diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index ee2ce2d42119e8d02085013f38e1b542f4407648..8599b26a3d7baca3fdf77653d545aefac7d16ad3 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2854,6 +2854,36 @@ but also ignore less noise
+
+ Serial Configuration for Main GPS
+ Configure on which serial port to run Main GPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Serial Configuration for Secondary GPS
+ Configure on which serial port to run Secondary GPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
Dump GPS communication to a file
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.
@@ -2887,19 +2917,6 @@ but also ignore less noise
0
true
-
- 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
-
- Auto
- 9600 8N1
- 19200 8N1
- 38400 8N1
- 57600 8N1
- 115200 8N1
-
-
@@ -2998,6 +3015,21 @@ but also ignore less noise
+
+ Serial Configuration for Iridium (with MAVLink)
+ Configure on which serial port to run Iridium (with MAVLink).
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call
0
@@ -3452,6 +3484,135 @@ Used to calculate increased terrain random walk nosie due to movement
+
+ Serial Configuration for MAVLink (instance 0)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Enable MAVLink Message forwarding for instance 0
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+
+ True
+
+
+ MAVLink Mode for instance 0
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Iridium
+ Minimal
+
+
+
+ Maximum MAVLink sending rate for instance 0
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
+ 0
+ B/s
+ True
+
+
+ Serial Configuration for MAVLink (instance 1)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Enable MAVLink Message forwarding for instance 1
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+
+ True
+
+
+ MAVLink Mode for instance 1
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Iridium
+ Minimal
+
+
+
+ Maximum MAVLink sending rate for instance 1
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
+ 0
+ B/s
+ True
+
+
+ Serial Configuration for MAVLink (instance 2)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Enable MAVLink Message forwarding for instance 2
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+
+ True
+
+
+ MAVLink Mode for instance 2
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Iridium
+ Minimal
+
+
+
+ Maximum MAVLink sending rate for instance 2
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
+ 0
+ B/s
+ True
+
Broadcast heartbeats on local network
This allows a ground control station to automatically find the drone on the local network.
@@ -5686,6 +5847,38 @@ the setpoint will be capped to MPC_XY_VEL_MAX
Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,
+
+
+ Serial Configuration for FastRTPS
+ Configure on which serial port to run FastRTPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Serial Configuration for MAVLink + FastRTPS
+ Configure on which serial port to run MAVLink + FastRTPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
RC channel 10 dead zone
@@ -8014,11 +8207,6 @@ is less than 50% of this value
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
-
- LeddarOne rangefinder
-
- true
-
Lidar-Lite (LL40LS)
0
@@ -8040,13 +8228,10 @@ is less than 50% of this value
true
-
- Lightware laser rangefinder (serial)
- 0
- 4
+
+ Lightware Laser Rangefinder hardware model
true
- Disabled
SF02
SF10/a
SF10/b
@@ -8068,11 +8253,6 @@ is less than 50% of this value
SF/LW20
-
- Benewake TFmini laser rangefinder
-
- true
-
Thermal control of sensor temperature
@@ -8136,9 +8316,287 @@ is less than 50% of this value
microseconds/C
3
+
+ Serial Configuration for LeddarOne Rangefinder
+ Configure on which serial port to run LeddarOne Rangefinder.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Serial Configuration for Lightware Laser Rangefinder
+ Configure on which serial port to run Lightware Laser Rangefinder.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
Target IMU device ID to regulate temperature
+
+ Serial Configuration for Benewake TFmini Rangefinder
+ Configure on which serial port to run Benewake TFmini Rangefinder.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+
+
+ Baudrate for the GPS 1 Serial Port
+ Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the GPS 2 Serial Port
+ Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 1 Serial Port
+ Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 2 Serial Port
+ Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 3 Serial Port
+ Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM/SERIAL 4 Serial Port
+ Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the UART 6 Serial Port
+ Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
@@ -8258,9 +8716,9 @@ is less than 50% of this value
Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
deg C
-
- TELEM2 as companion computer link
- CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface.
+
+ TELEM2 as companion computer link (deprecated)
+ This parameter is deprecated. Do not change it, use the more generic serial configuration parameters instead.
0
6460800
true
@@ -8350,6 +8808,38 @@ is less than 50% of this value
true
+
+
+ Serial Configuration for FrSky Telemetry
+ Configure on which serial port to run FrSky Telemetry.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
+ Serial Configuration for HoTT Telemetry
+ Configure on which serial port to run HoTT Telemetry.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+
+
+
TEST_1