diff --git a/src/AutoPilotPlugins/Common/RadioComponent.qml b/src/AutoPilotPlugins/Common/RadioComponent.qml index 70dc08f0cfd94f115090793c35194bfa273506d7..291484f0a13953577b6a09d1e3d8d3c7988ffd84 100644 --- a/src/AutoPilotPlugins/Common/RadioComponent.qml +++ b/src/AutoPilotPlugins/Common/RadioComponent.qml @@ -469,7 +469,7 @@ QGCView { } Repeater { - model: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware ? [ "RC_MAP_FLAPS", "RC_MAP_AUX1", "RC_MAP_AUX2", "RC_MAP_AUX3" ] : 0 + model: QGroundControl.multiVehicleManager.activeVehicle.px4Firmware ? [ "RC_MAP_FLAPS", "RC_MAP_AUX1", "RC_MAP_AUX2", "RC_MAP_PARAM1", "RC_MAP_PARAM2", "RC_MAP_PARAM3"] : 0 Row { spacing: ScreenTools.defaultFontPixelWidth diff --git a/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml b/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml index 5064e9af4e6bb35338386a886999fda0cd54599b..5d36514ee033d0753b027ab7d1f6e50f5d05a2e2 100644 --- a/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml +++ b/src/AutoPilotPlugins/PX4/CameraComponentSummary.qml @@ -14,7 +14,7 @@ FactPanel { QGCPalette { id: qgcPal; colorGroupEnabled: enabled } FactPanelController { id: controller; factPanel: panel } - property Fact _camTriggerMode: controller.getParameterFact(-1, "TRIG_MODE") + property Fact _camTriggerMode: controller.getParameterFact(-1, "TRIG_MODE", false) property Fact _camTriggerPol: controller.getParameterFact(-1, "TRIG_POLARITY", false) // Don't bitch about missing as these only exist if trigger mode is enabled property Fact _auxPins: controller.getParameterFact(-1, "TRIG_PINS", false) // Ditto property Fact _timeInterval: controller.getParameterFact(-1, "TRIG_INTERVAL", false) // Ditto diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml index 6bd86cfbeee3798b92428ab901827b92f8e7f3ba..27e2a8abee153200417b4ad3ca4a0457cdcd7828 100644 --- a/src/AutoPilotPlugins/PX4/PowerComponent.qml +++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml @@ -46,6 +46,7 @@ QGCView { property Fact battHighVolt: controller.getParameterFact(-1, "BAT_V_CHARGED") property Fact battLowVolt: controller.getParameterFact(-1, "BAT_V_EMPTY") property Fact battVoltLoadDrop: controller.getParameterFact(-1, "BAT_V_LOAD_DROP") + property Fact uavcanEnable: controller.getParameterFact(-1, "UAVCAN_ENABLE", false) readonly property string highlightPrefix: "" readonly property string highlightSuffix: "" @@ -270,6 +271,7 @@ QGCView { QGCCheckBox { id: showUAVCAN text: qsTr("Show UAVCAN Settings") + visible: uavcanEnable !== -1 } QGCLabel { @@ -294,7 +296,7 @@ QGCView { FactCheckBox { id: uavcanEnabledCheckBox width: ScreenTools.defaultFontPixelWidth * 20 - fact: controller.getParameterFact(-1, "UAVCAN_ENABLE") + fact: _uavcanEnabled checkedValue: 3 uncheckedValue: 0 text: qsTr("Enable UAVCAN as the default MAIN output bus (requires autopilot restart)") diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml index cd27c1939cc74d27e468aa47103706778a5565f7..0c08fff5dd1916e866e85d56bf381e3fa4c77aa5 100644 --- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml +++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml @@ -55,6 +55,7 @@ QGCView { property Fact _rcLossAction: controller.getParameterFact(-1, "NAV_RCL_ACT") property Fact _dlLossAction: controller.getParameterFact(-1, "NAV_DLL_ACT") property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND") + property Fact _landSpeedMC: controller.getParameterFact(-1, "MPC_LAND_SPEED", false) QGCViewPanel { id: panel @@ -483,7 +484,7 @@ QGCView { spacing: _margins * 0.5 anchors.verticalCenter: parent.verticalCenter Row { - visible: !controller.fixedWing + visible: _landSpeedMC !== -1 QGCLabel { anchors.baseline: landVelField.baseline width: _middleRowWidth @@ -491,7 +492,7 @@ QGCView { } FactTextField { id: landVelField - fact: controller.getParameterFact(-1, "MPC_LAND_SPEED") + fact: _landSpeedMC showUnits: true width: _editFieldWidth } diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 9d6eb577502d6519f647c695cdae33f9beb4fd45..ab8a91425e06fa54056dbb5e763b8452792501ae 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -2,7 +2,7 @@ 3 1 - 8 + 9 Speed controller bandwidth @@ -140,42 +140,53 @@ Body angular rate process noise + modules/attitude_estimator_ekf Body angular acceleration process noise + modules/attitude_estimator_ekf Acceleration process noise + modules/attitude_estimator_ekf Magnet field vector process noise + modules/attitude_estimator_ekf Gyro measurement noise + modules/attitude_estimator_ekf Accel measurement noise + modules/attitude_estimator_ekf Mag measurement noise + modules/attitude_estimator_ekf Moment of inertia matrix diagonal entry (1, 1) kg*m^2 + modules/attitude_estimator_ekf Moment of inertia matrix diagonal entry (2, 2) kg*m^2 + modules/attitude_estimator_ekf Moment of inertia matrix diagonal entry (3, 3) kg*m^2 + modules/attitude_estimator_ekf Moment of inertia enabled in estimator If set to != 0 the moment of inertia will be used in the estimator 0 1 + modules/attitude_estimator_ekf @@ -184,33 +195,39 @@ 0 1 2 + modules/attitude_estimator_q Complimentary filter magnetometer weight 0 1 2 + modules/attitude_estimator_q Complimentary filter external heading weight 0 1 + modules/attitude_estimator_q Complimentary filter gyroscope bias weight 0 1 2 + modules/attitude_estimator_q Magnetic declination, in degrees This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle. deg 2 + modules/attitude_estimator_q Enable automatic GPS based declination compensation + modules/attitude_estimator_q External heading usage mode (from Motion capture/Vision) @@ -218,6 +235,7 @@ Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture 0 2 + modules/attitude_estimator_q Vision None @@ -228,6 +246,7 @@ Set to 2 to use heading from motion capture Enable acceleration compensation based on GPS velocity + modules/attitude_estimator_q Gyro bias limit @@ -235,12 +254,14 @@ velocity 2 rad/s 3 + modules/attitude_estimator_q Threshold (of RMS) to warn about high vibration levels 0.01 10 2 + modules/attitude_estimator_q @@ -248,18 +269,22 @@ velocity Scaling factor for battery voltage sensor on PX4IO 1 100000 + modules/sensors Scaling factor for battery voltage sensor on FMU v2 8 + modules/sensors Scaling factor for battery current sensor 8 + modules/sensors Offset for battery current sensor 8 + modules/sensors Empty cell voltage (5C load) @@ -267,6 +292,7 @@ velocity V 2 0.01 + modules/systemlib Full cell voltage (5C load) @@ -274,6 +300,7 @@ velocity V 2 0.01 + modules/systemlib Low threshold @@ -283,6 +310,7 @@ velocity norm 2 0.01 + modules/systemlib Critical threshold @@ -292,6 +320,7 @@ velocity norm 2 0.01 + modules/systemlib Voltage drop per cell on full throttle @@ -301,11 +330,13 @@ velocity V 2 0.01 + modules/systemlib Number of cells Defines the number of cells the attached battery consists of. S + modules/systemlib 11S Battery 10S Battery @@ -332,6 +363,7 @@ velocity mA 0 50 + modules/systemlib @@ -342,12 +374,14 @@ velocity 10000.0 ms 1 + drivers/camera_trigger Camera trigger polarity This parameter sets the polarity of the trigger (0 = active low, 1 = active high ) 0 1 + drivers/camera_trigger Active high Active low @@ -360,6 +394,7 @@ velocity 3 ms 1 + drivers/camera_trigger Camera trigger mode @@ -367,6 +402,7 @@ velocity 0 4 true + drivers/camera_trigger On invididual commands Disable @@ -382,6 +418,7 @@ velocity 123456 0 true + drivers/camera_trigger Camera trigger distance @@ -390,6 +427,7 @@ velocity m 1 1 + drivers/camera_trigger @@ -399,6 +437,7 @@ velocity 0 894281 true + modules/systemlib Circuit breaker for rate controller output @@ -406,6 +445,7 @@ velocity 0 140253 true + modules/systemlib Circuit breaker for IO safety @@ -413,6 +453,7 @@ velocity 0 22027 true + modules/systemlib Circuit breaker for airspeed sensor @@ -420,6 +461,7 @@ velocity 0 162128 true + modules/systemlib Circuit breaker for flight termination @@ -427,6 +469,7 @@ velocity 0 121212 true + modules/systemlib Circuit breaker for engine failure detection @@ -434,6 +477,7 @@ velocity 0 284953 true + modules/systemlib Circuit breaker for GPS failure detection @@ -441,6 +485,7 @@ velocity 0 240024 true + modules/systemlib Circuit breaker for disabling buzzer @@ -448,6 +493,7 @@ velocity 0 782097 true + modules/systemlib Circuit breaker for USB link check @@ -455,6 +501,7 @@ velocity 0 197848 true + modules/systemlib @@ -466,6 +513,7 @@ velocity s 1 0.5 + modules/commander Datalink regain time threshold @@ -475,6 +523,7 @@ velocity s 1 0.5 + modules/commander Engine Failure Throttle Threshold @@ -483,6 +532,7 @@ velocity 1.0 1 0.05 + modules/commander Engine Failure Current/Throttle Threshold @@ -492,6 +542,7 @@ velocity A 2 1 + modules/commander Engine Failure Time Threshold @@ -501,6 +552,7 @@ velocity s 1 1 + modules/commander RC loss time threshold @@ -510,6 +562,7 @@ velocity s 1 0.1 + modules/commander Home set horizontal threshold @@ -519,6 +572,7 @@ velocity m 2 0.5 + modules/commander Home set vertical threshold @@ -528,17 +582,20 @@ velocity m 2 0.5 + modules/commander Autosaving of params If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off. + modules/commander RC control input mode The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data. 0 2 + modules/commander Joystick/No RC Checks RC Transmitter @@ -553,12 +610,14 @@ velocity s 0 1 + modules/commander Battery failsafe mode Action the system takes on low battery. Defaults to off 0 1 + modules/commander Return to Land Warning @@ -572,6 +631,7 @@ velocity The amount of time in seconds the system should wait at the comms hold waypoint 0.0 s + modules/navigator Comms hold Lat @@ -579,6 +639,7 @@ velocity -900000000 900000000 deg * 1e7 + modules/navigator Comms hold Lon @@ -586,6 +647,7 @@ velocity -1800000000 1800000000 deg * 1e7 + modules/navigator Comms hold alt @@ -593,23 +655,27 @@ velocity -50 30000 m + modules/navigator Airfield hole wait time The amount of time in seconds the system should wait at the airfield home waypoint 0.0 s + modules/navigator Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly 0 1000 + modules/navigator Skip comms hold wp If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home + modules/navigator Airfield home Lat @@ -617,6 +683,7 @@ velocity -900000000 900000000 deg * 1e7 + modules/navigator Airfield home Lon @@ -624,12 +691,14 @@ velocity -1800000000 1800000000 deg * 1e7 + modules/navigator Airfield home alt Altitude of airfield home waypoint -50 m + modules/navigator @@ -639,6 +708,7 @@ velocity 300 ms 1 + modules/ekf2 Barometer measurement delay relative to IMU measurements @@ -646,6 +716,7 @@ velocity 300 ms 1 + modules/ekf2 GPS measurement delay relative to IMU measurements @@ -653,6 +724,7 @@ velocity 300 ms 1 + modules/ekf2 Optical flow measurement delay relative to IMU measurements @@ -661,6 +733,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + modules/ekf2 Range finder measurement delay relative to IMU measurements @@ -668,6 +741,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + modules/ekf2 Airspeed measurement delay relative to IMU measurements @@ -675,12 +749,14 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + modules/ekf2 Integer bitmask controlling GPS checks Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT 0 511 + modules/ekf2 Required EPH to use GPS @@ -688,6 +764,7 @@ Assumes measurement is timestamped at trailing edge of integration period100 m 1 + modules/ekf2 Required EPV to use GPS @@ -695,6 +772,7 @@ Assumes measurement is timestamped at trailing edge of integration period100 m 1 + modules/ekf2 Required speed accuracy to use GPS @@ -702,17 +780,20 @@ Assumes measurement is timestamped at trailing edge of integration period5.0 m/s 2 + modules/ekf2 Required satellite count to use GPS 4 12 + modules/ekf2 Required GDoP to use GPS 1.5 5.0 1 + modules/ekf2 Maximum horizontal drift speed to use GPS @@ -720,6 +801,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 m/s 2 + modules/ekf2 Maximum vertical drift speed to use GPS @@ -727,6 +809,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.5 m/s 2 + modules/ekf2 Rate gyro noise for covariance prediction @@ -734,6 +817,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.1 rad/s 4 + modules/ekf2 Accelerometer noise for covariance prediction @@ -741,6 +825,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 m/s/s 2 + modules/ekf2 Process noise for delta angle bias prediction @@ -748,6 +833,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0001 rad/s 8 + modules/ekf2 Process noise for delta velocity z bias prediction @@ -755,12 +841,14 @@ Assumes measurement is timestamped at trailing edge of integration period0.01 m/s/s 7 + modules/ekf2 Process noise for delta angle scale factor prediction 0.0 0.01 6 + modules/ekf2 Process noise for body magnetic field prediction @@ -768,6 +856,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.1 Gauss/s 6 + modules/ekf2 Process noise for earth magnetic field prediction @@ -775,6 +864,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.1 Gauss/s 6 + modules/ekf2 Process noise for wind velocity prediction @@ -782,6 +872,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 m/s/s 3 + modules/ekf2 Measurement noise for gps horizontal velocity @@ -789,6 +880,7 @@ Assumes measurement is timestamped at trailing edge of integration period5.0 m/s 2 + modules/ekf2 Measurement noise for gps position @@ -796,6 +888,7 @@ Assumes measurement is timestamped at trailing