diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 9e480bd12cd5de13c09b8be7d60b62799c4deb65..f30d3a74677aec8971fa334f2006bb6247667c92 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -998,6 +998,31 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action + + Airfield home Lat + Latitude of airfield home waypoint + -900000000 + 900000000 + deg * 1e7 + modules/navigator + + + Airfield home Lon + Longitude of airfield home waypoint + -1800000000 + 1800000000 + deg * 1e7 + modules/navigator + + + Airfield home alt + Altitude of airfield home waypoint + -50 + m + 1 + 0.5 + modules/navigator + Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint @@ -1057,31 +1082,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action modules/navigator - - Airfield home Lat - Latitude of airfield home waypoint - -900000000 - 900000000 - deg * 1e7 - modules/navigator - - - Airfield home Lon - Longitude of airfield home waypoint - -1800000000 - 1800000000 - deg * 1e7 - modules/navigator - - - Airfield home alt - Altitude of airfield home waypoint - -50 - m - 1 - 0.5 - modules/navigator - @@ -1921,16 +1921,6 @@ This parameter controls the time constant of the decay - - Attitude Wheel Time Constant - This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.4 - 1.0 - s - 2 - 0.05 - modules/gnd_att_control - Attitude Roll Time Constant This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. @@ -2322,6 +2312,16 @@ This parameter controls the time constant of the decay 0.01 modules/fw_att_control + + Attitude Wheel Time Constant + This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.4 + 1.0 + s + 2 + 0.05 + modules/gnd_att_control + @@ -2570,24 +2570,6 @@ Set to 0 to disable heading hold - - Trim ground speed - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - - - Maximum ground speed - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. @@ -2767,6 +2749,24 @@ Set to 0 to disable heading hold 0.01 modules/fw_pos_control_l1 + + Trim ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + @@ -3675,95 +3675,37 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat modules/vtol_att_control - - Take-off altitude - This is the minimum altitude the system will take off to. - 0 - 80 - m - 1 - 0.5 - modules/navigator - - - Minimum Loiter altitude - This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude - -1 - 80 - m - 1 - 0.5 - modules/navigator - - - Persistent onboard mission storage - When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. - - modules/navigator - - - Maximal horizontal distance from home to first waypoint - Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position. - 0 - 10000 - m - 1 - 100 - modules/navigator - - - Maximal horizontal distance between waypoint - Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS. - 0 - 10000 - m - 1 - 100 - modules/navigator - - - Altitude setpoint mode - 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode - 0 - 1 - modules/navigator + + 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 - First Order Hold - Zero Order Hold + Loiter + Land at current position + Return to Land - - Multirotor only. Yaw setpoint mode - The values are defined in the enum mission_altitude_mode - 0 - 3 - modules/navigator + + 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 - Heading towards waypoint - Heading as set by waypoint - Heading away from home - Heading towards home - Heading towards ROI + Altitude control + Position control + Return to Land + Manual + Loiter + Land at current position - - Time in seconds we wait on reaching target heading at a waypoint if it is forced - If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default. - -1 - 20 - s - 1 - 1 - modules/navigator - - - Max yaw error in degrees needed for waypoint heading acceptance - 0 - 90 - deg - 1 - 1 - modules/navigator + + Position control navigation loss response + This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. + modules/commander + + Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. + Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. + Loiter radius (FW only) @@ -3849,38 +3791,96 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat modules/navigator - - Set offboard loss failsafe mode - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Loiter - Land at current position - Return to Land - + + Take-off altitude + This is the minimum altitude the system will take off to. + 0 + 80 + m + 1 + 0.5 + modules/navigator - - Set offboard loss failsafe mode when RC is available - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Altitude control - Position control - Return to Land - Manual - Loiter - Land at current position - + + Minimum Loiter altitude + This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude + -1 + 80 + m + 1 + 0.5 + modules/navigator - - Position control navigation loss response - This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. - modules/commander + + Persistent onboard mission storage + When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. + + modules/navigator + + + Maximal horizontal distance from home to first waypoint + Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position. + 0 + 10000 + m + 1 + 100 + modules/navigator + + + Maximal horizontal distance between waypoint + Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS. + 0 + 10000 + m + 1 + 100 + modules/navigator + + + Altitude setpoint mode + 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode + 0 + 1 + modules/navigator - Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. - Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. + First Order Hold + Zero Order Hold + + + + Multirotor only. Yaw setpoint mode + The values are defined in the enum mission_altitude_mode + 0 + 3 + modules/navigator + + Heading towards waypoint + Heading as set by waypoint + Heading away from home + Heading towards home + Heading towards ROI + + Time in seconds we wait on reaching target heading at a waypoint if it is forced + If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default. + -1 + 20 + s + 1 + 1 + modules/navigator + + + Max yaw error in degrees needed for waypoint heading acceptance + 0 + 90 + deg + 1 + 1 + modules/navigator + @@ -4027,135 +4027,6 @@ Does not affect MAVLINK_ROI input - - Max manual roll - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform - - - Max manual pitch - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform - - - Max manual yaw rate - 0.0 - deg/s - examples/mc_pos_control_multiplatform - - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - examples/mc_att_control_multiplatform - - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform - - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - examples/mc_att_control_multiplatform - - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - 1/s - examples/mc_att_control_multiplatform - - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - examples/mc_att_control_multiplatform - - - Yaw feed forward - Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.0 - 1.0 - examples/mc_att_control_multiplatform - - - Max yaw rate - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro roll rate - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro pitch rate - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro yaw rate - 0.0 - deg/s - examples/mc_att_control_multiplatform - Roll time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. @@ -4493,114 +4364,137 @@ applied to input of all axis: roll, pitch, yaw 0.05 modules/mc_att_control - - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + + Max manual roll 0.0 - 1.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Maximum thrust - Limit max allowed thrust. + + Max manual pitch 0.0 - 1.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Proportional gain for vertical position error + + Max manual yaw rate 0.0 + deg/s examples/mc_pos_control_multiplatform - - Proportional gain for vertical velocity error + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Differential gain for vertical velocity error + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - 1.0 - examples/mc_pos_control_multiplatform + 1/s + examples/mc_att_control_multiplatform - - Proportional gain for horizontal position error + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Proportional gain for horizontal velocity error + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + 1/s + examples/mc_att_control_multiplatform - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Horizontal velocity feed forward - Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw feed forward + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Maximum tilt during landing - Limits maximum tilt angle on landing. + + Max acro roll rate 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Landing descend rate + + Max acro pitch rate 0.0 - m/s - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro yaw rate + 0.0 + deg/s + examples/mc_att_control_multiplatform + + Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. @@ -4966,238 +4860,114 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/mc_pos_control - - - - Invert direction of aux output channel 1 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 2 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 3 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform - - Invert direction of aux output channel 4 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform - - Invert direction of aux output channel 5 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu + + Proportional gain for vertical position error + 0.0 + examples/mc_pos_control_multiplatform - - Invert direction of aux output channel 6 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu + + Proportional gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 1 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 2 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Differential gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 3 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 4 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 5 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Proportional gain for horizontal position error + 0.0 + examples/mc_pos_control_multiplatform - - Trim value for FMU PWM output channel 6 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu + + Proportional gain for horizontal velocity error + 0.0 + examples/mc_pos_control_multiplatform - - 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 + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. 