<paramhumanName="Throttle stick behavior"name="ArduSub:PILOT_THR_BHV"documentation="Bits for: Feedback starts from mid stick"user="Standard">
<paramhumanName="Throttle stick behavior"name="ArduSub:PILOT_THR_BHV"documentation="Bitmask containing various throttle stick options. Add up the values for options that you want."user="Standard">
<fieldname="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
<paramhumanName="Telemetry startup delay"name="ArduSub:TELEM_DELAY"documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up"user="Advanced">
...
...
@@ -232,11 +235,6 @@
<fieldname="Increment">10</field>
<fieldname="Units">cm/s/s</field>
</param>
<paramhumanName="Throttle Minimum"name="ArduSub:THR_MIN"documentation="The minimum throttle that will be sent to the motors to keep them spinning"user="Standard">
<fieldname="Range">0 300</field>
<fieldname="Increment">1</field>
<fieldname="Units">Percent*10</field>
</param>
<paramhumanName="Throttle Failsafe Enable"name="ArduSub:FS_THR_ENABLE"documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel"user="Standard">
<values>
<valuecode="0">Disabled</value>
...
...
@@ -250,11 +248,6 @@
<fieldname="Increment">1</field>
<fieldname="Units">pwm</field>
</param>
<paramhumanName="Throttle Mid Position"name="ArduSub:THR_MID"documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover"user="Standard">
<fieldname="Range">300 700</field>
<fieldname="Increment">10</field>
<fieldname="Units">Percent*10</field>
</param>
<paramhumanName="Throttle deadzone"name="ArduSub:THR_DZ"documentation="The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes"user="Standard">
<fieldname="Range">0 300</field>
<fieldname="Increment">1</field>
...
...
@@ -263,121 +256,43 @@
<paramhumanName="Flight Mode 1"name="ArduSub:FLTMODE1"documentation="Flight mode when Channel 5 pwm is <= 1230"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Flight Mode 2"name="ArduSub:FLTMODE2"documentation="Flight mode when Channel 5 pwm is >1230, <= 1360"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Flight Mode 3"name="ArduSub:FLTMODE3"documentation="Flight mode when Channel 5 pwm is >1360, <= 1490"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Flight Mode 4"name="ArduSub:FLTMODE4"documentation="Flight mode when Channel 5 pwm is >1490, <= 1620"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Flight Mode 5"name="ArduSub:FLTMODE5"documentation="Flight mode when Channel 5 pwm is >1620, <= 1749"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Flight Mode 6"name="ArduSub:FLTMODE6"documentation="Flight mode when Channel 5 pwm is >=1750"user="Standard">
<values>
<valuecode="0">Stabilize</value>
<valuecode="1">Acro</value>
<valuecode="2">AltHold</value>
<valuecode="3">Auto</value>
<valuecode="4">Guided</value>
<valuecode="5">Loiter</value>
<valuecode="6">RTL</value>
<valuecode="7">Circle</value>
<valuecode="9">Land</value>
<valuecode="11">Drift</value>
<valuecode="13">Sport</value>
<valuecode="14">Flip</value>
<valuecode="15">AutoTune</value>
<valuecode="16">PosHold</value>
<valuecode="17">Brake</value>
<valuecode="18">Throw</value>
<valuecode="2">DepthHold</value>
<valuecode="19">Manual</value>
</values>
</param>
<paramhumanName="Simple mode bitmask"name="ArduSub:SIMPLE"documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)"user="Advanced">
...
...
@@ -687,7 +602,7 @@
</values>
</param>
<paramhumanName="Arming check"name="ArduSub:ARMING_CHECK"documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS"user="Standard">
<paramhumanName="Velocity (horizontal) filter frequency in Hz"name="ArduSub:VEL_XY_FILT_HZ"documentation="Velocity (horizontal) filter frequency in Hz"user="Advanced">
<fieldname="Units">Hz</field>
</param>
<paramhumanName="Velocity (vertical) P gain"name="ArduSub:VEL_Z_P"documentation="Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller"user="Standard">
<fieldname="Range">1.000 8.000</field>
</param>
...
...
@@ -818,7 +730,7 @@
<paramhumanName="Throttle acceleration controller D gain"name="ArduSub:ACCEL_Z_D"documentation="Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration"user="Standard">
<fieldname="Range">0.000 0.400</field>
</param>
<paramhumanName="Throttle acceleration filter"name="ArduSub:ACCEL_Z_FILT"documentation="Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay."user="Standard">
<paramhumanName="Throttle acceleration filter"name="ArduSub:ACCEL_Z_FILT_HZ"documentation="Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay."user="Standard">
<fieldname="Range">1.000 100.000</field>
<fieldname="Units">Hz</field>
</param>
...