edge of integration period10.0 m 2 + modules/ekf2 Measurement noise for non-aiding position hold @@ -803,6 +896,7 @@ Assumes measurement is timestamped at trailing edge of integration period50.0 m 1 + modules/ekf2 Measurement noise for barometric altitude @@ -810,6 +904,7 @@ Assumes measurement is timestamped at trailing edge of integration period15.0 m 2 + modules/ekf2 Measurement noise for magnetic heading fusion @@ -817,6 +912,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 rad 2 + modules/ekf2 Measurement noise for magnetometer 3-axis fusion @@ -824,6 +920,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 Gauss 3 + modules/ekf2 Measurement noise for airspeed fusion @@ -831,33 +928,39 @@ Assumes measurement is timestamped at trailing edge of integration period5.0 m/s 1 + modules/ekf2 Magnetic declination deg 1 + modules/ekf2 Gate size for magnetic heading fusion 1.0 SD 1 + modules/ekf2 Gate size for magnetometer XYZ component fusion 1.0 SD 1 + modules/ekf2 Integer bitmask controlling handling of magnetic declination Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used. 0 7 + modules/ekf2 Type of magnetometer fusion Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight + modules/ekf2 Magnetic heading Automatic @@ -871,33 +974,39 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 SD 1 + modules/ekf2 Gate size for GPS horizontal position fusion 1.0 SD 1 + modules/ekf2 Gate size for GPS velocity fusion 1.0 SD 1 + modules/ekf2 Replay mode A value of 1 indicates that the ekf2 module will publish replay messages for logging. + modules/ekf2 Integer bitmask controlling which external aiding sources will be used Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 0 3 + modules/ekf2 Determines the primary source of height data used by the EKF The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. + modules/ekf2 Reserved (GPS) Barometric pressure @@ -909,24 +1018,28 @@ Assumes measurement is timestamped at trailing edge of integration period0.01 m 2 + modules/ekf2 Gate size for range finder fusion 1.0 SD 1 + modules/ekf2 Minimum valid range for the range finder 0.01 m 2 + modules/ekf2 Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum 0.05 rad/s 2 + modules/ekf2 Measurement noise for the optical flow sensor @@ -934,95 +1047,113 @@ Assumes measurement is timestamped at trailing edge of integration period0.05 rad/s 2 + modules/ekf2 Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN 0 255 + modules/ekf2 Gate size for optical flow fusion 1.0 SD 1 + modules/ekf2 Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX 1.0 rad/s 2 + modules/ekf2 Terrain altitude process noise - accounts for instability in vehicle height estimate 0.5 m/s 1 + modules/ekf2 Magnitude of terrain gradient 0.0 m/m 2 + modules/ekf2 X position of IMU in body frame m 3 + modules/ekf2 Y position of IMU in body frame m 3 + modules/ekf2 Z position of IMU in body frame m 3 + modules/ekf2 X position of GPS antenna in body frame m 3 + modules/ekf2 Y position of GPS antenna in body frame m 3 + modules/ekf2 Z position of GPS antenna in body frame m 3 + modules/ekf2 X position of range finder origin in body frame m 3 + modules/ekf2 Y position of range finder origin in body frame m 3 + modules/ekf2 Z position of range finder origin in body frame m 3 + modules/ekf2 X position of optical flow focal point in body frame m 3 + modules/ekf2 Y position of optical flow focal point in body frame m 3 + modules/ekf2 Z position of optical flow focal point in body frame m 3 + modules/ekf2 @@ -1032,6 +1163,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.4 1.0 s + modules/fw_att_control Attitude Pitch Time Constant @@ -1039,6 +1171,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.2 1.0 s + modules/fw_att_control Pitch rate proportional gain @@ -1046,6 +1179,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 1.0 %/rad/s + modules/fw_att_control Pitch rate integrator gain @@ -1053,6 +1187,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 0.5 %/rad + modules/fw_att_control Maximum positive / up pitch rate @@ -1060,6 +1195,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg/s + modules/fw_att_control Maximum negative / down pitch rate @@ -1067,6 +1203,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg/s + modules/fw_att_control Pitch rate integrator limit @@ -1074,6 +1211,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 % + modules/fw_att_control Roll rate proportional Gain @@ -1081,6 +1219,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 1.0 %/rad/s + modules/fw_att_control Roll rate integrator Gain @@ -1088,6 +1227,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 0.2 %/rad + modules/fw_att_control Roll Integrator Anti-Windup @@ -1095,6 +1235,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 % + modules/fw_att_control Maximum Roll Rate @@ -1102,6 +1243,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg/s + modules/fw_att_control Yaw rate proportional gain @@ -1109,6 +1251,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 1.0 %/rad/s + modules/fw_att_control Yaw rate integrator gain @@ -1116,6 +1259,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 50.0 %/rad + modules/fw_att_control Yaw rate integrator limit @@ -1123,6 +1267,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 % + modules/fw_att_control Maximum Yaw Rate @@ -1130,6 +1275,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg/s + modules/fw_att_control Wheel steering rate proportional gain @@ -1137,6 +1283,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.005 1.0 %/rad/s + modules/fw_att_control Wheel steering rate integrator gain @@ -1144,6 +1291,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 50.0 %/rad + modules/fw_att_control Wheel steering rate integrator limit @@ -1151,6 +1299,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 % + modules/fw_att_control Maximum wheel steering rate @@ -1158,6 +1307,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg/s + modules/fw_att_control Roll rate feed forward @@ -1165,6 +1315,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 %/rad/s + modules/fw_att_control Pitch rate feed forward @@ -1172,6 +1323,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 %/rad/s + modules/fw_att_control Yaw rate feed forward @@ -1179,6 +1331,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 %/rad/s + modules/fw_att_control Wheel steering rate feed forward @@ -1186,17 +1339,20 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 %/rad/s + modules/fw_att_control Minimal speed for yaw coordination For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. m/s + modules/fw_att_control Method used for yaw coordination The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration 0 1 + modules/fw_att_control closed-loop open-loop @@ -1208,6 +1364,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 40 m/s + modules/fw_att_control Trim Airspeed @@ -1215,6 +1372,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 40 m/s + modules/fw_att_control Maximum Airspeed @@ -1222,6 +1380,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 40 m/s + modules/fw_att_control Roll Setpoint Offset @@ -1229,6 +1388,7 @@ Assumes measurement is timestamped at trailing edge of integration period-90.0 90.0 deg + modules/fw_att_control Pitch Setpoint Offset @@ -1236,6 +1396,7 @@ Assumes measurement is timestamped at trailing edge of integration period-90.0 90.0 deg + modules/fw_att_control Max Manual Roll @@ -1243,6 +1404,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg + modules/fw_att_control Max Manual Pitch @@ -1250,16 +1412,19 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg + modules/fw_att_control Scale factor for flaps 0.0 1.0 + modules/fw_att_control Scale factor for flaperons 0.0 1.0 + modules/fw_att_control @@ -1269,12 +1434,14 @@ Assumes measurement is timestamped at trailing edge of integration period12.0 50.0 m + modules/fw_pos_control_l1 L1 damping Damping factor for L1 control. 0.6 0.9 + modules/fw_pos_control_l1 Cruise throttle @@ -1282,12 +1449,14 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 norm + modules/fw_pos_control_l1 Throttle max slew rate Maximum slew rate for the commanded throttle 0.0 1.0 + modules/fw_pos_control_l1 Negative pitch limit @@ -1295,6 +1464,7 @@ Assumes measurement is timestamped at trailing edge of integration period-60.0 0.0 deg + modules/fw_pos_control_l1 Positive pitch limit @@ -1302,6 +1472,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 60.0 deg + modules/fw_pos_control_l1 Controller roll limit @@ -1309,6 +1480,7 @@ Assumes measurement is timestamped at trailing edge of integration period35.0 65.0 deg + modules/fw_pos_control_l1 Throttle limit max @@ -1316,6 +1488,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 norm + modules/fw_pos_control_l1 Throttle limit min @@ -1323,6 +1496,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 norm + modules/fw_pos_control_l1 Idle throttle @@ -1330,6 +1504,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 0.4 norm + modules/fw_pos_control_l1 Throttle limit value before flare @@ -1337,6 +1512,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 norm + modules/fw_pos_control_l1 Climbout Altitude difference @@ -1344,29 +1520,26 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 150.0 m - - - Maximum climb rate - This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced. - 2.0 - 10.0 - m/s + modules/fw_pos_control_l1 Landing slope angle 1.0 15.0 deg + modules/fw_pos_control_l1 FW_LND_HVIRT m + modules/fw_pos_control_l1 Landing flare altitude (relative to landing altitude) 0.0 25.0 m + modules/fw_pos_control_l1 Landing throttle limit altitude (relative landing altitude) @@ -1374,17 +1547,20 @@ Assumes measurement is timestamped at trailing edge of integration period-1.0 30.0 m + modules/fw_pos_control_l1 Landing heading hold horizontal distance 0 30.0 m + modules/fw_pos_control_l1 Enable or disable usage of terrain estimate during landing 0: disabled, 1: enabled + modules/fw_pos_control_l1 Flare, minimum pitch @@ -1392,6 +1568,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 15.0 deg + modules/fw_pos_control_l1 Flare, maximum pitch @@ -1399,80 +1576,105 @@ Assumes measurement is timestamped at trailing edge of integration period0 45.0 deg + modules/fw_pos_control_l1 Landing airspeed scale factor Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. 1.0 1.5 + modules/fw_pos_control_l1 + + Maximum climb rate + This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced. + 2.0 + 10.0 + m/s + modules/fw_pos_control_l1 + Minimum descent rate This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX. m/s + modules/fw_pos_control_l1 Maximum descent rate This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft. m/s + modules/fw_pos_control_l1 TECS time constant This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. s + modules/fw_pos_control_l1 TECS Throttle time constant This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond. s + modules/fw_pos_control_l1 Throttle damping factor This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height. + modules/fw_pos_control_l1 Integrator gain This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. + modules/fw_pos_control_l1 Maximum vertical acceleration This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions. m/s/s + modules/fw_pos_control_l1 Complementary filter "omega" parameter for height This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data. rad/s + modules/fw_pos_control_l1 Complementary filter "omega" parameter for speed This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. rad/s + modules/fw_pos_control_l1 Roll -> Throttle feedforward Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value. + modules/fw_pos_control_l1 Speed <--> Altitude priority This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height). 0.0 2.0 + modules/fw_pos_control_l1 Pitch damping factor This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly. + modules/fw_pos_control_l1 Height rate P factor + modules/fw_pos_control_l1 Height rate FF factor + modules/fw_pos_control_l1 Speed rate P factor + modules/fw_pos_control_l1 @@ -1481,6 +1683,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThe amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination. 0.0 s + modules/navigator Open loop loiter roll @@ -1488,6 +1691,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 30.0 deg + modules/navigator Open loop loiter pitch @@ -1495,26 +1699,28 @@ Assumes measurement is timestamped at trailing edge of integration period-30.0 30.0 deg + modules/navigator Open loop loiter thrust Thrust value which is set during the open loop loiter 0.0 1.0 + modules/navigator Geofence violation action - 0 = none, 1 = warning (default), 2 = loiter, 3 = return to launch, 4 = fight termination + Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system. 