0.0 - 1.0 - drivers/px4fmu + examples/mc_pos_control_multiplatform - - Minimum motor rise time (slew rate limit) - Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 - s/(1000*PWM) - drivers/px4fmu + examples/mc_pos_control_multiplatform - - Invert direction of main output channel 1 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 2 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 3 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 4 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 5 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 6 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 7 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 8 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Trim value for main output channel 1 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 2 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 3 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 4 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 5 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform - - Trim value for main output channel 6 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io + + Horizontal velocity feed forward + Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform - - Trim value for main output channel 7 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform - - Trim value for main output channel 8 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform - - S.BUS out - Set to 1 to enable S.BUS version 1 output instead of RSSI. - - drivers/px4io + + Landing descend rate + 0.0 + m/s + examples/mc_pos_control_multiplatform + + Set the PWM output frequency for the main outputs Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. @@ -5387,74 +5157,304 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit true modules/sensors - - - - Ground drag property - 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 - - - Plane turn radius - The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop. - 30.0 - 500.0 - m - examples/bottle_drop + + Invert direction of aux output channel 1 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Drop precision - If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy. - 1.0 - 80.0 - m - examples/bottle_drop + + Invert direction of aux output channel 2 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - 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 + + Invert direction of aux output channel 3 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Payload mass - A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg - 0.001 - 5.0 - kg - examples/bottle_drop + + Invert direction of aux output channel 4 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Payload front surface area - A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 - 0.001 - 0.5 - m^2 - examples/bottle_drop + + Invert direction of aux output channel 5 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - - - Velocity estimate delay - The delay in milliseconds of the velocity estimate from GPS. - 0 - 1000 - ms - examples/ekf_att_pos_estimator + + Invert direction of aux output channel 6 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Position estimate delay - The delay in milliseconds of the position estimate from GPS. - 0 - 1000 - ms - examples/ekf_att_pos_estimator + + Trim value for FMU PWM output channel 1 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Height estimate delay + + Trim value for FMU PWM output channel 2 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu + + + Trim value for FMU PWM output channel 3 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu + + + Trim value for FMU PWM output channel 4 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu + + + Trim value for FMU PWM output channel 5 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu + + + Trim value for FMU PWM output channel 6 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu + + + Thrust to PWM model parameter + Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 + 0.0 + 1.0 + drivers/px4fmu + + + Minimum motor rise time (slew rate limit) + Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. + 0.0 + s/(1000*PWM) + drivers/px4fmu + + + Invert direction of main output channel 1 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 2 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 3 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 4 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 5 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 6 