...
@@ -828,16 +740,6 @@
<paramhumanName="Position (horizonal) controller P gain"name="ArduSub:POS_XY_P"documentation="Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller"user="Standard">
<fieldname="Range">0.500 2.000</field>
</param>
<paramhumanName="Precision landing velocity controller P gain"name="ArduSub:PRECLNDVEL_P"documentation="Precision landing velocity controller P gain"user="Advanced">
<fieldname="Range">0.100 5.000</field>
</param>
<paramhumanName="Precision landing velocity controller I gain"name="ArduSub:PRECLNDVEL_I"documentation="Precision landing velocity controller I gain"user="Advanced">
<fieldname="Range">0.100 5.000</field>
</param>
<paramhumanName="Precision landing velocity controller I gain maximum"name="ArduSub:PRECLNDVEL_IMAX"documentation="Precision landing velocity controller I gain maximum"user="Standard">
<fieldname="Range">0 1000</field>
<fieldname="Units">cm/s</field>
</param>
<paramhumanName="Autotune axis bitmask"name="ArduSub:AUTOTUNE_AXES"documentation="1-byte bitmap of axes to autotune"user="Standard">
<fieldname="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
...
...
@@ -864,7 +766,8 @@
</param>
<paramhumanName="Terrain Following use control"name="ArduSub:TERRAIN_FOLLOW"documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain."user="Standard">
<values>
<valuecode="0">Do Not Use in RTL and Land 1</value>
<valuecode="0">Do Not Use in RTL and Land</value>
<valuecode="1">Use in RTL and Land</value>
</values>
</param>
</parameters>
...
...
@@ -885,10 +788,17 @@
<valuecode="1500">1500000</value>
</values>
</param>
<paramhumanName="Console protocol selection"name="SERIAL0_PROTOCOL"documentation="Control what protocol to use on the console. "user="Standard">
<values>
<valuecode="1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
</values>
</param>
<paramhumanName="Telem1 protocol selection"name="SERIAL1_PROTOCOL"documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<values>
<valuecode="-1">None</value>
<valuecode=" 1">GCS Mavlink</value>
<valuecode=" 1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
<valuecode=" 3">Frsky D-PORT</value>
<valuecode=" 4">Frsky S-PORT</value>
<valuecode=" 5">GPS</value>
...
...
@@ -916,7 +826,8 @@
<paramhumanName="Telemetry 2 protocol selection"name="SERIAL2_PROTOCOL"documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<values>
<valuecode="-1">None</value>
<valuecode=" 1">GCS Mavlink</value>
<valuecode=" 1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
<valuecode=" 3">Frsky D-PORT</value>
<valuecode=" 4">Frsky S-PORT</value>
<valuecode=" 5">GPS</value>
...
...
@@ -944,7 +855,8 @@
<paramhumanName="Serial 3 (GPS) protocol selection"name="SERIAL3_PROTOCOL"documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<values>
<valuecode="-1">None</value>
<valuecode=" 1">GCS Mavlink</value>
<valuecode=" 1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
<valuecode=" 3">Frsky D-PORT</value>
<valuecode=" 4">Frsky S-PORT</value>
<valuecode=" 5">GPS</value>
...
...
@@ -972,7 +884,8 @@
<paramhumanName="Serial4 protocol selection"name="SERIAL4_PROTOCOL"documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<values>
<valuecode="-1">None</value>
<valuecode=" 1">GCS Mavlink</value>
<valuecode=" 1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
<valuecode=" 3">Frsky D-PORT</value>
<valuecode=" 4">Frsky S-PORT</value>
<valuecode=" 5">GPS</value>
...
...
@@ -1000,7 +913,8 @@
<paramhumanName="Serial5 protocol selection"name="SERIAL5_PROTOCOL"documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<values>
<valuecode="-1">None</value>
<valuecode=" 1">GCS Mavlink</value>
<valuecode=" 1">MAVlink1</value>
<valuecode=" 2">MAVLink2</value>
<valuecode=" 3">Frsky D-PORT</value>
<valuecode=" 4">Frsky S-PORT</value>
<valuecode=" 5">GPS</value>
...
...
