerometer z noise density
@@ -3551,7 +3178,6 @@ Value 0 turns the functionality off
2
m/s^2/sqrt(Hz)
4
- modules/local_position_estimator
Barometric presssure altitude z standard deviation
@@ -3559,7 +3185,6 @@ Value 0 turns the functionality off
100
m
2
- modules/local_position_estimator
Max EPH allowed for GPS initialization
@@ -3567,7 +3192,6 @@ Value 0 turns the functionality off
5.0
m
3
- modules/local_position_estimator
Max EPV allowed for GPS initialization
@@ -3575,14 +3199,12 @@ Value 0 turns the functionality off
5.0
m
3
- 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
0
1
- modules/local_position_estimator
Flow gyro high pass filter cut off frequency
@@ -3590,7 +3212,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
2
Hz
3
- modules/local_position_estimator
Optical flow z offset from center
@@ -3598,14 +3219,12 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
1
m
3
- modules/local_position_estimator
Optical flow minimum quality threshold
0
255
0
- modules/local_position_estimator
Optical flow rotation (roll/pitch) noise gain
@@ -3613,7 +3232,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
10.0
m/s / (rad)
3
- modules/local_position_estimator
Optical flow angular velocity noise gain
@@ -3621,7 +3239,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
10.0
m/s / (rad/s)
3
- modules/local_position_estimator
Optical flow scale
@@ -3629,14 +3246,12 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
10.0
m
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 enable landing target 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, baro, land detector)
0
255
- modules/local_position_estimator
fuse GPS, requires GPS for alt. init
fuse optical flow
@@ -3654,7 +3269,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
0.4
sec
2
- modules/local_position_estimator
GPS xy velocity standard deviation.
@@ -3663,7 +3277,6 @@ EPV used if greater than this value
2
m/s
3
- modules/local_position_estimator
GPS z velocity standard deviation
@@ -3671,7 +3284,6 @@ EPV used if greater than this value
2
m/s
3
- modules/local_position_estimator
Minimum GPS xy standard deviation, uses reported EPH if greater
@@ -3679,7 +3291,6 @@ EPV used if greater than this value
5
m
2
- modules/local_position_estimator
Minimum GPS z standard deviation, uses reported EPV if greater
@@ -3687,7 +3298,6 @@ EPV used if greater than this value
200
m
2
- modules/local_position_estimator
Land detector xy velocity standard deviation
@@ -3695,7 +3305,6 @@ EPV used if greater than this value
10.0
m/s
3
- modules/local_position_estimator
Land detector z standard deviation
@@ -3703,7 +3312,6 @@ EPV used if greater than this value
10.0
m
3
- modules/local_position_estimator
Local origin latitude for nav w/o GPS
@@ -3711,7 +3319,6 @@ EPV used if greater than this value
90
deg
8
- modules/local_position_estimator
Lidar z offset from center of vehicle +down
@@ -3719,7 +3326,6 @@ EPV used if greater than this value
1
m
3
- modules/local_position_estimator
Lidar z standard deviation
@@ -3727,7 +3333,6 @@ EPV used if greater than this value
1
m
3
- modules/local_position_estimator
Local origin longitude for nav w/o GPS
@@ -3735,7 +3340,6 @@ EPV used if greater than this value
180
deg
8
- modules/local_position_estimator
Minimum landing target standard covariance, uses reported covariance if greater
@@ -3743,7 +3347,6 @@ EPV used if greater than this value
10
m^2
2
- modules/local_position_estimator
Accel bias propagation noise density
@@ -3751,7 +3354,6 @@ EPV used if greater than this value
1
(m/s^2)/s/sqrt(Hz)
8
- modules/local_position_estimator
Position propagation noise density
@@ -3760,7 +3362,6 @@ EPV used if greater than this value
1
m/s/sqrt(Hz)
8
- modules/local_position_estimator
Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
@@ -3768,7 +3369,6 @@ EPV used if greater than this value
1
(m/s)/(sqrt(hz))
3
- modules/local_position_estimator
Velocity propagation noise density
@@ -3777,7 +3377,6 @@ EPV used if greater than this value
1
(m/s)/s/sqrt(Hz)
8
- modules/local_position_estimator
Sonar z offset from center of vehicle +down
@@ -3785,7 +3384,6 @@ EPV used if greater than this value
1
m
3
- modules/local_position_estimator
Sonar z standard deviation
@@ -3793,7 +3391,6 @@ EPV used if greater than this value
1
m
3
- modules/local_position_estimator
Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
@@ -3802,7 +3399,6 @@ Used to calculate increased terrain random walk nosie due to movement100
%
3
- modules/local_position_estimator
Vicon position standard deviation
@@ -3810,7 +3406,6 @@ Used to calculate increased terrain random walk nosie due to movement1
m
4
- modules/local_position_estimator
Vision delay compensaton
@@ -3819,7 +3414,6 @@ Used to calculate increased terrain random walk nosie due to movement0.1
sec
2
- modules/local_position_estimator
Vision xy standard deviation
@@ -3827,7 +3421,6 @@ Used to calculate increased terrain random walk nosie due to movement1
m
3
- modules/local_position_estimator
Vision z standard deviation
@@ -3835,7 +3428,6 @@ Used to calculate increased terrain random walk nosie due to movement100
m
3
- modules/local_position_estimator
Required velocity xy standard deviation to publish position
@@ -3843,7 +3435,6 @@ Used to calculate increased terrain random walk nosie due to movement1.0
m/s
3
- modules/local_position_estimator
Cut frequency for state publication
@@ -3851,7 +3442,6 @@ Used to calculate increased terrain random walk nosie due to movement1000
Hz
0
- modules/local_position_estimator
Required z standard deviation to publish altitude/ terrain
@@ -3859,14 +3449,12 @@ Used to calculate increased terrain random walk nosie due to movement5.0
m
1
- modules/local_position_estimator
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
@@ -3878,29 +3466,24 @@ Used to calculate increased terrain random walk nosie due to movement1
250
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
Parameter hash check
Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.
- modules/mavlink
Hearbeat message forwarding
The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
- modules/mavlink
MAVLink protocol version
- modules/mavlink
Default to 1, switch to 2 if GCS sends version 2
Always use version 1
@@ -3912,20 +3495,17 @@ Used to calculate increased terrain random walk nosie due to movementWhen non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults.
-1
240
- modules/mavlink
MAVLink system ID
1
250
true
- modules/mavlink
MAVLink airframe type
1
27
- modules/mavlink
Generic micro air vehicle
Fixed wing aircraft
@@ -3961,20 +3541,17 @@ Used to calculate increased terrain random walk nosie due to movementUse/Accept HIL GPS message even if not in HIL mode
If set to 1 incoming HIL GPS messages are parsed.
- modules/mavlink
Test mode (Identify) of MKBLCTRL Driver
- drivers/mkblctrl
Low pass filter frequency for Accelerometer
- platforms/qurt/fc_addon/mpu_spi
MPU9X50_ACC_LPF_460HZ
MPU9X50_ACC_LPF_184HZ
@@ -3988,7 +3565,6 @@ Used to calculate increased terrain random walk nosie due to movement
Low pass filter frequency for Gyro
- platforms/qurt/fc_addon/mpu_spi
MPU9X50_GYRO_LPF_250HZ
MPU9X50_GYRO_LPF_184HZ
@@ -4002,7 +3578,6 @@ Used to calculate increased terrain random walk nosie due to movement
Sample rate in Hz
- platforms/qurt/fc_addon/mpu_spi
MPU9x50_SAMPLE_RATE_100HZ
MPU9x50_SAMPLE_RATE_200HZ
@@ -4015,7 +3590,6 @@ Used to calculate increased terrain random walk nosie due to movement
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
Land mode
Hold mode
@@ -4025,7 +3599,6 @@ Used to calculate increased terrain random walk nosie due to movement
Set offboard loss failsafe mode when RC is available
The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
- modules/commander
Position mode
Altitude mode
@@ -4038,7 +3611,6 @@ Used to calculate increased terrain random walk nosie due to movement
Position control navigation loss response
This sets the flight mode that will be used if navigation accuracy is no longer adequate 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 use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
@@ -4047,7 +3619,6 @@ Used to calculate increased terrain random walk nosie due to movement
Action after TAKEOFF has been accepted
The mode transition after TAKEOFF has completed successfully.