0 4 + modules/navigator Warning None - Return + Return to Land Loiter - Terminate @@ -1522,6 +1728,7 @@ Assumes measurement is timestamped at trailing edge of integration periodSelect which altitude reference should be used 0 = WGS84, 1 = AMSL 0 1 + modules/navigator AMSL WGS84 @@ -1532,6 +1739,7 @@ Assumes measurement is timestamped at trailing edge of integration periodSelect which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS 0 1 + modules/navigator GPS GPOS @@ -1542,18 +1750,25 @@ Assumes measurement is timestamped at trailing edge of integration periodSet how many subsequent position measurements outside of the fence are needed before geofence violation is triggered -1 10 + 1 + modules/navigator Max horizontal distance in meters Set to > 0 to activate a geofence action if horizontal distance to home exceeds this value. -1 + 5000 m + 1 + modules/navigator Max vertical distance in meters Set to > 0 to activate a geofence action if vertical distance to home exceeds this value. -1 m + 1 + modules/navigator @@ -1561,12 +1776,14 @@ Assumes measurement is timestamped at trailing edge of integration periodConsider mount operation mode If set to 1, mount mode will be enforced. + drivers/gimbal Auxiliary switch to set mount operation mode Set to 0 to disable manual mode control. If set to an auxiliary switch: Switch off means the gimbal is put into safe/locked position. Switch on means the gimbal can move freely, and landing gear will be retracted if applicable. 0 3 + drivers/gimbal AUX1 Disable @@ -1581,18 +1798,21 @@ Assumes measurement is timestamped at trailing edge of integration periodMaximum vertical velocity allowed in the landed state (m/s up and down) m/s 1 + modules/land_detector Multicopter max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) m/s 1 + modules/land_detector Multicopter max rotation Maximum allowed angular velocity around each axis allowed in the landed state. deg/s 1 + modules/land_detector Multicopter specific force threshold @@ -1601,6 +1821,7 @@ Assumes measurement is timestamped at trailing edge of integration period10 m/s^2 2 + modules/land_detector Multicopter free-fall trigger time @@ -1609,6 +1830,7 @@ Assumes measurement is timestamped at trailing edge of integration period5 s 2 + modules/land_detector Fixedwing max horizontal velocity @@ -1617,6 +1839,7 @@ Assumes measurement is timestamped at trailing edge of integration period10 m/s 1 + modules/land_detector Fixedwing max climb rate @@ -1625,6 +1848,7 @@ Assumes measurement is timestamped at trailing edge of integration period20 m/s 1 + modules/land_detector Fixedwing max short-term velocity @@ -1633,6 +1857,7 @@ Assumes measurement is timestamped at trailing edge of integration period10 m/s 1 + modules/land_detector Airspeed max @@ -1641,6 +1866,7 @@ Assumes measurement is timestamped at trailing edge of integration period20 m/s 1 + modules/land_detector @@ -1649,24 +1875,28 @@ Assumes measurement is timestamped at trailing edge of integration period0 1 + lib/launchdetection Catapult accelerometer threshold LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. 0 m/s/s + lib/launchdetection Catapult time threshold LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. 0 s + lib/launchdetection Motor delay Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate 0 s + lib/launchdetection Maximum pitch before the throttle is powered up (during motor delay phase) @@ -1674,12 +1904,14 @@ Assumes measurement is timestamped at trailing edge of integration period0 45 deg + lib/launchdetection Enable accelerometer integration for prediction + modules/local_position_estimator Optical flow z offset from center @@ -1687,6 +1919,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Optical flow xy standard deviation @@ -1694,12 +1927,14 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Optical flow minimum quality threshold 0 255 0 + modules/local_position_estimator Sonar z standard deviation @@ -1707,6 +1942,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Sonar z offset from center of vehicle +down @@ -1714,6 +1950,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Lidar z standard deviation @@ -1721,6 +1958,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Lidar z offset from center of vehicle +down @@ -1728,6 +1966,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Accelerometer xy standard deviation @@ -1736,6 +1975,7 @@ Assumes measurement is timestamped at trailing edge of integration period2 m/s^2 4 + modules/local_position_estimator Accelerometer z standard deviation @@ -1744,6 +1984,7 @@ Assumes measurement is timestamped at trailing edge of integration period2 m/s^2 4 + modules/local_position_estimator Barometric presssure altitude z standard deviation @@ -1751,10 +1992,12 @@ Assumes measurement is timestamped at trailing edge of integration period3 m 2 + modules/local_position_estimator Enable GPS + modules/local_position_estimator GPS delay compensaton @@ -1762,6 +2005,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.4 sec 2 + modules/local_position_estimator GPS xy standard deviation @@ -1769,6 +2013,7 @@ Assumes measurement is timestamped at trailing edge of integration period5 m 2 + modules/local_position_estimator GPS z standard deviation @@ -1776,6 +2021,7 @@ Assumes measurement is timestamped at trailing edge of integration period200 m 2 + modules/local_position_estimator GPS xy velocity standard deviation @@ -1783,6 +2029,7 @@ Assumes measurement is timestamped at trailing edge of integration period2 m/s 3 + modules/local_position_estimator GPS z velocity standard deviation @@ -1790,6 +2037,7 @@ Assumes measurement is timestamped at trailing edge of integration period2 m/s 3 + modules/local_position_estimator GPS max eph @@ -1797,6 +2045,7 @@ Assumes measurement is timestamped at trailing edge of integration period5.0 m 3 + modules/local_position_estimator Vision xy standard deviation @@ -1804,6 +2053,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Vision z standard deviation @@ -1811,10 +2061,12 @@ Assumes measurement is timestamped at trailing edge of integration period2 m 3 + modules/local_position_estimator Enabled vision correction + modules/local_position_estimator Vicon position standard deviation @@ -1822,6 +2074,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m 3 + modules/local_position_estimator Position propagation noise density @@ -1829,6 +2082,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m/s/sqrt(Hz) 8 + modules/local_position_estimator Velocity propagation noise density @@ -1836,6 +2090,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 (m/s)/s/sqrt(Hz) 8 + modules/local_position_estimator Accel bias propagation noise density @@ -1843,6 +2098,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 (m/s^2)/s/sqrt(Hz) 8 + modules/local_position_estimator Terrain random walk noise density @@ -1850,6 +2106,7 @@ Assumes measurement is timestamped at trailing edge of integration period1 m/s/sqrt(Hz) 3 + modules/local_position_estimator Flow gyro high pass filter cut off frequency @@ -1857,6 +2114,7 @@ Assumes measurement is timestamped at trailing edge of integration period2 Hz 3 + modules/local_position_estimator Home latitude for nav w/o GPS @@ -1864,6 +2122,7 @@ Assumes measurement is timestamped at trailing edge of integration