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 7 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 8 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Trim value for main output channel 1 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 2 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 3 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 4 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 5 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 6 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 7 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 8 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + S.BUS out + Set to 1 to enable S.BUS version 1 output instead of RSSI. + + drivers/px4io + + + + + Ground drag property + 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 + + + Plane turn radius + The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop. + 30.0 + 500.0 + m + examples/bottle_drop + + + Drop precision + If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy. + 1.0 + 80.0 + m + examples/bottle_drop + + + Payload drag coefficient of the dropped object + The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient + 0.08 + 1.5 + examples/bottle_drop + + + Payload mass + A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg + 0.001 + 5.0 + kg + examples/bottle_drop + + + Payload front surface area + A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 + 0.001 + 0.5 + m^2 + examples/bottle_drop + + + + + Velocity estimate delay + The delay in milliseconds of the velocity estimate from GPS. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + + + Position estimate delay + The delay in milliseconds of the position estimate from GPS. + 0 + 1000 + ms + examples/ekf_att_pos_estimator + + + Height estimate delay The delay in milliseconds of the height estimate from the barometer. 0 1000 @@ -5797,47 +5797,32 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit - - PWM input channel that provides RSSI - 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 - - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 - Unassigned - Channel 3 - Channel 2 - Channel 5 - Channel 4 - Channel 7 - Channel 6 - Channel 9 - Channel 8 - + + Roll trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander - - Max input value for RSSI reading - Only used if RC_RSSI_PWM_CHAN > 0 - 0 - 2000 - drivers/px4io + + Pitch trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander - - Min input value for RSSI reading - Only used if RC_RSSI_PWM_CHAN > 0 - 0 - 2000 - drivers/px4io + + Yaw trim + The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. + -0.25 + 0.25 + 2 + 0.01 + modules/commander RC channel 1 minimum @@ -6934,32 +6919,47 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit Hz modules/sensors - - Roll trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander + + PWM input channel that provides RSSI + 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 + + Channel 11 + Channel 10 + Channel 13 + Channel 12 + Channel 15 + Channel 14 + Channel 17 + Channel 16 + Channel 18 + Channel 1 + Unassigned + Channel 3 + Channel 2 + Channel 5 + Channel 4 + Channel 7 + Channel 6 + Channel 9 + Channel 8 + - - Pitch trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander + + Max input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + drivers/px4io - - Yaw trim - The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 - 2 - 0.01 - modules/commander + + Min input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + drivers/px4io @@ -7608,6 +7608,46 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL + + Logging rate + A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). + -1 + 250 + Hz + modules/sdlog2 + + + Extended logging mode + A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming). + -1 + 1 + modules/sdlog2 + + Enable + Disable + Command Line + + + + Use timestamps only if GPS 3D fix is available + Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present. + + modules/sdlog2 + + + Give logging app higher thread priority to avoid data loss. +This is used for gathering replay logs for the ekf2 module + A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. + 0 + 3 + modules/sdlog2 + + Default priority + Low priority + Max priority + Medium priority + + UTC offset (unit: min) the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets @@ -7660,46 +7700,6 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL modules/logger - - Logging rate - A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). - -1 - 250 - Hz - modules/sdlog2 - - - Extended logging mode - A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming). - -1 - 1 - modules/sdlog2 - - Enable - Disable - Command Line - - - - Use timestamps only if GPS 3D fix is available - Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present. - - modules/sdlog2 - - - Give logging app higher thread priority to avoid data loss. -This is used for gathering replay logs for the ekf2 module - A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. - 