- modules/commander
Hold
Mission (if valid)
@@ -4058,7 +3629,6 @@ Used to calculate increased terrain random walk nosie due to movement0: 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
@@ -4072,7 +3642,6 @@ Used to calculate increased terrain random walk nosie due to movementm
1
100
- modules/navigator
Maximal horizontal distance between waypoint
@@ -4082,7 +3651,6 @@ Used to calculate increased terrain random walk nosie due to movementm
1
100
- modules/navigator
Minimum Loiter altitude
@@ -4092,14 +3660,12 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading mode as specified by MIS_YAWMODE. If disabled, the vehicle will yaw towards the ROI.
0
1
- modules/navigator
Disable
Enable
@@ -4113,7 +3679,6 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
Max yaw error in degrees needed for waypoint heading acceptance
@@ -4122,7 +3687,6 @@ Used to calculate increased terrain random walk nosie due to movementdeg
1
1
- modules/navigator
Time in seconds we wait on reaching target heading at a waypoint if it is forced
@@ -4132,14 +3696,12 @@ Used to calculate increased terrain random walk nosie due to movements
1
1
- modules/navigator
Yaw mode
Specifies the heading in Auto.
0
2
- modules/mc_pos_control
towards waypoint
towards home
@@ -4155,12 +3717,10 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
Set data link loss failsafe mode
The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.
- modules/navigator
Disabled
Hold mode
@@ -4174,7 +3734,6 @@ Used to calculate increased terrain random walk nosie due to movement
Force VTOL mode takeoff and land
- modules/navigator
FW Altitude Acceptance Radius before a landing
@@ -4183,7 +3742,6 @@ Used to calculate increased terrain random walk nosie due to movement200.0
m
1
- modules/navigator
FW Altitude Acceptance Radius
@@ -4193,7 +3751,6 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
Loiter radius (FW only)
@@ -4203,7 +3760,6 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
MC Altitude Acceptance Radius
@@ -4213,12 +3769,10 @@ Used to calculate increased terrain random walk nosie due to movementm
1
0.5
- modules/navigator
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
Disabled
Hold mode
@@ -4236,12 +3790,10 @@ Used to calculate increased terrain random walk nosie due to movements
1
0.1
- modules/navigator
Set traffic avoidance mode
Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders
- modules/navigator
Disabled
Warn only
@@ -4255,13 +3807,11 @@ Used to calculate increased terrain random walk nosie due to movementStabilize the mount (set to true for servo gimbal, false for passthrough).
Does not affect MAVLINK_ROI input
- drivers/vmount
Auxiliary channel to control pitch (in AUX input or manual mode)
0
5
- drivers/vmount
Disable
AUX1
@@ -4275,7 +3825,6 @@ Does not affect MAVLINK_ROI input
Auxiliary channel to control roll (in AUX input or manual mode)
0
5
- drivers/vmount
Disable
AUX1
@@ -4289,7 +3838,6 @@ Does not affect MAVLINK_ROI input
Auxiliary channel to control yaw (in AUX input or manual mode)
0
5
- drivers/vmount
Disable
AUX1
@@ -4302,12 +3850,10 @@ Does not affect MAVLINK_ROI input
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
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
@@ -4315,7 +3861,6 @@ Does not affect MAVLINK_ROI input
-1
3
true
- drivers/vmount
DISABLED
AUTO
@@ -4329,7 +3874,6 @@ Does not affect MAVLINK_ROI input
AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)
0
1
- drivers/vmount
AUX
MAVLINK
@@ -4341,7 +3885,6 @@ if required for the gimbal (only in AUX output mode)
-1.0
1.0
3
- drivers/vmount
Mixer value for selecting normal mode
@@ -4349,49 +3892,42 @@ if required by the gimbal (only in AUX output mode)
-1.0
1.0
3
- 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
Range of pitch channel output in degrees (only in AUX output mode)
1.0
720.0
1
- drivers/vmount
Range of roll channel output in degrees (only in AUX output mode)
1.0
720.0
1
- drivers/vmount
Range of yaw channel output in degrees (only in AUX output mode)
1.0
720.0
1
- drivers/vmount
@@ -4401,7 +3937,6 @@ if required by the gimbal (only in AUX output mode)
0
1
2
- modules/mc_att_control
Acro mode Expo factor for Yaw
@@ -4409,7 +3944,6 @@ if required by the gimbal (only in AUX output mode)
0
1
2
- modules/mc_att_control
Max acro pitch rate
@@ -4419,7 +3953,6 @@ default: 2 turns per second
deg/s
1
5
- modules/mc_att_control
Max acro roll rate
@@ -4429,7 +3962,6 @@ default: 2 turns per second
deg/s
1
5
- modules/mc_att_control
Acro mode SuperExpo factor for Roll and Pitch
@@ -4437,7 +3969,6 @@ default: 2 turns per second
0
0.95
2
- modules/mc_att_control
Acro mode SuperExpo factor for Yaw
@@ -4445,7 +3976,6 @@ default: 2 turns per second
0
0.95
2
- modules/mc_att_control
Max acro yaw rate
@@ -4455,19 +3985,16 @@ default 1.5 turns per second
deg/s
1
5
- modules/mc_att_control
Multicopter air-mode
The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable.
- 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
Cutoff frequency for the low pass filter on the D-term in the rate controller
@@ -4477,7 +4004,6 @@ default 1.5 turns per second
Hz
0
10
- modules/mc_att_control
Pitch rate D gain
@@ -4485,14 +4011,12 @@ default 1.5 turns per second
0.0
4
0.0005
- modules/mc_att_control
Pitch rate feedforward
Improves tracking performance.
0.0
4
- modules/mc_att_control
Pitch rate I gain
@@ -4500,7 +4024,6 @@ default 1.5 turns per second
0.0
3
0.01
- modules/mc_att_control
Max pitch rate
@@ -4510,7 +4033,6 @@ default 1.5 turns per second
deg/s
1
5
- modules/mc_att_control
Pitch rate P gain
@@ -4519,7 +4041,6 @@ default 1.5 turns per second
0.6
3
0.01
- modules/mc_att_control
Pitch P gain
@@ -4529,7 +4050,6 @@ default 1.5 turns per second
1/s
2
0.1
- modules/mc_att_control
Pitch rate integrator limit
@@ -4537,7 +4057,6 @@ default 1.5 turns per second
0.0
2
0.01
- modules/mc_att_control
Threshold for Rattitude mode
@@ -4546,7 +4065,6 @@ default 1.5 turns per second
1.0
2
0.01
- modules/mc_att_control
Roll rate D gain
@@ -4555,14 +4073,12 @@ default 1.5 turns per second
0.01
4
0.0005
- modules/mc_att_control
Roll rate feedforward
Improves tracking performance.