@@ -3692,13 +3606,13 @@
<paramhumanName="IMU Product ID"name="INS_PRODUCT_ID"documentation="Which type of IMU is installed (read-only)."user="Advanced">
<values>
<valuecode="0">Unknown</value>
<valuecode="1">APM1-1280</value>
<valuecode="2">APM1-2560</value>
<valuecode="88">APM2</value>
<valuecode="1">unused</value>
<valuecode="2">unused</value>
<valuecode="88">unused</value>
<valuecode="3">SITL</value>
<valuecode="4">PX4v1</value>
<valuecode="5">PX4v2</value>
<valuecode="256">Flymaple</value>
<valuecode="256">unused</value>
<valuecode="257">Linux</value>
</values>
</param>
...
...
@@ -3907,6 +3821,68 @@
</param>
</parameters>
<parametersname="ATC_">
<paramhumanName="Yaw target slew rate"name="ATC_SLEW_YAW"documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes"user="Advanced">
<fieldname="Range">500 18000</field>
<fieldname="Increment">100</field>
<fieldname="Units">Centi-Degrees/Sec</field>
</param>
<paramhumanName="Acceleration Max for Yaw"name="ATC_ACCEL_Y_MAX"documentation="Maximum acceleration in yaw axis"user="Advanced">
<fieldname="Range">0 72000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 18000">Slow</value>
<valuecode=" 36000">Medium</value>
<valuecode=" 54000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Rate Feedforward Enable"name="ATC_RATE_FF_ENAB"documentation="Controls whether body-frame rate feedfoward is enabled or disabled"user="Advanced">
<values>
<valuecode="0">Disabled</value>
<valuecode=" 1">Enabled</value>
</values>
</param>
<paramhumanName="Acceleration Max for Roll"name="ATC_ACCEL_R_MAX"documentation="Maximum acceleration in roll axis"user="Advanced">
<fieldname="Range">0 180000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 72000">Slow</value>
<valuecode=" 108000">Medium</value>
<valuecode=" 162000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Acceleration Max for Pitch"name="ATC_ACCEL_P_MAX"documentation="Maximum acceleration in pitch axis"user="Advanced">
<fieldname="Range">0 180000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 72000">Slow</value>
<valuecode=" 108000">Medium</value>
<valuecode=" 162000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Angle Boost"name="ATC_ANGLE_BOOST"documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude"user="Advanced">
<values>
<valuecode="0">Disabled</value>
<valuecode=" 1">Enabled</value>
</values>
</param>
<paramhumanName="Roll axis angle controller P gain"name="ATC_ANG_RLL_P"documentation="Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate"user="Standard">
<fieldname="Range">3.000 12.000</field>
</param>
<paramhumanName="Pitch axis angle controller P gain"name="ATC_ANG_PIT_P"documentation="Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate"user="Standard">
<fieldname="Range">3.000 12.000</field>
</param>
<paramhumanName="Yaw axis angle controller P gain"name="ATC_ANG_YAW_P"documentation="Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate"user="Standard">
<fieldname="Range">3.000 6.000</field>
</param>
<paramhumanName="Angle Limit (to maintain altitude) Time Constant"name="ATC_ANG_LIM_TC"documentation="Angle Limit (to maintain altitude) Time Constant"user="Advanced">
<fieldname="Range">0.5 10.0</field>
</param>
<paramhumanName="Roll axis rate controller P gain"name="ATC_RAT_RLL_P"documentation="Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output"user="Standard">
<fieldname="Range">0.08 0.30</field>
<fieldname="Increment">0.005</field>
...
...