0 - 3 - modules/sdlog2 - - Default priority - Low priority - Max priority - Medium priority - - @@ -7716,6 +7716,10 @@ This is used for gathering replay logs for the ekf2 module + + Primary gyro ID + modules/sensors + ID of the Accelerometer that the calibration is for modules/sensors @@ -7749,6 +7753,43 @@ This is used for gathering replay logs for the ekf2 module Accelerometer Z-axis scaling factor modules/sensors + + ID of the Accelerometer that the calibration is for + modules/sensors + + + Accelerometer 2 enabled + + modules/sensors + + + Accelerometer X-axis offset + modules/sensors + + + Accelerometer Y-axis offset + modules/sensors + + + Accelerometer Z-axis offset + modules/sensors + + + Accelerometer X-axis scaling factor + modules/sensors + + + Accelerometer Y-axis scaling factor + modules/sensors + + + Accelerometer Z-axis scaling factor + modules/sensors + + + Primary accel ID + modules/sensors + ID of Magnetometer the calibration is for modules/sensors @@ -7819,107 +7860,17 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - - ID of the Accelerometer that the calibration is for + + Primary mag ID modules/sensors - - Accelerometer 2 enabled - + + ID of Magnetometer the calibration is for modules/sensors - - Accelerometer X-axis offset - modules/sensors - - - Accelerometer Y-axis offset - modules/sensors - - - Accelerometer Z-axis offset - modules/sensors - - - Accelerometer X-axis scaling factor - modules/sensors - - - Accelerometer Y-axis scaling factor - modules/sensors - - - Accelerometer Z-axis scaling factor - modules/sensors - - - ID of the Gyro that the calibration is for - modules/sensors - - - Gyro 0 enabled - - modules/sensors - - - Gyro X-axis offset - modules/sensors - - - Gyro Y-axis offset - modules/sensors - - - Gyro Z-axis offset - modules/sensors - - - Gyro X-axis scaling factor - modules/sensors - - - Gyro Y-axis scaling factor - modules/sensors - - - Gyro Z-axis scaling factor - modules/sensors - - - Primary baro ID - modules/sensors - - - Airspeed sensor pitot model - modules/sensors - - HB Pitot - - - - Airspeed sensor tube length - 0.01 - 0.5 - meter - modules/sensors - - - Differential pressure sensor offset - The offset (zero-reading) in Pascal - modules/sensors - - - Differential pressure sensor analog scaling - Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. - modules/sensors - - - ID of Magnetometer the calibration is for - modules/sensors - - - Mag 1 enabled - + + Mag 1 enabled + modules/sensors @@ -7983,6 +7934,39 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors + + ID of the Gyro that the calibration is for + modules/sensors + + + Gyro 0 enabled + + modules/sensors + + + Gyro X-axis offset + modules/sensors + + + Gyro Y-axis offset + modules/sensors + + + Gyro Z-axis offset + modules/sensors + + + Gyro X-axis scaling factor + modules/sensors + + + Gyro Y-axis scaling factor + modules/sensors + + + Gyro Z-axis scaling factor + modules/sensors + ID of Magnetometer the calibration is for modules/sensors @@ -8053,154 +8037,100 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - - Primary mag ID - modules/sensors - - + ID of the Gyro that the calibration is for modules/sensors - - Gyro 2 enabled + + Gyro 1 enabled modules/sensors - + Gyro X-axis offset modules/sensors - + Gyro Y-axis offset modules/sensors - + Gyro Z-axis offset modules/sensors - + Gyro X-axis scaling factor modules/sensors - + Gyro Y-axis scaling factor modules/sensors - + Gyro Z-axis scaling factor modules/sensors - - ID of Magnetometer the calibration is for - modules/sensors - - - Mag 0 enabled - + + Primary baro ID modules/sensors - - Rotation of magnetometer 0 relative to airframe - An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. - -1 - 30 - true + + Airspeed sensor pitot model modules/sensors - Pitch 90° - Pitch 270° - Roll 270° - Roll 270°, Yaw 45° - Roll 270°, Yaw 90° - Roll 270°, Yaw 135° - Yaw 45° - No rotation - Yaw 135° - Yaw 90° - Yaw 225° - Yaw 180° - Yaw 315° - Yaw 270° - Roll 180°, Yaw 45° - Roll 180° - Roll 180°, Yaw 135° - Roll 180°, Yaw 90° - Roll 180°, Yaw 225° - Pitch 180° - Roll 180°, Yaw 315° - Roll 180°, Yaw 270° - Roll 90°, Yaw 45° - Roll 90° - Roll 90°, Yaw 135° - Roll 90°, Yaw 90° - Internal mag + HB Pitot - - Magnetometer X-axis offset - modules/sensors - - - Magnetometer Y-axis offset - modules/sensors - - - Magnetometer Z-axis offset - modules/sensors - - - Magnetometer X-axis scaling factor + + Airspeed sensor tube length + 0.01 + 0.5 + meter modules/sensors - - Magnetometer Y-axis scaling factor + + Differential pressure sensor offset + The offset (zero-reading) in Pascal modules/sensors - - Magnetometer Z-axis scaling factor + + Differential pressure sensor analog scaling + Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. modules/sensors - + ID of the Gyro that the calibration is for modules/sensors - - Gyro 1 enabled + + Gyro 2 enabled modules/sensors - + Gyro X-axis offset modules/sensors - + Gyro Y-axis offset modules/sensors - + Gyro Z-axis offset modules/sensors - + Gyro X-axis scaling factor modules/sensors - + Gyro Y-axis scaling factor modules/sensors - + Gyro Z-axis scaling factor modules/sensors - - Primary accel ID - modules/sensors - - - Primary gyro ID - modules/sensors - ID of the Accelerometer that the calibration is for modules/sensors @@ -8234,242 +8164,78 @@ This is used for gathering replay logs for the ekf2 module Accelerometer Z-axis scaling factor modules/sensors - - - - Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable - 0 - 1 - modules/sensors - - - ID of Accelerometer that the calibration is for - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer scale factor - X axis - modules/sensors - - - Accelerometer scale factor - Y axis - modules/sensors - - - Accelerometer scale factor - Z axis - modules/sensors - - - Accelerometer calibration reference temperature - modules/sensors - - - Accelerometer calibration minimum temperature - modules/sensors - - - Accelerometer calibration maximum temperature - modules/sensors - - - ID of Accelerometer that the calibration is for - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer scale factor - X axis - modules/sensors - - - Accelerometer scale factor - Y axis - modules/sensors - - - Accelerometer scale factor - Z axis - modules/sensors - - - Accelerometer calibration reference temperature - modules/sensors - - - Accelerometer calibration minimum temperature - modules/sensors - - - Accelerometer calibration maximum temperature - modules/sensors - - - ID of Accelerometer that the calibration is for - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^3 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^2 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - X axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Y axis - modules/sensors - - - Accelerometer offset temperature ^1 polynomial coefficient - Z axis - modules/sensors - - - Accelerometer offset temperature ^0 polynomial coefficient - X axis + + ID of Magnetometer the calibration is for modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Y axis + + Mag 0 enabled + modules/sensors - - Accelerometer offset temperature ^0 polynomial coefficient - Z axis + + Rotation of magnetometer 0 relative to airframe + An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. + -1 + 30 + true modules/sensors + + Pitch 90° + Pitch 270° + Roll 270° + Roll 270°, Yaw 45° + Roll 270°, Yaw 90° + Roll 270°, Yaw 135° + Yaw 45° + No rotation + Yaw 135° + Yaw 90° + Yaw 225° + Yaw 180° + Yaw 315° + Yaw 270° + Roll 180°, Yaw 45° + Roll 180° + Roll 180°, Yaw 135° + Roll 180°, Yaw 90° + Roll 180°, Yaw 225° + Pitch 180° + Roll 180°, Yaw 315° + Roll 180°, Yaw 270° + Roll 90°, Yaw 45° + Roll 90° + Roll 90°, Yaw 135° + Roll 90°, Yaw 90° + Internal mag + - - Accelerometer scale factor - X axis + + Magnetometer X-axis offset modules/sensors - - Accelerometer scale factor - Y axis + + Magnetometer Y-axis offset modules/sensors - - Accelerometer scale factor - Z axis + + Magnetometer Z-axis offset modules/sensors - - Accelerometer calibration reference temperature + + Magnetometer X-axis scaling factor modules/sensors - - Accelerometer calibration minimum temperature + + Magnetometer Y-axis scaling factor modules/sensors - - Accelerometer calibration maximum temperature + + Magnetometer Z-axis scaling factor modules/sensors + + Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable 0 @@ -8704,6 +8470,240 @@ This is used for gathering replay logs for the ekf2 module Gyro calibration maximum temperature modules/sensors + + Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable + 0 + 1 + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable 0 @@ -8844,6 +8844,18 @@ This is used for gathering replay logs for the ekf2 module + + Bitfield selecting mag sides for calibration + DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32 + 34 + 63 + modules/sensors + + Two side calibration + Six side calibration + Three side calibration + + QNH for barometer 500 @@ -9013,18 +9025,6 @@ This is used for gathering replay logs for the ekf2 module true 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 - Six side calibration - Three side calibration - - @@ -9060,29 +9060,6 @@ This is used for gathering replay logs for the ekf2 module - - Run the FMU as a task to reduce latency - If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. - - true - drivers/px4fmu - - - Set usage of IO board - Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. - 0 - 1 - - true - drivers/px4io - - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) - 0 - 15 - drivers/rgbled - Auto-start script index CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. @@ -9218,6 +9195,29 @@ This is used for gathering replay logs for the ekf2 module deg C modules/systemlib + + Run the FMU as a task to reduce latency + If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. + + true + drivers/px4fmu + + + Set usage of IO board + Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. + 0 + 1 + + true + drivers/px4io + + + RGB Led brightness