0.0
4
- modules/mc_att_control
Roll rate I gain
@@ -4570,7 +4086,6 @@ default 1.5 turns per second
0.0
3
0.01
- modules/mc_att_control
Max roll rate
@@ -4580,7 +4095,6 @@ default 1.5 turns per second
deg/s
1
5
- modules/mc_att_control
Roll rate P gain
@@ -4589,7 +4103,6 @@ default 1.5 turns per second
0.5
3
0.01
- modules/mc_att_control
Roll P gain
@@ -4599,7 +4112,6 @@ default 1.5 turns per second
1/s
2
0.1
- modules/mc_att_control
Roll rate integrator limit
@@ -4607,7 +4119,6 @@ default 1.5 turns per second
0.0
2
0.01
- modules/mc_att_control
TPA D Breakpoint
@@ -4616,7 +4127,6 @@ default 1.5 turns per second
1.0
2
0.1
- modules/mc_att_control
TPA I Breakpoint
@@ -4625,7 +4135,6 @@ default 1.5 turns per second
1.0
2
0.1
- modules/mc_att_control
TPA P Breakpoint
@@ -4634,7 +4143,6 @@ default 1.5 turns per second
1.0
2
0.1
- modules/mc_att_control
TPA Rate D
@@ -4643,7 +4151,6 @@ default 1.5 turns per second
1.0
2
0.05
- modules/mc_att_control
TPA Rate I
@@ -4652,7 +4159,6 @@ default 1.5 turns per second
1.0
2
0.05
- modules/mc_att_control
TPA Rate P
@@ -4661,7 +4167,6 @@ default 1.5 turns per second
1.0
2
0.05
- modules/mc_att_control
Yaw rate D gain
@@ -4669,7 +4174,6 @@ default 1.5 turns per second
0.0
2
0.01
- modules/mc_att_control
Yaw rate feedforward
@@ -4677,7 +4181,6 @@ default 1.5 turns per second
0.0
4
0.01
- modules/mc_att_control
Yaw rate I gain
@@ -4685,7 +4188,6 @@ default 1.5 turns per second
0.0
2
0.01
- modules/mc_att_control
Max yaw rate
@@ -4694,7 +4196,6 @@ default 1.5 turns per second
deg/s
1
5
- modules/mc_att_control
Yaw rate P gain
@@ -4703,7 +4204,6 @@ default 1.5 turns per second
0.6
2
0.01
- modules/mc_att_control
Max yaw rate in auto mode
@@ -4713,7 +4213,6 @@ default 1.5 turns per second
deg/s
1
5
- modules/mc_att_control
Yaw P gain
@@ -4723,7 +4222,6 @@ default 1.5 turns per second
1/s
2
0.1
- modules/mc_att_control
Yaw rate integrator limit
@@ -4731,7 +4229,6 @@ default 1.5 turns per second
0.0
2
0.01
- modules/mc_att_control
@@ -4742,7 +4239,6 @@ default 1.5 turns per second
m/s/s
2
1
- modules/mc_pos_control
Acceleration for auto and for manual
@@ -4751,7 +4247,6 @@ default 1.5 turns per second
m/s/s
2
1
- modules/mc_pos_control
Horizontal acceleration in manual modes when te estimator speed limit is removed.
@@ -4763,7 +4258,6 @@ the vehicle will accelerate at this rate until the normal position control speed
m/s/s
1
0.1
- modules/mc_pos_control
Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
@@ -4772,7 +4266,6 @@ the vehicle will accelerate at this rate until the normal position control speed
m/s/s
2
1
- modules/mc_pos_control
Maximum vertical acceleration in velocity controlled modes upward
@@ -4781,14 +4274,12 @@ the vehicle will accelerate at this rate until the normal position control speed
m/s/s
2
1
- modules/mc_pos_control
Altitude control mode
Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
0
2
- modules/mc_pos_control
Altitude following
Terrain following
@@ -4804,7 +4295,6 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
m/s
2
1
- modules/mc_pos_control
Slow horizontal manual deceleration for manual mode
@@ -4813,14 +4303,12 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
m/s/s
2
1
- modules/mc_pos_control
Deadzone of sticks where position hold is enabled
0.0
1.0
2
- modules/mc_pos_control
Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
@@ -4828,7 +4316,6 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
3.0
m/s
2
- modules/mc_pos_control
Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
@@ -4836,7 +4323,6 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
3.0
m/s
2
- modules/mc_pos_control
Delay from idle state to arming state
@@ -4844,7 +4330,6 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
0
10
sec
- modules/mc_pos_control
Maximum jerk in manual controlled mode for BRAKING to zero.
@@ -4858,7 +4343,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
m/s/s/s
2
1
- modules/mc_pos_control
Minimum jerk in manual controlled mode for BRAKING to zero
@@ -4867,7 +4351,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
m/s/s/s
2
1
- modules/mc_pos_control
Altitude for 1. step of slow landing (descend)
@@ -4876,7 +4359,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
122
m
1
- modules/mc_pos_control
Altitude for 2. step of slow landing (landing)
@@ -4885,14 +4367,12 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
122
m
1
- modules/mc_pos_control
Landing descend rate
0.6
m/s
1
- modules/mc_pos_control
Maximum manual thrust
@@ -4902,7 +4382,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
norm
2
0.01
- modules/mc_pos_control
Minimum manual thrust
@@ -4912,7 +4391,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
norm
2
0.01
- modules/mc_pos_control
Maximal tilt angle in manual or altitude mode
@@ -4920,7 +4398,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
90.0
deg
1
- modules/mc_pos_control
Max manual yaw rate
@@ -4928,20 +4405,17 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
400
deg/s
1
- modules/mc_pos_control
Flag to enable obstacle avoidance
Temporary Parameter to enable interface testing
- modules/mc_pos_control
Manual-Position control sub-mode
The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX)
0
2
- modules/mc_pos_control
Default position control
Smooth position control
@@ -4956,7 +4430,6 @@ Temporary Parameter to enable interface testing
norm
2
0.01
- modules/mc_pos_control
Maximum thrust in auto thrust control
@@ -4966,7 +4439,6 @@ Temporary Parameter to enable interface testing
norm
2
0.01
- modules/mc_pos_control
Minimum thrust in auto thrust control
@@ -4976,7 +4448,6 @@ Temporary Parameter to enable interface testing
norm
2
0.01
- modules/mc_pos_control
Maximum tilt angle in air
@@ -4985,7 +4456,6 @@ Temporary Parameter to enable interface testing
90.0
deg
1
- modules/mc_pos_control
Maximum tilt during landing
@@ -4994,14 +4464,12 @@ Temporary Parameter to enable interface testing
90.0
deg
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.
0.1
1
- modules/mc_pos_control
Takeoff climb rate
@@ -5009,7 +4477,6 @@ Temporary Parameter to enable interface testing
5
m/s
2
- modules/mc_pos_control
Low pass filter cut freq. for numerical velocity derivative
@@ -5017,7 +4484,6 @@ Temporary Parameter to enable interface testing
10
Hz
2
- modules/mc_pos_control
Maximum horizontal velocity setpoint for manual controlled mode
@@ -5028,7 +4494,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m/s
2
1
- modules/mc_pos_control
Maximum horizontal velocity in mission
@@ -5038,7 +4503,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m/s
2
1
- modules/mc_pos_control
Manual control stick exponential curve sensitivity attenuation with small velocity setpoints
@@ -5046,21 +4510,18 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0
1
2
- modules/mc_pos_control
Proportional gain for horizontal position error
0.0
2.0
2
- 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
- modules/mc_pos_control
Integral gain for horizontal velocity error
@@ -5068,7 +4529,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
0.1
3
- modules/mc_pos_control
Maximum horizontal velocity
@@ -5078,14 +4538,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m/s
2
1
- modules/mc_pos_control
Proportional gain for horizontal velocity error
0.06
0.15
2
- modules/mc_pos_control
Manual control stick yaw rotation exponential curve
@@ -5093,7 +4551,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0
1
2
- modules/mc_pos_control
Manual control stick vertical exponential curve
@@ -5101,21 +4558,18 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0
1
2
- modules/mc_pos_control
Proportional gain for vertical position error
0.0
1.5
2
- modules/mc_pos_control
Differential gain for vertical velocity error
0.0
0.1
3
- modules/mc_pos_control
Integral gain for vertical velocity error
@@ -5123,7 +4577,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.01
0.1
3
- modules/mc_pos_control
Maximum vertical descent velocity
@@ -5131,7 +4584,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.5
4.0
m/s
- modules/mc_pos_control
Maximum vertical ascent velocity
@@ -5140,33 +4592,28 @@ the setpoint will be capped to MPC_XY_VEL_MAX
8.0
m/s
1
- modules/mc_pos_control
Proportional gain for vertical velocity error
0.1
0.4
2
- modules/mc_pos_control
Enable weathervane
- lib/WeatherVane
Minimum roll angle setpoint for weathervane controller to demand a yaw-rate
0
5
deg
- lib/WeatherVane
Maximum yawrate the weathervane controller is allowed to demand
0
120
deg/s
- lib/WeatherVane
@@ -5175,7 +4622,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. ONLY supported for fmu output (Pixracer or Omnibus F4). When changing this, make sure to test the motor response without props first.