@@ -3973,68 +3949,15 @@
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
<paramhumanName="Yaw target slew rate"name="ATC_SLEW_YAW"documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes"user="Advanced">
<fieldname="Range">500 18000</field>
<fieldname="Increment">100</field>
<fieldname="Units">Centi-Degrees/Sec</field>
<paramhumanName="Throttle Mix Minimum"name="ATC_THR_MIX_MIN"documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)"user="Advanced">
<fieldname="Range">0.1 0.25</field>
</param>
<paramhumanName="Acceleration Max for Yaw"name="ATC_ACCEL_Y_MAX"documentation="Maximum acceleration in yaw axis"user="Advanced">
<fieldname="Range">0 72000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 18000">Slow</value>
<valuecode=" 36000">Medium</value>
<valuecode=" 54000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Rate Feedforward Enable"name="ATC_RATE_FF_ENAB"documentation="Controls whether body-frame rate feedfoward is enabled or disabled"user="Advanced">
<values>
<valuecode="0">Disabled</value>
<valuecode=" 1">Enabled</value>
</values>
</param>
<paramhumanName="Acceleration Max for Roll"name="ATC_ACCEL_R_MAX"documentation="Maximum acceleration in roll axis"user="Advanced">
<fieldname="Range">0 180000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 72000">Slow</value>
<valuecode=" 108000">Medium</value>
<valuecode=" 162000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Acceleration Max for Pitch"name="ATC_ACCEL_P_MAX"documentation="Maximum acceleration in pitch axis"user="Advanced">
<fieldname="Range">0 180000</field>
<values>
<valuecode="0">Disabled</value>
<valuecode=" 72000">Slow</value>
<valuecode=" 108000">Medium</value>
<valuecode=" 162000">Fast</value>
</values>
<fieldname="Increment">1000</field>
<fieldname="Units">Centi-Degrees/Sec/Sec</field>
</param>
<paramhumanName="Angle Boost"name="ATC_ANGLE_BOOST"documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude"user="Advanced">
<values>
<valuecode="0">Disabled</value>
<valuecode=" 1">Enabled</value>
</values>
</param>
<paramhumanName="Roll axis angle controller P gain"name="ATC_ANG_RLL_P"documentation="Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate"user="Standard">
<fieldname="Range">3.000 12.000</field>
</param>
<paramhumanName="Pitch axis angle controller P gain"name="ATC_ANG_PIT_P"documentation="Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate"user="Standard">
<fieldname="Range">3.000 12.000</field>
</param>
<paramhumanName="Yaw axis angle controller P gain"name="ATC_ANG_YAW_P"documentation="Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate"user="Standard">
<fieldname="Range">3.000 6.000</field>
<paramhumanName="Throttle Mix Maximum"name="ATC_THR_MIX_MAX"documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)"user="Advanced">
<fieldname="Range">0.5 0.9</field>
</param>
</parameters>
<parametersname="PSC">
<paramhumanName="XY Acceleration filter cutoff frequency"name="PSC_ACC_XY_FILT"documentation="Lower values will slow the response of the navigation controller and reduce twitchiness"user="Advanced">
<parametersname="POSCON_">
<paramhumanName="XY Acceleration filter cutoff frequency"name="POSCON__ACC_XY_FILT"documentation="Lower values will slow the response of the navigation controller and reduce twitchiness"user="Advanced">
<fieldname="Range">0.5 5</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">Hz</field>
...
...
@@ -4086,6 +4009,11 @@
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
<paramhumanName="ADSB stream rate to ground station"name="SR0_ADSB"documentation="ADSB stream rate to ground station"user="Advanced">
<fieldname="Range">0 50</field>
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
</parameters>
<parametersname="SR1_">
<paramhumanName="Raw sensor stream rate"name="SR1_RAW_SENS"documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station"user="Advanced">
...
...
@@ -4133,6 +4061,11 @@
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
<paramhumanName="ADSB stream rate to ground station"name="SR1_ADSB"documentation="ADSB stream rate to ground station"user="Advanced">
<fieldname="Range">0 50</field>
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
</parameters>
<parametersname="SR2_">
<paramhumanName="Raw sensor stream rate"name="SR2_RAW_SENS"documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station"user="Advanced">
...
...
@@ -4180,6 +4113,11 @@
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
<paramhumanName="ADSB stream rate to ground station"name="SR2_ADSB"documentation="ADSB stream rate to ground station"user="Advanced">
<fieldname="Range">0 50</field>
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
</parameters>
<parametersname="SR3_">
<paramhumanName="Raw sensor stream rate"name="SR3_RAW_SENS"documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station"user="Advanced">
...
...
@@ -4227,6 +4165,11 @@
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
<paramhumanName="ADSB stream rate to ground station"name="SR3_ADSB"documentation="ADSB stream rate to ground station"user="Advanced">
<fieldname="Range">0 50</field>
<fieldname="Increment">1</field>
<fieldname="Units">Hz</field>
</param>
</parameters>
<parametersname="AHRS_">
<paramhumanName="AHRS GPS gain"name="AHRS_GPS_GAIN"documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
...
...
@@ -4741,7 +4684,7 @@
</param>
</parameters>
<parametersname="BRD_">
<paramhumanName="Auxillary pin config"name="BRD_PWM_COUNT"documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO">
<paramhumanName="Auxiliary pin config"name="BRD_PWM_COUNT"documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO">
<values>
<valuecode="0">No PWMs</value>
<valuecode="2">Two PWMs</value>
...
...