limit + Set to 0 to disable, 1 for minimum brightness up to 15 (max) + 0 + 15 + drivers/rgbled + @@ -9303,19 +9303,6 @@ This is used for gathering replay logs for the ekf2 module 1000000 modules/uavcanesc - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - modules/uavcannode - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - modules/uavcannode - UAVCAN mode 0 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update. @@ -9351,65 +9338,80 @@ This is used for gathering replay logs for the ekf2 module true modules/uavcan + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcannode + + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcannode + - - Position of tilt servo in mc mode + + Target throttle value for pusher/puller motor during the transition to fw mode 0.0 1.0 3 0.01 modules/vtol_att_control - - Position of tilt servo in transition mode + + Maximum allowed down-pitch the controller is able to demand. This prevents large, negative +lift values being created when facing strong winds. The vehicle will use the pusher motor +to accelerate forward if necessary 0.0 - 1.0 - 3 - 0.01 + 45.0 modules/vtol_att_control - - Position of tilt servo in fw mode + + Fixed wing thrust scale for hover forward flight + Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. 0.0 - 1.0 - 3 - 0.01 + 2.0 modules/vtol_att_control - - Duration of front transition phase 2 - Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. - 0.1 - 5.0 + + Back transition MC motor ramp up time + This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage. + 0.0 + 20.0 s - 3 - 0.01 modules/vtol_att_control - - The channel number of motors that must be turned off in fixed wing mode + + Output on airbrakes channel during back transition +Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel +Airbrakes need to be enables for your selected model/mixer 0 - 12345678 - 0 - 1 + 1 + 2 + 0.01 modules/vtol_att_control - - Differential thrust in forwards flight - Set to 1 to enable differential thrust in fixed-wing flight. + + Delay in seconds before applying back transition throttle +Set this to a value greater than 0 to give the motor time to spin down + unit s 0 - 1 - 0 + 10 + 2 + 1 modules/vtol_att_control - - Differential thrust scaling factor - This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. - 0.0 - 1.0 + + Thottle output during back transition +For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking +For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking + -1 + 1 2 - 0.1 + 0.01 modules/vtol_att_control @@ -9638,80 +9640,70 @@ This is used for gathering replay logs for the ekf2 module 0.01 modules/vtol_att_control - - Target throttle value for pusher/puller motor during the transition to fw mode + + Position of tilt servo in mc mode 0.0 1.0 3 0.01 modules/vtol_att_control - - Maximum allowed down-pitch the controller is able to demand. This prevents large, negative -lift values being created when facing strong winds. The vehicle will use the pusher motor -to accelerate forward if necessary + + Position of tilt servo in transition mode 0.0 - 45.0 + 1.0 + 3 + 0.01 modules/vtol_att_control - - Fixed wing thrust scale for hover forward flight - Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. + + Position of tilt servo in fw mode 0.0 - 2.0 + 1.0 + 3 + 0.01 modules/vtol_att_control - - Back transition MC motor ramp up time - This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage. - 0.0 - 20.0 + + Duration of front transition phase 2 + Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. + 0.1 + 5.0 s - modules/vtol_att_control - - - Output on airbrakes channel during back transition -Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel -Airbrakes need to be enables for your selected model/mixer - 0 - 1 - 2 + 3 0.01 modules/vtol_att_control - - Delay in seconds before applying back transition throttle -Set this to a value greater than 0 to give the motor time to spin down - unit s + + The channel number of motors that must be turned off in fixed wing mode 0 - 10 - 2 + 12345678 + 0 1 modules/vtol_att_control - - Thottle output during back transition -For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking -For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking - -1 + + Differential thrust in forwards flight + Set to 1 to enable differential thrust in fixed-wing flight. + 0 1 + 0 + modules/vtol_att_control + + + Differential thrust scaling factor + This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. + 0.0 + 1.0 2 - 0.01 + 0.1 modules/vtol_att_control - - EXFW_HDNG_P - examples/fixedwing_control - - - EXFW_ROLL_P - examples/fixedwing_control - - - EXFW_PITCH_P - examples/fixedwing_control + + RV_YAW_P + examples/rover_steering_control SEG_TH2V_P @@ -9729,9 +9721,17 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV SEG_Q2V examples/segway - - RV_YAW_P - examples/rover_steering_control + + EXFW_HDNG_P + examples/fixedwing_control + + + EXFW_ROLL_P + examples/fixedwing_control + + + EXFW_PITCH_P + examples/fixedwing_control