0
1
- drivers/px4fmu
PX4
Betaflight / Cleanflight
@@ -5186,7 +4632,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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)
- modules/sensors
Set the disarmed PWM for the auxiliary 1 output
@@ -5195,7 +4640,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 2 output
@@ -5204,7 +4648,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 3 output
@@ -5213,7 +4656,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 4 output
@@ -5222,7 +4664,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 5 output
@@ -5231,7 +4672,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 6 output
@@ -5240,7 +4680,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 7 output
@@ -5249,7 +4688,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the auxiliary 8 output
@@ -5258,7 +4696,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for auxiliary outputs
@@ -5267,7 +4704,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 1 output
@@ -5276,7 +4712,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 2 output
@@ -5285,7 +4720,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 3 output
@@ -5294,7 +4728,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 4 output
@@ -5303,7 +4736,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 5 output
@@ -5312,7 +4744,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 6 output
@@ -5321,7 +4752,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 7 output
@@ -5330,7 +4760,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the auxiliary 8 output
@@ -5339,7 +4768,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the maximum PWM for the auxiliary outputs
@@ -5348,7 +4776,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 1 output
@@ -5357,7 +4784,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 2 output
@@ -5366,7 +4792,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 3 output
@@ -5375,7 +4800,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 4 output
@@ -5384,7 +4808,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 5 output
@@ -5393,7 +4816,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 6 output
@@ -5402,7 +4824,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 7 output
@@ -5411,7 +4832,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the auxiliary 8 output
@@ -5420,7 +4840,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the minimum PWM for the auxiliary outputs
@@ -5429,7 +4848,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1400
us
true
- modules/sensors
Set the min PWM value for the auxiliary 1 output
@@ -5438,7 +4856,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 2 output
@@ -5447,7 +4864,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 3 output
@@ -5456,7 +4872,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 4 output
@@ -5465,7 +4880,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 5 output
@@ -5474,7 +4888,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 6 output
@@ -5483,7 +4896,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 7 output
@@ -5492,7 +4904,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the auxiliary 8 output
@@ -5501,7 +4912,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the PWM output frequency for the auxiliary outputs
@@ -5510,55 +4920,46 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2000
Hz
true
- modules/sensors
Invert direction of auxiliary output channel 1
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 2
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 3
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 4
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 5
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 6
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 7
Enable to invert the channel.
- modules/sensors
Invert direction of auxiliary output channel 8
Enable to invert the channel.
- modules/sensors
Trim value for auxiliary output channel 1
@@ -5566,7 +4967,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 2
@@ -5574,7 +4974,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 3
@@ -5582,7 +4981,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 4
@@ -5590,7 +4988,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 5
@@ -5598,7 +4995,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 6
@@ -5606,7 +5002,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 7
@@ -5614,7 +5009,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for auxiliary output channel 8
@@ -5622,7 +5016,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Set the disarmed PWM for the main outputs
@@ -5631,7 +5024,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 1 output
@@ -5640,7 +5032,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 2 output
@@ -5649,7 +5040,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 3 output
@@ -5658,7 +5048,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 4 output
@@ -5667,7 +5056,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 5 output
@@ -5676,7 +5064,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 6 output
@@ -5685,7 +5072,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 7 output
@@ -5694,7 +5080,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the disarmed PWM for the main 8 output
@@ -5703,7 +5088,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 1 output
@@ -5712,7 +5096,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 2 output
@@ -5721,7 +5104,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 3 output
@@ -5730,7 +5112,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 4 output
@@ -5739,7 +5120,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 5 output
@@ -5748,7 +5128,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 6 output
@@ -5757,7 +5136,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 7 output
@@ -5766,7 +5144,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the failsafe PWM for the main 8 output
@@ -5775,7 +5152,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 1 output
@@ -5784,7 +5160,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 2 output
@@ -5793,7 +5168,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 3 output
@@ -5802,7 +5176,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 4 output
@@ -5811,7 +5184,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 5 output
@@ -5820,7 +5192,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 6 output
@@ -5829,7 +5200,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 7 output
@@ -5838,7 +5208,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the max PWM value for the main 8 output
@@ -5847,7 +5216,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 1 output
@@ -5856,7 +5224,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 2 output
@@ -5865,7 +5232,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 3 output
@@ -5874,7 +5240,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 4 output
@@ -5883,7 +5248,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 5 output
@@ -5892,7 +5256,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 6 output
@@ -5901,7 +5264,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 7 output
@@ -5910,7 +5272,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the min PWM value for the main 8 output
@@ -5919,55 +5280,46 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Invert direction of main output channel 1
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 2
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 3
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 4
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 5
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 6
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 7
Enable to invert the channel.
- modules/sensors
Invert direction of main output channel 8
Enable to invert the channel.
- modules/sensors
Trim value for main output channel 1
@@ -5975,7 +5327,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 2
@@ -5983,7 +5334,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 3
@@ -5991,7 +5341,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 4
@@ -5999,7 +5348,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 5
@@ -6007,7 +5355,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 6
@@ -6015,7 +5362,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 7
@@ -6023,7 +5369,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Trim value for main output channel 8
@@ -6031,7 +5376,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-0.2
0.2
2
- modules/sensors
Set the maximum PWM for the main outputs
@@ -6040,7 +5384,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2200
us
true
- modules/sensors
Set the minimum PWM for the main outputs
@@ -6049,7 +5392,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1400
us
true
- modules/sensors
Set the PWM output frequency for the main outputs
@@ -6058,20 +5400,17 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
- modules/sensors
@@ -6080,14 +5419,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.
0.001
0.1
- 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
- examples/bottle_drop
Payload mass
@@ -6095,7 +5432,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.001
5.0
kg
- examples/bottle_drop
Payload front surface area
@@ -6103,7 +5439,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.001
0.5
m^2
- examples/bottle_drop
Drop precision
@@ -6111,7 +5446,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1.0
80.0
m
- examples/bottle_drop
Plane turn radius
@@ -6119,7 +5453,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
30.0
500.0
m
- examples/bottle_drop
@@ -6129,7 +5462,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0
328754
true
- modules/position_estimator_inav
GPS delay
@@ -6137,12 +5469,10 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
1.0
s
- modules/position_estimator_inav
Mo-cap
Set to 0 if using fake GPS
- modules/position_estimator_inav
Mo-cap enabled
Mo-cap disabled
@@ -6154,7 +5484,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-1.0
1.0
m
- modules/position_estimator_inav
Flow module offset (center of rotation) in Y direction
@@ -6162,21 +5491,18 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-1.0
1.0
m
- modules/position_estimator_inav
Optical flow scale factor
Factor to scale optical flow
0.0
10.0
- modules/position_estimator_inav
Minimal acceptable optical flow quality
0 - lowest quality, 1 - best quality.