@@ -4749,6 +4692,7 @@
<valuecode="6">Six PWMs</value>
<valuecode="7">Three PWMs and One Capture</value>
</values>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName="Serial 1 flow control"name="BRD_SER1_RTSCTS"documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
<values>
...
...
@@ -4756,6 +4700,7 @@
<valuecode="1">Enabled</value>
<valuecode="2">Auto</value>
</values>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName="Serial 2 flow control"name="BRD_SER2_RTSCTS"documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
<values>
...
...
@@ -4763,12 +4708,14 @@
<valuecode="1">Enabled</value>
<valuecode="2">Auto</value>
</values>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName=" Enable use of safety arming switch"name="BRD_SAFETYENABLE"documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
<paramhumanName="Enable use of safety arming switch"name="BRD_SAFETYENABLE"documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.">
<values>
<valuecode="0">Disabled</value>
<valuecode="1">Enabled</value>
</values>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName=" SBUS output rate"name="BRD_SBUS_OUT"documentation="This sets the SBUS output frame rate in Hz">
<values>
...
...
@@ -4781,6 +4728,7 @@
<valuecode="6">250Hz</value>
<valuecode="7">300Hz</value>
</values>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName="User-defined serial number"name="BRD_SERIAL_NUM"documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot"user="Standard">
<fieldname="Range">-32767 32768</field>
...
...
@@ -4791,6 +4739,18 @@
<valuecode="1">Enabled</value>
</values>
</param>
<paramhumanName="Channels to which ignore the safety switch state"name="BRD_SAFETY_MASK"documentation="A bitmask which controls what channels can move while the safety switch has not been pressed">
<paramhumanName="Target IMU temperature"name="BRD_IMU_TARGTEMP"documentation="This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating.">
<fieldname="Units">degreesC</field>
<fieldname="Range">-1 80</field>
</param>
</parameters>
<parametersname="SPRAY_">
<paramhumanName="Sprayer enable/disable"name="SPRAY_ENABLE"documentation="Allows you to enable (1) or disable (0) the sprayer"user="Standard">
...
...
@@ -5020,11 +4980,16 @@
</values>
</param>
<paramhumanName="Fence Type"name="FENCE_TYPE"documentation="Enabled fence types held as bitmask"user="Standard">
<paramhumanName="Fence Action"name="FENCE_ACTION"documentation="What action should be taken when fence is breached"user="Standard">
...
...
@@ -5046,12 +5011,23 @@
<fieldname="Range">1 10</field>
<fieldname="Units">Meters</field>
</param>
<paramhumanName="Fence polygon point total"name="FENCE_TOTAL"documentation="Number of polygon points saved in eeprom (do not update manually)"user="Standard">
<fieldname="Range">1 20</field>
</param>
<paramhumanName="Fence Maximum Depth"name="FENCE_DEPTH_MAX"documentation="Maximum depth allowed before geofence triggers"user="Standard">
<fieldname="Range">10 1000</field>
<fieldname="Increment">1</field>
<fieldname="Units">Meters</field>
</param>
</parameters>
<parametersname="AVOID_">
<paramhumanName="Avoidance control enable/disable"name="AVOID_ENABLE"documentation="Enabled/disable stopping at fence"user="Standard">
<values>
<valuecode="0">None</value>
<valuecode="1">StopAtFence</value>
</values>
</param>
</parameters>
<parametersname="RALLY_">
<paramhumanName="Rally Total"name="RALLY_TOTAL"documentation="Number of rally points currently loaded"user="Advanced">
</param>
...
...
@@ -5119,6 +5095,18 @@
<fieldname="Range">0.0 1.5</field>
<fieldname="Increment">0.1</field>
</param>
<paramhumanName="Maximum allowed motor gain"name="MOT_GAIN_MAX"documentation="Maximum allowed motor gain for scaling power output"user="Standard">
<fieldname="Range">0.1 1.0</field>
<fieldname="Increment">0.01</field>
</param>
<paramhumanName="Minimum allowed motor gain"name="MOT_GAIN_MIN"documentation="Minimum allowed motor gain for scaling power output"user="Standard">
<fieldname="Range">0.1 1.0</field>
<fieldname="Increment">0.01</field>
</param>
<paramhumanName="Number of gain levels between min and max"name="MOT_GAIN_STEPS"documentation="Number of gain levels between min and max"user="Standard">
<fieldname="Range">1 10</field>
<fieldname="Increment">1</field>
</param>
</parameters>
<parametersname="RCMAP_">
<paramhumanName="Roll channel"name="RCMAP_ROLL"documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect."user="Advanced">
...
