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