0.0
1.0
- modules/position_estimator_inav
Land detector altitude dispersion threshold
@@ -6184,7 +5510,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
10.0
m
- modules/position_estimator_inav
Land detector time
@@ -6192,14 +5517,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
10.0
s
- modules/position_estimator_inav
Land detector throttle threshold
Value should be lower than minimal hovering thrust. Half of it is good choice.
0.0
1.0
- modules/position_estimator_inav
Sonar maximal error for new surface
@@ -6207,12 +5530,10 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
1.0
m
- modules/position_estimator_inav
LIDAR for altitude estimation
- modules/position_estimator_inav
LIDAR calibration offset
@@ -6220,105 +5541,90 @@ the setpoint will be capped to MPC_XY_VEL_MAX
-20
20
m
- modules/position_estimator_inav
Accelerometer bias estimation weight
Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
0.0
0.1
- 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
1.0
- 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 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 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 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
Z axis weight for barometer
Weight (cutoff frequency) for barometer altitude measurements.
0.0
10.0
- 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.
0.0
10.0
- modules/position_estimator_inav
Z velocity weight for GPS
Weight (cutoff frequency) for GPS altitude velocity measurements.
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
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
@@ -6330,7 +5636,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
s
1
0.5
- modules/navigator
Final approach altitude
@@ -6340,7 +5645,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
2
0.1
- modules/navigator
Horizontal acceptance radius
@@ -6350,14 +5654,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
2
0.1
- modules/navigator
Maximum number of search attempts
Maximum number of times to seach for the landing target if it is lost during the precision landing.
0
100
- modules/navigator
Search altitude
@@ -6367,7 +5669,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
1
0.1
- modules/navigator
Search timeout
@@ -6377,14 +5678,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
s
1
0.1
- modules/navigator
RC receiver type
Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,
- platforms/qurt/fc_addon/rc_receiver
@@ -6393,7 +5692,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
- modules/sensors
RC channel 10 maximum
@@ -6401,7 +5699,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 10 minimum
@@ -6409,14 +5706,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 10 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6428,14 +5723,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- 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 11 maximum
@@ -6443,7 +5736,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 11 minimum
@@ -6451,14 +5743,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 11 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6470,14 +5760,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6485,7 +5773,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 12 minimum
@@ -6493,14 +5780,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 12 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6512,14 +5797,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6527,7 +5810,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 13 minimum
@@ -6535,14 +5817,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 13 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6554,14 +5834,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6569,7 +5847,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 14 minimum
@@ -6577,14 +5854,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 14 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6596,14 +5871,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6611,7 +5884,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 15 minimum
@@ -6619,14 +5891,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 15 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6638,14 +5908,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 16 maximum
@@ -6653,7 +5921,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 16 minimum
@@ -6661,14 +5928,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 16 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6680,14 +5945,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6695,7 +5958,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 17 minimum
@@ -6703,14 +5965,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 17 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6722,14 +5982,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 18 maximum
@@ -6737,7 +5995,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 18 minimum
@@ -6745,14 +6002,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 18 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6764,7 +6019,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
RC channel 1 dead zone
@@ -6772,7 +6026,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
100.0
us
- modules/sensors
RC channel 1 maximum
@@ -6780,7 +6033,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 1 minimum
@@ -6788,14 +6040,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 1 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6807,7 +6057,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
RC channel 2 dead zone
@@ -6815,7 +6064,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
100.0
us
- modules/sensors
RC channel 2 maximum
@@ -6823,7 +6071,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 2 minimum
@@ -6831,14 +6078,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 2 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6850,7 +6095,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
RC channel 3 dead zone
@@ -6858,7 +6102,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
100.0
us
- modules/sensors
RC channel 3 maximum
@@ -6866,7 +6109,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 3 minimum
@@ -6874,14 +6116,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 3 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6893,7 +6133,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
RC channel 4 dead zone
@@ -6901,7 +6140,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.0
100.0
us
- modules/sensors
RC channel 4 maximum
@@ -6909,7 +6147,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 4 minimum
@@ -6917,14 +6154,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 4 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6936,14 +6171,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
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
@@ -6951,7 +6184,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 5 minimum
@@ -6959,14 +6191,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 5 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -6978,14 +6208,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 6 maximum
@@ -6993,7 +6221,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 6 minimum
@@ -7001,14 +6228,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 6 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -7020,14 +6245,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- 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
- modules/sensors
RC channel 7 maximum
@@ -7035,7 +6258,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 7 minimum
@@ -7043,14 +6265,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 7 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -7062,14 +6282,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 8 maximum
@@ -7077,7 +6295,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 8 minimum
@@ -7085,14 +6302,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 8 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -7104,14 +6319,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- 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 9 maximum
@@ -7119,7 +6332,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1500.0
2200.0
us
- modules/sensors
RC channel 9 minimum
@@ -7127,14 +6339,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
1500.0
us
- modules/sensors
RC channel 9 reverse
Set to -1 to reverse channel.
-1.0
1.0
- modules/sensors
Reverse
Normal
@@ -7146,14 +6356,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
800.0
2200.0
us
- modules/sensors
RC channel count
This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.
0
18
- modules/sensors
Failsafe channel PWM threshold
@@ -7161,28 +6369,24 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0
2200
us
- 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. Set to 0 to disable the filter.
0
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
Unassigned
Channel 1
@@ -7210,7 +6414,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Default function: Camera roll
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7238,7 +6441,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Default function: Camera azimuth / yaw
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7265,7 +6467,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
AUX4 Passthrough RC channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7292,7 +6493,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
AUX5 Passthrough RC channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7320,7 +6520,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7348,7 +6547,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7376,7 +6574,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7404,7 +6601,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7432,7 +6628,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7460,7 +6655,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7488,7 +6682,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7516,7 +6709,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7544,7 +6736,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
0
18
- drivers/px4io
Unassigned
Channel 1
@@ -7572,14 +6763,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Only used if RC_RSSI_PWM_CHAN > 0
0
2000
- drivers/px4io
Min input value for RSSI reading
Only used if RC_RSSI_PWM_CHAN > 0
0
2000
- drivers/px4io
Pitch trim
@@ -7588,7 +6777,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.25
2
0.01
- modules/commander
Roll trim
@@ -7597,7 +6785,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.25
2
0.01
- modules/commander
Yaw trim
@@ -7606,7 +6793,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
0.25
2
0.01
- modules/commander
@@ -7615,62 +6801,53 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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
Unassigned
Channel 1
@@ -7698,7 +6875,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7725,7 +6901,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Flaps channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7753,7 +6928,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7780,7 +6954,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Landing gear switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7807,7 +6980,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Kill switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7834,7 +7006,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Loiter switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7861,7 +7032,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Manual switch channel mapping
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7889,7 +7059,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 1
@@ -7916,7 +7085,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Offboard switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7943,7 +7111,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Position Control switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7970,7 +7137,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Rattitude switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -7997,7 +7163,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Return switch channel
0
18
- modules/sensors
Unassigned
Channel 1
@@ -8024,7 +7189,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Stabilize switch channel mapping
0
18
- modules/sensors
Unassigned
Channel 1
@@ -8051,7 +7215,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
VTOL transition switch channel mapping
0
18
- modules/sensors
Unassigned
Channel 1
@@ -8079,42 +7242,36 @@ the setpoint will be capped to MPC_XY_VEL_MAX
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 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 rattitude 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
-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
-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
@@ -8126,7 +7283,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
1
0.5
- modules/navigator
Return mode delay
@@ -8136,7 +7292,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
s
1
0.5
- modules/navigator
Minimum distance to trigger rising to a safe altitude
@@ -8146,7 +7301,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
1
0.5
- modules/navigator
RTL altitude
@@ -8156,14 +7310,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX
m
1
0.5
- modules/navigator
Return type
Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.