...
@@ -5159,11 +5147,11 @@
<valuecode=" 1">Enabled</value>
</values>
</param>
<paramhumanName="GPS horizontal velocity measurement noise scaler"name="EKF_VELNE_NOISE"documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements."user="Advanced">
<paramhumanName="GPS horizontal velocity measurement noise scaler"name="EKF_VELNE_NOISE"documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on these measurements."user="Advanced">
<fieldname="Range">0.05 5.0</field>
<fieldname="Increment">0.05</field>
</param>
<paramhumanName="GPS vertical velocity measurement noise scaler"name="EKF_VELD_NOISE"documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement."user="Advanced">
<paramhumanName="GPS vertical velocity measurement noise scaler"name="EKF_VELD_NOISE"documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on this measurement."user="Advanced">
<fieldname="Range">0.05 5.0</field>
<fieldname="Increment">0.05</field>
</param>
...
...
@@ -5275,7 +5263,7 @@
<fieldname="Increment">5</field>
<fieldname="Units">meters</field>
</param>
<paramhumanName="Terrain Gradient % RMS"name="EKF_GND_GRADIENT"documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain."user="Advanced">
<paramhumanName="Terrain Gradient % RMS"name="EKF_GND_GRADIENT"documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values cause the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain."user="Advanced">
<fieldname="Range">1 50</field>
<fieldname="Increment">1</field>
</param>
...
...
@@ -5307,7 +5295,7 @@
<valuecode=" 1">Trust DCM more</value>
</values>
</param>
<paramhumanName="Primary height source"name="EKF_ALT_SOURCE"documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will casue it to use range finder if available."user="Advanced">
<paramhumanName="Primary height source"name="EKF_ALT_SOURCE"documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will cause it to use range finder if available."user="Advanced">
<values>
<valuecode="0">Use Baro</value>
<valuecode=" 1">Use Range Finder</value>
...
...
@@ -5332,26 +5320,26 @@
<valuecode=" 3">No GPS use optical flow</value>
</values>
</param>
<paramhumanName="GPS horizontal velocity measurement noise (m/s)"name="EK2_VELNE_NOISE"documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements."user="Advanced">
<paramhumanName="GPS horizontal velocity measurement noise (m/s)"name="EK2_VELNE_M_NSE"documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements."user="Advanced">
<fieldname="Range">0.05 5.0</field>
<fieldname="Increment">0.05</field>
<fieldname="Units">m/s</field>
</param>
<paramhumanName="GPS vertical velocity measurement noise (m/s)"name="EK2_VELD_NOISE"documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements."user="Advanced">
<paramhumanName="GPS vertical velocity measurement noise (m/s)"name="EK2_VELD_M_NSE"documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements."user="Advanced">
<fieldname="Range">0.05 5.0</field>
<fieldname="Increment">0.05</field>
<fieldname="Units">m/s</field>
</param>
<paramhumanName="GPS velocity innovation gate size"name="EK2_VEL_GATE"documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="GPS velocity innovation gate size"name="EK2_VEL_I_GATE"documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
<paramhumanName="GPS horizontal position measurement noise (m)"name="EK2_POSNE_NOISE"documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements."user="Advanced">
<paramhumanName="GPS horizontal position measurement noise (m)"name="EK2_POSNE_M_NSE"documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements."user="Advanced">
<fieldname="Range">0.1 10.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m</field>
</param>
<paramhumanName="GPS position measurement gate size"name="EK2_POS_GATE"documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="GPS position measurement gate size"name="EK2_POS_I_GATE"documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
...
...
@@ -5372,12 +5360,12 @@
<valuecode=" 2">Use GPS</value>
</values>
</param>
<paramhumanName="Altitude measurement noise (m)"name="EK2_ALT_NOISE"documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors."user="Advanced">
<paramhumanName="Altitude measurement noise (m)"name="EK2_ALT_M_NSE"documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors."user="Advanced">
<fieldname="Range">0.1 10.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m</field>
</param>
<paramhumanName="Height measurement gate size"name="EK2_HGT_GATE"documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="Height measurement gate size"name="EK2_HGT_I_GATE"documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
...
...