period90 deg 8 + modules/local_position_estimator Home longitude for nav w/o GPS @@ -1871,6 +2130,7 @@ Assumes measurement is timestamped at trailing edge of integration period180 deg 8 + modules/local_position_estimator @@ -1878,37 +2138,44 @@ Assumes measurement is timestamped at trailing edge of integration periodMAVLink system ID 1 250 + modules/mavlink MAVLink component ID 1 250 + modules/mavlink MAVLink Radio ID When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. -1 240 + modules/mavlink MAVLink airframe type 1 + modules/mavlink Use/Accept HIL GPS message even if not in HIL mode If set to 1 incoming HIL GPS messages are parsed. + modules/mavlink Forward external setpoint messages If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode + modules/mavlink Test parameter This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level. -1000 1000 + modules/mavlink @@ -1916,6 +2183,7 @@ Assumes measurement is timestamped at trailing edge of integration periodEnables testmode (Identify) of MKBLCTRL Driver 0 1 + drivers/mkblctrl Enabled Disabled @@ -1929,6 +2197,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 80 m + modules/navigator Minimum Loiter altitude @@ -1936,11 +2205,13 @@ Assumes measurement is timestamped at trailing edge of integration period0 80 m + modules/navigator Enable 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 @@ -1948,12 +2219,14 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 m + 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 First Order Hold Zero Order Hold @@ -1964,6 +2237,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThe values are defined in the enum mission_altitude_mode 0 3 + modules/navigator Heading towards waypoint Heading as set by waypoint @@ -1978,6 +2252,7 @@ Assumes measurement is timestamped at trailing edge of integration period20 s 1 + modules/navigator Max yaw error in degree needed for waypoint heading acceptance @@ -1985,6 +2260,7 @@ Assumes measurement is timestamped at trailing edge of integration period90 deg 1 + modules/navigator Loiter radius (FW only) @@ -1992,6 +2268,7 @@ Assumes measurement is timestamped at trailing edge of integration period25 1000 m + modules/navigator Acceptance Radius @@ -1999,10 +2276,12 @@ Assumes measurement is timestamped at trailing edge of integration period0.05 200.0 m + modules/navigator Set data link loss failsafe mode 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. + modules/navigator Loiter Disabled @@ -2013,6 +2292,7 @@ Assumes measurement is timestamped at trailing edge of integration period Set RC loss failsafe mode 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. + modules/navigator Loiter Disabled @@ -2030,6 +2310,7 @@ Assumes measurement is timestamped at trailing edge of integration periods 2 0.01 + modules/mc_att_control Pitch time constant @@ -2039,6 +2320,7 @@ Assumes measurement is timestamped at trailing edge of integration periods 2 0.01 + modules/mc_att_control Roll P gain @@ -2047,6 +2329,7 @@ Assumes measurement is timestamped at trailing edge of integration period8 2 0.1 + modules/mc_att_control Roll rate P gain @@ -2055,6 +2338,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.5 3 0.01 + modules/mc_att_control Roll rate I gain @@ -2062,6 +2346,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 3 0.01 + modules/mc_att_control Roll rate D gain @@ -2070,12 +2355,14 @@ Assumes measurement is timestamped at trailing edge of integration period0.01 4 0.0005 + modules/mc_att_control Roll rate feedforward Improves tracking performance. 0.0 4 + modules/mc_att_control Pitch P gain @@ -2085,6 +2372,7 @@ Assumes measurement is timestamped at trailing edge of integration period1/s 2 0.0005 + modules/mc_att_control Pitch rate P gain @@ -2093,6 +2381,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.6 3 0.01 + modules/mc_att_control Pitch rate I gain @@ -2100,6 +2389,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 3 0.01 + modules/mc_att_control Pitch rate D gain @@ -2107,12 +2397,14 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 4 0.0005 + modules/mc_att_control Pitch rate feedforward Improves tracking performance. 0.0 4 + modules/mc_att_control Yaw P gain @@ -2122,6 +2414,7 @@ Assumes measurement is timestamped at trailing edge of integration period1/s 2 0.1 + modules/mc_att_control Yaw rate P gain @@ -2130,6 +2423,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.6 2 0.01 + modules/mc_att_control Yaw rate I gain @@ -2137,6 +2431,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 2 0.01 + modules/mc_att_control Yaw rate D gain @@ -2144,6 +2439,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 2 0.01 + modules/mc_att_control Yaw rate feedforward @@ -2151,6 +2447,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 4 0.01 + modules/mc_att_control Yaw feed forward @@ -2159,6 +2456,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 2 0.01 + modules/mc_att_control Max roll rate @@ -2168,6 +2466,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max pitch rate @@ -2177,6 +2476,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max yaw rate @@ -2186,6 +2486,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max yaw rate in auto mode @@ -2195,6 +2496,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max acro roll rate @@ -2203,6 +2505,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max acro pitch rate @@ -2211,6 +2514,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Max acro yaw rate @@ -2219,6 +2523,7 @@ Assumes measurement is timestamped at trailing edge of integration perioddeg/s 1 5 + modules/mc_att_control Threshold for Rattitude mode @@ -2227,74 +2532,88 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 2 0.01 + modules/mc_att_control Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/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 + modules/mc_att_control_multiplatform Max yaw rate @@ -2302,40 +2621,47 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 360.0 deg/s + modules/mc_att_control_multiplatform Max acro roll rate 0.0 360.0 deg/s + modules/mc_att_control_multiplatform Max acro pitch rate 0.0 360.0 deg/s + modules/mc_att_control_multiplatform Max acro yaw rate 0.0 deg/s + modules/mc_att_control_multiplatform Max manual roll 0.0 90.0 deg + modules/mc_pos_control_multiplatform Max manual pitch 0.0 90.0 deg + modules/mc_pos_control_multiplatform Max manual yaw rate 0.0 deg/s + modules/mc_pos_control_multiplatform @@ -2346,6 +2672,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 norm 2 + modules/mc_pos_control Hover thrust @@ -2354,6 +2681,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.8 norm 2 + modules/mc_pos_control ALTCTL throttle curve breakpoint @@ -2362,6 +2690,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.2 norm 2 + modules/mc_pos_control ALTCTL throttle curve breakpoint height @@ -2369,6 +2698,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 0.2 2 + modules/mc_pos_control Maximum thrust in auto thrust control @@ -2377,6 +2707,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.95 norm 2 + modules/mc_pos_control Minimum manual thrust @@ -2385,6 +2716,7 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 norm 2 + modules/mc_pos_control Maximum manual thrust @@ -2393,27 +2725,32 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 norm 2 + modules/mc_pos_control Proportional gain for vertical position error 0.0 2 + modules/mc_pos_control Proportional gain for vertical velocity error 0.0 2 + modules/mc_pos_control Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 3 + modules/mc_pos_control Differential gain for vertical velocity error 0.0 3 + modules/mc_pos_control Maximum vertical velocity @@ -2422,6 +2759,7 @@ Assumes measurement is timestamped at trailing edge of integration period8.0 m/s 1 + modules/mc_pos_control Vertical velocity feed forward @@ -2429,43 +2767,50 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 2 + modules/mc_pos_control Proportional gain for horizontal position error 0.0 2 + modules/mc_pos_control Proportional gain for horizontal velocity error 0.0 2 + modules/mc_pos_control Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 3 + modules/mc_pos_control Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 3 + modules/mc_pos_control Nominal horizontal velocity - Normal horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL). 0.0 m/s 2 + modules/mc_pos_control Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode. + Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity. 0.0 20.0 m/s 2 1 + modules/mc_pos_control Horizontal velocity feed forward @@ -2473,6 +2818,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 2 + modules/mc_pos_control Maximum tilt angle in air @@ -2481,6 +2827,7 @@ Assumes measurement is timestamped at trailing edge of integration period90.0 deg 1 + modules/mc_pos_control Maximum tilt during landing @@ -2489,18 +2836,21 @@ Assumes measurement is timestamped at trailing edge of integration period90.0 deg 1 + modules/mc_pos_control Landing descend rate 0.0 m/s 1 + modules/mc_pos_control Takeoff climb rate 0.0 m/s 2 + modules/mc_pos_control Max manual roll @@ -2508,6 +2858,7 @@ Assumes measurement is timestamped at trailing edge of integration period90.0 deg 1 + modules/mc_pos_control Max manual pitch @@ -2515,36 +2866,42 @@ Assumes measurement is timestamped at trailing edge of integration period90.0 deg 1 + modules/mc_pos_control Max manual yaw rate 0.0 deg/s 1 + modules/mc_pos_control Deadzone of X,Y sticks where position hold is enabled 0.0 1.0 2 + modules/mc_pos_control Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s 2 + modules/mc_pos_control Maximum vertical velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s 2 + modules/mc_pos_control Low pass filter cut freq. for numerical velocity derivative 0.0 Hz 2 + modules/mc_pos_control Maximum horizonal acceleration in velocity controlled modes @@ -2553,11 +2910,13 @@ Assumes measurement is timestamped at trailing edge of integration periodm/s/s 2 1 + modules/mc_pos_control Altitude control mode, note mode 1 only tested with LPE 0 1 + modules/mc_pos_control Terrain following Altitude following @@ -2568,70 +2927,84 @@ Assumes measurement is timestamped at trailing edge of integration periodMinimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 1.0 + modules/mc_pos_control_multiplatform Maximum thrust Limit max allowed thrust. 0.0 1.0 + modules/mc_pos_control_multiplatform Proportional gain for vertical position error 0.0 + modules/mc_pos_control_multiplatform Proportional gain for vertical velocity error 0.0 + modules/mc_pos_control_multiplatform Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 + modules/mc_pos_control_multiplatform Differential gain for vertical velocity error 0.0 + modules/mc_pos_control_multiplatform Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 m/s + modules/mc_pos_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. 0.0 1.0 + modules/mc_pos_control_multiplatform Proportional gain for horizontal position error 0.0 + modules/mc_pos_control_multiplatform Proportional gain for horizontal velocity error 0.0 + modules/mc_pos_control_multiplatform Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 + modules/mc_pos_control_multiplatform Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 + modules/mc_pos_control_multiplatform Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 m/s + modules/mc_pos_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. 0.0 1.0 + modules/mc_pos_control_multiplatform Maximum tilt angle in air @@ -2639,6 +3012,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg + modules/mc_pos_control_multiplatform Maximum tilt during landing @@ -2646,11 +3020,13 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 90.0 deg + modules/mc_pos_control_multiplatform Landing descend rate 0.0 m/s + modules/mc_pos_control_multiplatform @@ -2659,89 +3035,104 @@ Assumes measurement is timestamped at trailing edge of integration periodSet 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 Invert direction of aux output channel 4 Set to 1 to invert the channel, 0 for default direction. true + drivers/px4fmu Invert direction of aux output channel 5 Set to 1 to invert the channel, 0 for default direction. true + drivers/px4fmu Invert direction of aux output channel 6 Set to 1 to invert the channel, 0 for default direction. true + 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 Enable S.BUS out Set to 1 to enable S.BUS version 1 output instead of RSSI. + drivers/px4io Set the minimum PWM for the MAIN outputs @@ -2750,6 +3141,7 @@ Assumes measurement is timestamped at trailing edge of integration period1400 us true + modules/sensors Set the maximum PWM for the MAIN outputs @@ -2758,6 +3150,7 @@ Assumes measurement is timestamped at trailing edge of integration period2200 us true + modules/sensors Set the disarmed PWM for MAIN outputs @@ -2766,6 +3159,7 @@ Assumes measurement is timestamped at trailing edge of integration period2200 us true + modules/sensors Set the minimum PWM for the MAIN outputs @@ -2774,6 +3168,7 @@ Assumes measurement is timestamped at trailing edge of integration period1400 us true + modules/sensors Set the maximum PWM for the MAIN outputs @@ -2782,6 +3177,7 @@ Assumes measurement is timestamped at trailing edge of integration period2200 us true + modules/sensors Set the disarmed PWM for AUX outputs @@ -2790,6 +3186,7 @@ Assumes measurement is timestamped at trailing