- modules/navigator
Return home via direct path
Return to a planned mission landing, if available, via direct path, else return to home via direct path
@@ -8181,14 +7333,12 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
norm
2
0.01
- modules/fw_pos_control_l1/runway_takeoff
Specifies which heading should be held during runnway takeoff
0: airframe heading, 1: heading towards takeoff waypoint
0
1
- modules/fw_pos_control_l1/runway_takeoff
Airframe
Waypoint
@@ -8203,7 +7353,6 @@ pitch of 10 degrees during takeoff, so this must be larger if set
deg
1
0.5
- modules/fw_pos_control_l1/runway_takeoff
Max roll during climbout.
@@ -8214,7 +7363,6 @@ navigation before we're on a safe height
deg
1
0.5
- modules/fw_pos_control_l1/runway_takeoff
Max throttle during runway takeoff.
@@ -8224,7 +7372,6 @@ navigation before we're on a safe height
norm
2
0.01
- modules/fw_pos_control_l1/runway_takeoff
Altitude AGL at which we have enough ground clearance to allow some roll.
@@ -8236,7 +7383,6 @@ FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0
m
1
1
- modules/fw_pos_control_l1/runway_takeoff
Pitch setpoint during taxi / before takeoff airspeed is reached.
@@ -8248,12 +7394,10 @@ to takeoff is reached
deg
1
0.5
- modules/fw_pos_control_l1/runway_takeoff
Runway takeoff with landing gear
- modules/fw_pos_control_l1/runway_takeoff
@@ -8263,7 +7407,6 @@ to takeoff is reached
0
1000
true
- modules/logger
Logging Mode
@@ -8271,7 +7414,6 @@ to takeoff is reached
0
2
true
- modules/logger
when armed until disarm (default)
from boot until disarm
@@ -8284,7 +7426,6 @@ to takeoff is reached
0
127
true
- modules/logger
Default set (general log analysis)
Estimator replay (EKF2)
@@ -8301,13 +7442,11 @@ to takeoff is reached
-1000
1000
min
- modules/logger
Log UUID
If set to 1, add an ID to the log, which uniquely identifies the vehicle
- modules/logger
@@ -8317,228 +7456,174 @@ to takeoff is reached
86400
s
1
- modules/simulator
Accelerometer 0 enabled
- modules/sensors
ID of the Accelerometer that the calibration is for
- modules/sensors
Accelerometer X-axis offset
- modules/sensors
Accelerometer X-axis scaling factor
- modules/sensors
Accelerometer Y-axis offset
- modules/sensors
Accelerometer Y-axis scaling factor
- modules/sensors
Accelerometer Z-axis offset
- modules/sensors
Accelerometer Z-axis scaling factor
- modules/sensors
Accelerometer 1 enabled
- modules/sensors
ID of the Accelerometer that the calibration is for
- modules/sensors
Accelerometer X-axis offset
- modules/sensors
Accelerometer X-axis scaling factor
- modules/sensors
Accelerometer Y-axis offset
- modules/sensors
Accelerometer Y-axis scaling factor
- modules/sensors
Accelerometer Z-axis offset
- modules/sensors
Accelerometer Z-axis scaling factor
- modules/sensors
Accelerometer 2 enabled
- modules/sensors
ID of the Accelerometer that the calibration is for
- modules/sensors
Accelerometer X-axis offset
- modules/sensors
Accelerometer X-axis scaling factor
- modules/sensors
Accelerometer Y-axis offset
- modules/sensors
Accelerometer Y-axis scaling factor
- modules/sensors
Accelerometer Z-axis offset
- modules/sensors
Accelerometer Z-axis scaling factor
- modules/sensors
Primary accel ID
- modules/sensors
Primary baro ID
- modules/sensors
Gyro 0 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
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
Gyro 2 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
Primary gyro ID
- modules/sensors
Mag 0 enabled
- modules/sensors
ID of Magnetometer the calibration is for
- modules/sensors
Rotation of magnetometer 0 relative to airframe
@@ -8546,7 +7631,6 @@ to takeoff is reached
-1
30
true
- modules/sensors
Internal mag
No rotation
@@ -8579,36 +7663,28 @@ to takeoff is reached
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 Z-axis scaling factor
- modules/sensors
Mag 1 enabled
- modules/sensors
ID of Magnetometer the calibration is for
- modules/sensors
Rotation of magnetometer 1 relative to airframe
@@ -8616,7 +7692,6 @@ to takeoff is reached
-1
30
true
- modules/sensors
Internal mag
No rotation
@@ -8649,36 +7724,28 @@ to takeoff is reached
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 Z-axis scaling factor
- modules/sensors
Mag 2 enabled
- modules/sensors
ID of Magnetometer the calibration is for
- modules/sensors
Rotation of magnetometer 2 relative to airframe
@@ -8686,7 +7753,6 @@ to takeoff is reached
-1
30
true
- modules/sensors
Internal mag
No rotation
@@ -8719,36 +7785,28 @@ to takeoff is reached
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 Z-axis scaling factor
- modules/sensors
Mag 3 enabled
- modules/sensors
ID of Magnetometer the calibration is for
- modules/sensors
Rotation of magnetometer 2 relative to airframe
@@ -8756,7 +7814,6 @@ to takeoff is reached
-1
30
true
- modules/sensors
Internal mag
No rotation
@@ -8789,41 +7846,32 @@ to takeoff is reached
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 Z-axis scaling factor
- modules/sensors
Primary mag ID
- 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
Differential pressure sensor offset
The offset (zero-reading) in Pascal
- modules/sensors
Maximum height above ground when reliant on optical flow
@@ -8833,7 +7881,6 @@ to takeoff is reached
m
1
0.1
- modules/sensors
Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.
@@ -8843,7 +7890,6 @@ is less than 50% of this value
1.0
rad/s
2
- modules/sensors
Minimum height above ground when reliant on optical flow
@@ -8853,14 +7899,12 @@ is less than 50% of this value
m
1
0.1
- modules/sensors
Airspeed sensor compensation model for the SDP3x
Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
- modules/sensors
Model with Pitot
Model without Pitot (1.5 mm tubes)
@@ -8872,7 +7916,6 @@ is less than 50% of this value
0.1
100
millimeter
- modules/sensors
Airspeed sensor tube length
@@ -8880,14 +7923,12 @@ is less than 50% of this value
0.01
2.00
meter
- modules/sensors
Bitfield selecting mag sides for calibration
DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32
34
63
- modules/sensors
Two side calibration
Three side calibration
@@ -8901,7 +7942,6 @@ is less than 50% of this value
1000
Hz
true
- modules/sensors
Driver level cutoff frequency for gyro
@@ -8910,20 +7950,17 @@ is less than 50% of this value
1000
Hz
true
- modules/sensors
QNH for barometer
500
1500
hPa
- modules/sensors
Board rotation
This parameter defines the rotation of the FMU board relative to the platform.
true
- modules/sensors
No rotation
Yaw 45°
@@ -8966,32 +8003,27 @@ is less than 50% of this value
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 Y (Pitch) offset
This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.