@@ -5386,7 +5374,7 @@
<fieldname="Increment">10</field>
<fieldname="Units">msec</field>
</param>
<paramhumanName="Magnetometer measurement noise (Gauss)"name="EK2_MAG_NOISE"documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements."user="Advanced">
<paramhumanName="Magnetometer measurement noise (Gauss)"name="EK2_MAG_M_NSE"documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements."user="Advanced">
<fieldname="Range">0.01 0.5</field>
<fieldname="Increment">0.01</field>
<fieldname="Units">gauss</field>
...
...
@@ -5400,25 +5388,25 @@
<valuecode="4">Always</value>
</values>
</param>
<paramhumanName="Magnetometer measurement gate size"name="EK2_MAG_GATE"documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="Magnetometer measurement gate size"name="EK2_MAG_I_GATE"documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
<paramhumanName="Equivalent airspeed measurement noise (m/s)"name="EK2_EAS_NOISE"documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements."user="Advanced">
<paramhumanName="Equivalent airspeed measurement noise (m/s)"name="EK2_EAS_M_NSE"documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements."user="Advanced">
<fieldname="Range">0.5 5.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m/s</field>
</param>
<paramhumanName="Airspeed measurement gate size"name="EK2_EAS_GATE"documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="Airspeed measurement gate size"name="EK2_EAS_I_GATE"documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
<paramhumanName="Range finder measurement noise (m)"name="EK2_RNG_NOISE"documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement."user="Advanced">
<paramhumanName="Range finder measurement noise (m)"name="EK2_RNG_M_NSE"documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement."user="Advanced">
<fieldname="Range">0.1 10.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m</field>
</param>
<paramhumanName="Range finder measurement gate size"name="EK2_RNG_GATE"documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="Range finder measurement gate size"name="EK2_RNG_I_GATE"documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
...
...
@@ -5427,12 +5415,12 @@
<fieldname="Increment">0.1</field>
<fieldname="Units">rad/s</field>
</param>
<paramhumanName="Optical flow measurement noise (rad/s)"name="EK2_FLOW_NOISE"documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements."user="Advanced">
<paramhumanName="Optical flow measurement noise (rad/s)"name="EK2_FLOW_M_NSE"documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements."user="Advanced">
<fieldname="Range">0.05 1.0</field>
<fieldname="Increment">0.05</field>
<fieldname="Units">rad/s</field>
</param>
<paramhumanName="Optical Flow measurement gate size"name="EK2_FLOW_GATE"documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<paramhumanName="Optical Flow measurement gate size"name="EK2_FLOW_I_GATE"documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
...
...
@@ -5441,33 +5429,29 @@
<fieldname="Increment">10</field>
<fieldname="Units">msec</field>
</param>
<paramhumanName="Rate gyro noise (rad/s)"name="EK2_GYRO_PNOISE"documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more."user="Advanced">
<fieldname="Range">0.0001 0.01</field>
<paramhumanName="Rate gyro noise (rad/s)"name="EK2_GYRO_P_NSE"documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more."user="Advanced">
<fieldname="Range">0.0001 0.1</field>
<fieldname="Increment">0.0001</field>
<fieldname="Units">rad/s</field>
</param>
<paramhumanName="Accelerometer noise (m/s^2)"name="EK2_ACC_PNOISE"documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more."user="Advanced">
<paramhumanName="Accelerometer noise (m/s^2)"name="EK2_ACC_P_NSE"documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more."user="Advanced">
<fieldname="Range">0.01 1.0</field>
<fieldname="Increment">0.01</field>
<fieldname="Units">m/s/s</field>
</param>
<paramhumanName="Rate gyro bias process noise (rad/s)"name="EK2_GBIAS_PNOISE"documentation="This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier."user="Advanced">
<fieldname="Range">0.0000001 0.00001</field>
<fieldname="Units">rad/s</field>
<paramhumanName="Rate gyro bias stability (rad/s/s)"name="EK2_GBIAS_P_NSE"documentation="This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier."user="Advanced">
<fieldname="Range">0.00001 0.001</field>
<fieldname="Units">rad/s/s</field>
</param>
<paramhumanName="Rate gyro scale factor process noise (1/s)"name="EK2_GSCL_PNOISE"documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier."user="Advanced">
<fieldname="Range">0.0000001 0.00001</field>
<paramhumanName="Rate gyro scale factor stability (1/s)"name="EK2_GSCL_P_NSE"documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier."user="Advanced">
<fieldname="Range">0.000001 0.001</field>
<fieldname="Units">1/s</field>
</param>
<paramhumanName="Accelerometer bias process noise (m/s^2)"name="EK2_ABIAS_PNOISE"documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier."user="Advanced">
<paramhumanName="Accelerometer bias stability (m/s^3)"name="EK2_ABIAS_P_NSE"documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier."user="Advanced">
<fieldname="Range">0.00001 0.001</field>
<fieldname="Units">m/s/s</field>
<fieldname="Units">m/s/s/s</field>
</param>
<paramhumanName="Magnetic field process noise (gauss/s)"name="EK2_MAG_PNOISE"documentation="This state process noise controls the growth of magnetic field state error estimates. Increasing it makes magnetic field bias estimation faster and noisier."user="Advanced">
<fieldname="Range">0.0001 0.01</field>
<fieldname="Units">gauss/s</field>
</param>
<paramhumanName="Wind velocity process noise (m/s^2)"name="EK2_WIND_PNOISE"documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier."user="Advanced">
<paramhumanName="Wind velocity process noise (m/s^2)"name="EK2_WIND_P_NSE"documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier."user="Advanced">
<fieldname="Range">0.01 1.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m/s/s</field>
...
