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Commit 740b6b3d authored by PX4 Jenkins's avatar PX4 Jenkins Committed by Daniel Agar
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Update PX4 Firmware metadata Sat Feb 24 23:37:06 EST 2018

parent 77863043
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Showing with 21 additions and 11 deletions
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
View file @ 740b6b3d
...@@ -217,7 +217,7 @@ Set to 2 to use heading from motion capture</short_desc> ...@@ -217,7 +217,7 @@ Set to 2 to use heading from motion capture</short_desc>
<long_desc>Defines the capacity of the attached battery.</long_desc> <long_desc>Defines the capacity of the attached battery.</long_desc>
<min>-1.0</min> <min>-1.0</min>
<max>100000</max> <max>100000</max>
<unit>mA</unit> <unit>mAh</unit>
<decimal>0</decimal> <decimal>0</decimal>
<increment>50</increment> <increment>50</increment>
<reboot_required>true</reboot_required> <reboot_required>true</reboot_required>
...@@ -4189,6 +4189,16 @@ default 1.5 turns per second</short_desc> ...@@ -4189,6 +4189,16 @@ default 1.5 turns per second</short_desc>
<boolean /> <boolean />
<scope>modules/mc_att_control</scope> <scope>modules/mc_att_control</scope>
</parameter> </parameter>
<parameter default="0." name="MC_DTERM_CUTOFF" type="FLOAT">
<short_desc>Cutoff frequency for the low pass filter on the D-term in the rate controller</short_desc>
<long_desc>The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
<min>0</min>
<max>1000</max>
<unit>Hz</unit>
<decimal>0</decimal>
<increment>10</increment>
<scope>modules/mc_att_control</scope>
</parameter>
<parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT"> <parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT">
<short_desc>Pitch rate D gain</short_desc> <short_desc>Pitch rate D gain</short_desc>
<long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
...@@ -4235,7 +4245,7 @@ default 1.5 turns per second</short_desc> ...@@ -4235,7 +4245,7 @@ default 1.5 turns per second</short_desc>
<short_desc>Pitch P gain</short_desc> <short_desc>Pitch P gain</short_desc>
<long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc> <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>10</max> <max>12</max>
<unit>1/s</unit> <unit>1/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.1</increment> <increment>0.1</increment>
...@@ -4315,7 +4325,7 @@ default 1.5 turns per second</short_desc> ...@@ -4315,7 +4325,7 @@ default 1.5 turns per second</short_desc>
<short_desc>Roll P gain</short_desc> <short_desc>Roll P gain</short_desc>
<long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc> <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>8</max> <max>12</max>
<unit>1/s</unit> <unit>1/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.1</increment> <increment>0.1</increment>
...@@ -6350,8 +6360,8 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc> ...@@ -6350,8 +6360,8 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
</parameter> </parameter>
<parameter default="10.0" name="RC_FLT_CUTOFF" type="FLOAT"> <parameter default="10.0" name="RC_FLT_CUTOFF" type="FLOAT">
<short_desc>Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle</short_desc> <short_desc>Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle</short_desc>
<long_desc>Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics.</long_desc> <long_desc>Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. Set to 0 to disable the filter.</long_desc>
<min>0.1</min> <min>0</min>
<unit>Hz</unit> <unit>Hz</unit>
<scope>modules/sensors</scope> <scope>modules/sensors</scope>
</parameter> </parameter>
...@@ -8095,18 +8105,18 @@ This is used for gathering replay logs for the ekf2 module</short_desc> ...@@ -8095,18 +8105,18 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
</values> </values>
</parameter> </parameter>
<parameter default="30.0" name="IMU_ACCEL_CUTOFF" type="FLOAT"> <parameter default="30.0" name="IMU_ACCEL_CUTOFF" type="FLOAT">
<short_desc>Driver level cut frequency for accel</short_desc> <short_desc>Driver level cutoff frequency for accel</short_desc>
<long_desc>The cut frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc> <long_desc>The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
<min>5</min> <min>0</min>
<max>1000</max> <max>1000</max>
<unit>Hz</unit> <unit>Hz</unit>
<reboot_required>true</reboot_required> <reboot_required>true</reboot_required>
<scope>modules/sensors</scope> <scope>modules/sensors</scope>
</parameter> </parameter>
<parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT"> <parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
<short_desc>Driver level cut frequency for gyro</short_desc> <short_desc>Driver level cutoff frequency for gyro</short_desc>
<long_desc>The cut frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc> <long_desc>The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
<min>5</min> <min>0</min>
<max>1000</max> <max>1000</max>
<unit>Hz</unit> <unit>Hz</unit>
<reboot_required>true</reboot_required> <reboot_required>true</reboot_required>
......
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