deg
- modules/sensors
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
LeddarOne rangefinder
true
- drivers/distance_sensor/leddar_one
Lidar-Lite (LL40LS)
0
2
true
- drivers/distance_sensor/ll40ls
Disabled
PWM
@@ -9002,20 +8034,17 @@ is less than 50% of this value
Maxbotix Sonar (mb12xx)
true
- drivers/distance_sensor/mb12xx
PGA460 Ultrasonic driver (PGA460)
true
- drivers/distance_sensor/pga460
Lightware laser rangefinder (serial)
0
4
true
- drivers/distance_sensor/sf0x
Disabled
SF02
@@ -9030,7 +8059,6 @@ is less than 50% of this value
0
5
true
- drivers/distance_sensor/sf1xx
Disabled
SF10/a
@@ -9044,11 +8072,9 @@ is less than 50% of this value
Benewake TFmini laser rangefinder
true
- drivers/distance_sensor/tfmini
Thermal control of sensor temperature
- modules/sensors
Thermal control unavailable
Thermal control off
@@ -9059,7 +8085,6 @@ is less than 50% of this value
0
3
true
- drivers/distance_sensor/teraranger
Disabled
Autodetect
@@ -9072,7 +8097,6 @@ is less than 50% of this value
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°
@@ -9090,7 +8114,6 @@ is less than 50% of this value
85.0
C
3
- drivers/heater
IMU heater controller feedforward value
@@ -9098,7 +8121,6 @@ is less than 50% of this value
1.0
microseconds
3
- drivers/heater
IMU heater controller integrator gain value
@@ -9106,7 +8128,6 @@ is less than 50% of this value
1.0
microseconds/C
3
- drivers/heater
IMU heater controller proportional gain value
@@ -9114,23 +8135,19 @@ is less than 50% of this value
1.0
microseconds/C
3
- drivers/heater
Target IMU device ID to regulate temperature
- drivers/heater
ESC UART baud rate
Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products.
- platforms/qurt/fc_addon/uart_esc
ESC model
See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values.
- platforms/qurt/fc_addon/uart_esc
ESC_200QX
ESC_350QX
@@ -9139,52 +8156,42 @@ is less than 50% of this value
Motor 1 Mapping
- platforms/qurt/fc_addon/uart_esc
Motor 2 Mapping
- platforms/qurt/fc_addon/uart_esc
Motor 3 Mapping
- platforms/qurt/fc_addon/uart_esc
Motor 4 Mapping
- platforms/qurt/fc_addon/uart_esc
Interval of one subscriber in the example in ms
ms
- examples/subscriber
Float Demonstration Parameter in the Example
- examples/subscriber
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
125
- modules/syslink
Operating datarate of the NRF51
0
2
- modules/syslink
@@ -9193,14 +8200,12 @@ is less than 50% of this value
Set to 0 to disable, 1 for minimum brightness up to 15 (max)
0
15
- drivers/rgbled
Automatically configure default values
Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.
0
1
- modules/systemlib
Keep parameters
Reset parameters
@@ -9212,54 +8217,46 @@ is less than 50% of this value
0
99999
true
- modules/systemlib
Bootloader update
If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card
true
- modules/systemlib
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
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)
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
TELEM2 as companion computer link
@@ -9267,7 +8264,6 @@ is less than 50% of this value
0
6460800
true
- modules/systemlib
Disabled
FrSky Telemetry
@@ -9295,28 +8291,24 @@ is less than 50% of this value
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
Control if the vehicle has a barometer
Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.
true
- modules/systemlib
Control if the vehicle has a magnetometer
Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.
true
- modules/systemlib
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
Set multicopter estimator group
@@ -9324,7 +8316,6 @@ is less than 50% of this value
1
2
true
- modules/systemlib
local_position_estimator, attitude_estimator_q
ekf2
@@ -9334,14 +8325,12 @@ is less than 50% of this value
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
- modules/systemlib
Set restart type
Set by px4io to indicate type of restart
0
2
- modules/systemlib
Data survives resets
Data survives in-flight resets only
@@ -9351,7 +8340,6 @@ is less than 50% of this value
Enable stack checking
- modules/systemlib
Set usage of IO board
@@ -9360,692 +8348,523 @@ is less than 50% of this value
1
true
- drivers/px4io
TEST_1
- systemcmds/tests
TEST_2
- systemcmds/tests
TEST_3
- systemcmds/tests
TEST_D
- lib/controllib/controllib_test
TEST_DEV
- lib/controllib/controllib_test
TEST_D_LP
- lib/controllib/controllib_test
TEST_HP
- lib/controllib/controllib_test
TEST_I
- lib/controllib/controllib_test
TEST_I_MAX
- lib/controllib/controllib_test
TEST_LP
- lib/controllib/controllib_test
TEST_MAX
- lib/controllib/controllib_test
TEST_MEAN
- lib/controllib/controllib_test
TEST_MIN
- lib/controllib/controllib_test
TEST_P
- lib/controllib/controllib_test
TEST_PARAMS
- systemcmds/tests
TEST_RC2_X
- systemcmds/tests
TEST_RC_X
- systemcmds/tests
TEST_TRIM
- lib/controllib/controllib_test
ID of Accelerometer that the calibration is for
- modules/sensors
Accelerometer scale factor - X axis
- modules/sensors
Accelerometer scale factor - Y axis
- modules/sensors
Accelerometer scale factor - Z axis
- modules/sensors
Accelerometer calibration maximum temperature
- modules/sensors
Accelerometer calibration minimum temperature
- modules/sensors
Accelerometer calibration reference temperature
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
ID of Accelerometer that the calibration is for
- modules/sensors
Accelerometer scale factor - X axis
- modules/sensors
Accelerometer scale factor - Y axis
- modules/sensors
Accelerometer scale factor - Z axis
- modules/sensors
Accelerometer calibration maximum temperature
- modules/sensors
Accelerometer calibration minimum temperature
- modules/sensors
Accelerometer calibration reference temperature
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
ID of Accelerometer that the calibration is for
- modules/sensors
Accelerometer scale factor - X axis
- modules/sensors
Accelerometer scale factor - Y axis
- modules/sensors
Accelerometer scale factor - Z axis
- modules/sensors
Accelerometer calibration maximum temperature
- modules/sensors
Accelerometer calibration minimum temperature
- modules/sensors
Accelerometer calibration reference temperature
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
Thermal compensation for accelerometer sensors
0
1
- modules/sensors
ID of Barometer that the calibration is for
- modules/sensors
Barometer scale factor - X axis
- modules/sensors
Barometer calibration maximum temperature
- modules/sensors
Barometer calibration minimum temperature
- modules/sensors
Barometer calibration reference temperature
- modules/sensors
Barometer offset temperature ^0 polynomial coefficient
- modules/sensors
Barometer offset temperature ^1 polynomial coefficients
- modules/sensors
Barometer offset temperature ^2 polynomial coefficient
- modules/sensors
Barometer offset temperature ^3 polynomial coefficient
- modules/sensors
Barometer offset temperature ^4 polynomial coefficient
- modules/sensors
Barometer offset temperature ^5 polynomial coefficient
- modules/sensors
ID of Barometer that the calibration is for
- modules/sensors
Barometer scale factor - X axis
- modules/sensors
Barometer calibration maximum temperature
- modules/sensors
Barometer calibration minimum temperature
- modules/sensors
Barometer calibration reference temperature
- modules/sensors
Barometer offset temperature ^0 polynomial coefficient
- modules/sensors
Barometer offset temperature ^1 polynomial coefficients
- modules/sensors
Barometer offset temperature ^2 polynomial coefficient
- modules/sensors
Barometer offset temperature ^3 polynomial coefficient
- modules/sensors
Barometer offset temperature ^4 polynomial coefficient
- modules/sensors
Barometer offset temperature ^5 polynomial coefficient
- modules/sensors
ID of Barometer that the calibration is for
- modules/sensors
Barometer scale factor - X axis
- modules/sensors
Barometer calibration maximum temperature
- modules/sensors
Barometer calibration minimum temperature
- modules/sensors
Barometer calibration reference temperature
- modules/sensors
Barometer offset temperature ^0 polynomial coefficient
- modules/sensors
Barometer offset temperature ^1 polynomial coefficients
- modules/sensors
Barometer offset temperature ^2 polynomial coefficient
- modules/sensors
Barometer offset temperature ^3 polynomial coefficient
- modules/sensors
Barometer offset temperature ^4 polynomial coefficient
- modules/sensors
Barometer offset temperature ^5 polynomial coefficient
- modules/sensors
Thermal compensation for barometric pressure sensors
0
1
- modules/sensors
ID of Gyro that the calibration is for
- modules/sensors
Gyro scale factor - X axis
- modules/sensors
Gyro scale factor - Y axis
- modules/sensors
Gyro scale factor - Z axis
- modules/sensors
Gyro calibration maximum temperature
- modules/sensors
Gyro calibration minimum temperature
- modules/sensors
Gyro calibration reference temperature
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
ID of Gyro that the calibration is for
- modules/sensors
Gyro scale factor - X axis
- modules/sensors
Gyro scale factor - Y axis
- modules/sensors
Gyro scale factor - Z axis
- modules/sensors
Gyro calibration maximum temperature
- modules/sensors
Gyro calibration minimum temperature
- modules/sensors
Gyro calibration reference temperature
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
ID of Gyro that the calibration is for
- modules/sensors
Gyro scale factor - X axis
- modules/sensors
Gyro scale factor - Y axis
- modules/sensors
Gyro scale factor - Z axis
- modules/sensors
Gyro calibration maximum temperature
- modules/sensors
Gyro calibration minimum temperature
- modules/sensors
Gyro calibration reference temperature
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - X axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
- modules/sensors
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
- modules/sensors
Thermal compensation for rate gyro sensors
0
1
- modules/sensors
@@ -10053,27 +8872,23 @@ is less than 50% of this value
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/uavcannode
UAVCAN CAN bus bitrate
20000
1000000
- modules/uavcanesc
UAVCAN Node ID
Read the specs at http://uavcan.org to learn more about Node ID.