...
@@ -5486,7 +5470,7 @@
<fieldname="Range">50 200</field>
<fieldname="Units">%</field>
</param>
<paramhumanName="Non-GPS operation position uncertainty (m)"name="EK2_NOAID_NOISE"documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors."user="Advanced">
<paramhumanName="Non-GPS operation position uncertainty (m)"name="EK2_NOAID_M_NSE"documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors."user="Advanced">
<fieldname="Range">0.5 50.0</field>
<fieldname="Units">m/s</field>
</param>
...
...
@@ -5498,6 +5482,27 @@
<valuecode="7">AllIMUs</value>
</values>
</param>
<paramhumanName="Yaw measurement noise (rad)"name="EK2_YAW_M_NSE"documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements."user="Advanced">
<fieldname="Range">0.05 1.0</field>
<fieldname="Increment">0.05</field>
<fieldname="Units">gauss</field>
</param>
<paramhumanName="Yaw measurement gate size"name="EK2_YAW_I_GATE"documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted."user="Advanced">
<fieldname="Range">100 1000</field>
<fieldname="Increment">25</field>
</param>
<paramhumanName="Output complementary filter time constant (centi-sec)"name="EK2_TAU_OUTPUT"documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds. Set to a negative number to use a computationally cheaper and less accurate method with an automatically calculated time constant."user="Advanced">
<fieldname="Range">-1 100</field>
<fieldname="Increment">10</field>
</param>
<paramhumanName="Earth magnetic field process noise (gauss/s)"name="EK2_MAGE_P_NSE"documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier."user="Advanced">
<fieldname="Range">0.00001 0.01</field>
<fieldname="Units">gauss/s</field>
</param>
<paramhumanName="Body magnetic field process noise (gauss/s)"name="EK2_MAGB_P_NSE"documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier."user="Advanced">
<fieldname="Range">0.00001 0.01</field>
<fieldname="Units">gauss/s</field>
</param>
</parameters>
<parametersname="MIS_">
<paramhumanName="Total mission commands"name="MIS_TOTAL"documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually."user="Advanced">
...
...
@@ -5959,15 +5964,15 @@
<fieldname="Increment">1</field>
</param>
</parameters>
<parametersname="PRECLAND_">
<paramhumanName="Precision Land enabled/disabled and behaviour"name="PRECLAND_ENABLED"documentation="Precision Land enabled/disabled and behaviour"user="Advanced">
<parametersname="PLND_">
<paramhumanName="Precision Land enabled/disabled and behaviour"name="PLND_ENABLED"documentation="Precision Land enabled/disabled and behaviour"user="Advanced">
<values>
<valuecode="0">Disabled</value>
<valuecode=" 1">Enabled Always Land</value>
<valuecode=" 2">Enabled Strict</value>
</values>
</param>
<paramhumanName="Precision Land Type"name="PRECLAND_TYPE"documentation="Precision Land Type"user="Advanced">
<paramhumanName="Precision Land Type"name="PLND_TYPE"documentation="Precision Land Type"user="Advanced">
<paramhumanName="ADSB vehicle list size"name="ADSB_LIST_MAX"documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values."user="Advanced">
<fieldname="Range">1 100</field>
</param>
</parameters>
<parametersname="NTF_">
<paramhumanName="LED Brightness"name="NTF_LED_BRIGHT"documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting."user="Advanced">
