<long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6)</long_desc>
<long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 34 would trigger on pins 3 and 4.</long_desc>
<min>1</min>
<min>1</min>
<max>123456</max>
<max>123456</max>
<decimal>0</decimal>
<decimal>0</decimal>
...
@@ -679,31 +689,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
...
@@ -679,31 +689,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<short_desc>Dump GPS communication to a file</short_desc>
<short_desc>Dump GPS communication to a file</short_desc>
<long_desc>If this is set to 1, all GPS communication data will be written to a file. Two files will be created, for reading and writing. All communication from startup until device disarm will be dumped.</long_desc>
<long_desc>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.</long_desc>
<min>0</min>
<min>0</min>
<max>1</max>
<max>1</max>
<scope>drivers/gps</scope>
<scope>drivers/gps</scope>
...
@@ -2536,11 +2574,11 @@ EPV used if greater than this value</short_desc>
...
@@ -2536,11 +2574,11 @@ EPV used if greater than this value</short_desc>
<short_desc>Set data link loss failsafe mode</short_desc>
<long_desc>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.</long_desc>
<short_desc>Set RC loss failsafe mode</short_desc>
<long_desc>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.</long_desc>
<long_desc>Reduce if the system is too twitchy, increase if the response is too slow and sluggish.</long_desc>
<long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.</long_desc>
<short_desc>Set data link loss failsafe mode</short_desc>
<long_desc>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.</long_desc>
<short_desc>Set RC loss failsafe mode</short_desc>
<long_desc>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.</long_desc>
<long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
<short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
<long_desc>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.</long_desc>
<long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
<short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
<long_desc>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.</long_desc>
<short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
<short_desc>Invert direction of aux output channel 1</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
<short_desc>Invert direction of aux output channel 2</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Set the disarmed PWM for MAIN outputs</short_desc>
<short_desc>Invert direction of aux output channel 3</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
<short_desc>Invert direction of aux output channel 4</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
<short_desc>Invert direction of aux output channel 5</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Set the disarmed PWM for AUX outputs</short_desc>
<short_desc>Invert direction of aux output channel 6</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<short_desc>Invert direction of aux output channel 1</short_desc>
<short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
<short_desc>Invert direction of aux output channel 2</short_desc>
<short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
<short_desc>Invert direction of aux output channel 3</short_desc>
<short_desc>Set the disarmed PWM for MAIN outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
<short_desc>Invert direction of aux output channel 4</short_desc>
<short_desc>Set the minimum PWM for the MAIN outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel</long_desc>
<short_desc>Invert direction of aux output channel 5</short_desc>
<short_desc>Set the maximum PWM for the MAIN outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel</long_desc>
<short_desc>Invert direction of aux output channel 6</short_desc>
<short_desc>Set the disarmed PWM for AUX outputs</short_desc>
<long_desc>Set to 1 to invert the channel, 0 for default direction.</long_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
<boolean/>
<min>0</min>
<max>2200</max>
<unit>us</unit>
<reboot_required>true</reboot_required>
<reboot_required>true</reboot_required>
<scope>drivers/px4fmu</scope>
<scope>modules/sensors</scope>
</parameter>
</parameter>
</group>
</group>
<groupname="Payload drop">
<groupname="Payload drop">
...
@@ -3837,7 +3895,7 @@ EPV used if greater than this value</short_desc>
...
@@ -3837,7 +3895,7 @@ EPV used if greater than this value</short_desc>
<long_desc>Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more.</long_desc>
<long_desc>Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more.</long_desc>
<short_desc>Accelerometer process noise</short_desc>
<short_desc>Accelerometer process noise</short_desc>
<long_desc>Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more.</long_desc>
<long_desc>Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more.</long_desc>
<short_desc>Gyro bias estimate process noise</short_desc>
<short_desc>Gyro bias estimate process noise</short_desc>
<long_desc>Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
<long_desc>Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
<short_desc>Accelerometer bias estimate process noise</short_desc>
<short_desc>Accelerometer bias estimate process noise</short_desc>
<long_desc>Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.</long_desc>
<long_desc>Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.</long_desc>
<short_desc>Magnetometer earth frame offsets process noise</short_desc>
<short_desc>Magnetometer earth frame offsets process noise</short_desc>
<long_desc>Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier.</long_desc>
<long_desc>Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier.</long_desc>
<short_desc>Magnetometer body frame offsets process noise</short_desc>
<short_desc>Magnetometer body frame offsets process noise</short_desc>
<long_desc>Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier.</long_desc>
<long_desc>Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier.</long_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<long_desc>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.</long_desc>
<short_desc>Threshold for selecting assist mode</short_desc>
<short_desc>Threshold for selecting assist mode</short_desc>
<long_desc>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</long_desc>
<long_desc>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</long_desc>
...
@@ -5679,6 +5764,13 @@ EPV used if greater than this value</short_desc>
...
@@ -5679,6 +5764,13 @@ EPV used if greater than this value</short_desc>
<short_desc>Threshold for the VTOL transition switch</short_desc>
<long_desc>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</long_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>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.</long_desc>
<short_desc>Duration of front transition phase 2</short_desc>
<long_desc>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.</long_desc>
<short_desc>Duration of front transition phase 2</short_desc>
<long_desc>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.</long_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>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.</long_desc>
<long_desc>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</long_desc>
<long_desc>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</long_desc>
...
@@ -7185,49 +7297,21 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
...
@@ -7185,49 +7297,21 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
<long_desc>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</long_desc>
<long_desc>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</long_desc>