1
125
- modules/uavcanesc
UAVCAN CAN bus bitrate
@@ -10081,7 +8896,6 @@ is less than 50% of this value
1000000
bit/s
true
- modules/uavcan
UAVCAN mode
@@ -10089,7 +8903,6 @@ is less than 50% of this value
0
3
true
- modules/uavcan
Disabled
Sensors Manual Config
@@ -10101,7 +8914,6 @@ is less than 50% of this value
UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints
true
- modules/uavcan
UAVCAN Node ID
@@ -10109,7 +8921,6 @@ is less than 50% of this value
1
125
true
- modules/uavcan
@@ -10121,7 +8932,6 @@ is less than 50% of this value
m/s
2
1
- modules/vtol_att_control
Transition airspeed
@@ -10131,7 +8941,6 @@ is less than 50% of this value
m/s
2
1
- modules/vtol_att_control
Approximate deceleration during back transition
@@ -10141,7 +8950,6 @@ is less than 50% of this value
m/s/s
2
1
- modules/vtol_att_control
Delay in seconds before applying back transition throttle
@@ -10151,7 +8959,6 @@ Set this to a value greater than 0 to give the motor time to spin down10
2
1
- modules/vtol_att_control
Output on airbrakes channel during back transition
@@ -10161,7 +8968,6 @@ Airbrakes need to be enables for your selected model/mixer
1
2
0.01
- modules/vtol_att_control
Duration of a back transition
@@ -10171,7 +8977,6 @@ Airbrakes need to be enables for your selected model/mixer
s
2
1
- modules/vtol_att_control
Back transition MC motor ramp up time
@@ -10179,7 +8984,6 @@ Airbrakes need to be enables for your selected model/mixer
0.0
20.0
s
- modules/vtol_att_control
Target throttle value for the transition to hover flight.
@@ -10190,7 +8994,6 @@ tailsitter, tiltrotor: main throttle
1
2
0.01
- modules/vtol_att_control
Maximum allowed down-pitch the controller is able to demand. This prevents large, negative
@@ -10198,27 +9001,23 @@ lift values being created when facing strong winds. The vehicle will use the pus
to accelerate forward if necessary
0.0
45.0
- modules/vtol_att_control
Lock elevons in multicopter mode
If set to 1 the elevons are locked in multicopter mode
- 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
- modules/vtol_att_control
Adaptive QuadChute
Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL.
0.0
200.0
- modules/vtol_att_control
Differential thrust in forwards flight
@@ -10226,7 +9025,6 @@ to accelerate forward if necessary
0
1
0
- modules/vtol_att_control
Differential thrust scaling factor
@@ -10235,14 +9033,12 @@ to accelerate forward if necessary
1.0
2
0.1
- 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
The channel number of motors that must be turned off in fixed wing mode
@@ -10250,27 +9046,23 @@ to accelerate forward if necessary
12345678
0
1
- 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.
- 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
Duration of a front transition
@@ -10280,7 +9072,6 @@ to accelerate forward if necessary
s
2
1
- modules/vtol_att_control
Target throttle value for the transition to fixed wing flight.
@@ -10290,7 +9081,6 @@ tailsitter, tiltrotor: main throttle
1.0
3
0.01
- modules/vtol_att_control
Airspeed less front transition time (open loop)
@@ -10298,7 +9088,6 @@ tailsitter, tiltrotor: main throttle
1.0
30.0
seconds
- modules/vtol_att_control
Idle speed of VTOL when in multicopter mode
@@ -10307,7 +9096,6 @@ tailsitter, tiltrotor: main throttle
us
0
1
- modules/vtol_att_control
VTOL number of engines
@@ -10315,7 +9103,6 @@ tailsitter, tiltrotor: main throttle
8
0
1
- modules/vtol_att_control
Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
@@ -10323,7 +9110,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
20
2
0.01
- modules/vtol_att_control
Position of tilt servo in fw mode
@@ -10331,7 +9117,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1.0
3
0.01
- modules/vtol_att_control
Position of tilt servo in mc mode
@@ -10339,7 +9124,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1.0
3
0.01
- modules/vtol_att_control
Position of tilt servo in transition mode
@@ -10347,7 +9131,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1.0
3
0.01
- modules/vtol_att_control
Front transition minimum time
@@ -10355,7 +9138,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
0.0
20.0
s
- modules/vtol_att_control
Duration of front transition phase 2
@@ -10365,7 +9147,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
s
3
0.01
- modules/vtol_att_control
Front transition timeout
@@ -10375,14 +9156,12 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
s
2
1
- modules/vtol_att_control
VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
0
2
0
- modules/vtol_att_control
Tailsitter
Tiltrotor
@@ -10397,7 +9176,6 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1/s
3
0.01
- lib/WeatherVane
@@ -10407,26 +9185,22 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1
5
SD
- modules/wind_estimator
Wind estimator sideslip measurement noise
0
1
rad
- modules/wind_estimator
Enable Wind estimator
true
- modules/wind_estimator
Wind estimator true airspeed scale process noise
0
0.1
- modules/wind_estimator
Gate size for true airspeed fusion
@@ -10434,55 +9208,44 @@ to fixed wing mode. Zero or negative values will produce an instant throttle ris
1
5
SD
- modules/wind_estimator
Wind estimator true airspeed measurement noise
0
4
m/s
- modules/wind_estimator
Wind estimator wind process noise
0
1
m/s/s
- modules/wind_estimator
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_Q2V
- examples/segway
SEG_TH2V_I
- examples/segway
SEG_TH2V_I_MAX
- examples/segway
SEG_TH2V_P
- examples/segway