edge of integration period2200 us true + modules/sensors @@ -2798,6 +3195,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThis parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude. 0.001 0.1 + modules/bottle_drop Plane turn radius @@ -2805,6 +3203,7 @@ Assumes measurement is timestamped at trailing edge of integration period30.0 500.0 m + modules/bottle_drop Drop precision @@ -2812,12 +3211,14 @@ Assumes measurement is timestamped at trailing edge of integration period1.0 80.0 m + modules/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 + modules/bottle_drop Payload mass @@ -2825,6 +3226,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.001 5.0 kg + modules/bottle_drop Payload front surface area @@ -2832,6 +3234,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.001 0.5 m^2 + modules/bottle_drop @@ -2841,6 +3244,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 ms + modules/ekf_att_pos_estimator Position estimate delay @@ -2848,6 +3252,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 ms + modules/ekf_att_pos_estimator Height estimate delay @@ -2855,6 +3260,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 ms + modules/ekf_att_pos_estimator Mag estimate delay @@ -2862,6 +3268,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 ms + modules/ekf_att_pos_estimator True airspeeed estimate delay @@ -2869,108 +3276,126 @@ Assumes measurement is timestamped at trailing edge of integration period0 1000 ms + modules/ekf_att_pos_estimator GPS vs. barometric altitude update weight RE-CHECK this. 0.0 1.0 + modules/ekf_att_pos_estimator Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. 0.5 5.0 + modules/ekf_att_pos_estimator Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 0.05 5.0 + modules/ekf_att_pos_estimator Velocity noise in down (vertical) direction Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 0.2 3.0 + modules/ekf_att_pos_estimator Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 0.1 10.0 + modules/ekf_att_pos_estimator Position noise in down (vertical) direction Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 0.5 3.0 + modules/ekf_att_pos_estimator Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 0.01 1.0 + modules/ekf_att_pos_estimator Gyro process noise 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. 0.001 0.05 + modules/ekf_att_pos_estimator Accelerometer process noise 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. 0.05 1.0 + modules/ekf_att_pos_estimator Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. 0.00000005 0.00001 + modules/ekf_att_pos_estimator Accelerometer bias estimate process noise Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. 0.00001 0.001 + modules/ekf_att_pos_estimator Magnetometer earth frame offsets process noise 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. 0.0001 0.01 + modules/ekf_att_pos_estimator Magnetometer body frame offsets process noise 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. 0.0001 0.01 + modules/ekf_att_pos_estimator Magnetometer X bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 + modules/ekf_att_pos_estimator Magnetometer Y bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 + modules/ekf_att_pos_estimator Magnetometer Z bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 + modules/ekf_att_pos_estimator Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 0.3 10.0 + modules/ekf_att_pos_estimator @@ -2979,96 +3404,112 @@ Assumes measurement is timestamped at trailing edge of integration periodWeight (cutoff frequency) for barometer altitude measurements. 0.0 10.0 + modules/position_estimator_inav Z axis weight for GPS Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. 0.0 10.0 + modules/position_estimator_inav Z velocity weight for GPS Weight (cutoff frequency) for GPS altitude velocity measurements. 0.0 10.0 + modules/position_estimator_inav Z axis weight for vision Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. 0.0 10.0 + modules/position_estimator_inav Z axis weight for lidar Weight (cutoff frequency) for lidar measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for GPS position Weight (cutoff frequency) for GPS position measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for GPS velocity Weight (cutoff frequency) for GPS velocity measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for vision position Weight (cutoff frequency) for vision position measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for vision velocity Weight (cutoff frequency) for vision velocity measurements. 0.0 10.0 + modules/position_estimator_inav Weight for mocap system Weight (cutoff frequency) for mocap position measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. 0.0 10.0 + modules/position_estimator_inav XY axis weight for resetting velocity When velocity sources lost slowly decrease estimated horizontal velocity with this weight. 0.0 10.0 + modules/position_estimator_inav XY axis weight factor for GPS when optical flow available When optical flow data available, multiply GPS weights (for position and velocity) by this factor. 0.0 1.0 + modules/position_estimator_inav Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. 0.0 0.1 + modules/position_estimator_inav Optical flow scale factor Factor to scale optical flow 0.0 10.0 + modules/position_estimator_inav Minimal acceptable optical flow quality 0 - lowest quality, 1 - best quality. 0.0 1.0 + modules/position_estimator_inav Sonar maximal error for new surface @@ -3076,6 +3517,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 m + modules/position_estimator_inav Land detector time @@ -3083,6 +3525,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 s + modules/position_estimator_inav Land detector altitude dispersion threshold @@ -3090,12 +3533,14 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 10.0 m + modules/position_estimator_inav Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. 0.0 1.0 + modules/position_estimator_inav GPS delay @@ -3103,6 +3548,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 1.0 s + modules/position_estimator_inav Flow module offset (center of rotation) in X direction @@ -3110,6 +3556,7 @@ Assumes measurement is timestamped at trailing edge of integration period-1.0 1.0 m + modules/position_estimator_inav Flow module offset (center of rotation) in Y direction @@ -3117,16 +3564,19 @@ Assumes measurement is timestamped at trailing edge of integration period-1.0 1.0 m + modules/position_estimator_inav Disable mocap (set 0 if using fake gps) Disable mocap + modules/position_estimator_inav Enable LIDAR for altitude estimation Enable LIDAR for altitude estimation + modules/position_estimator_inav LIDAR calibration offset @@ -3134,6 +3584,7 @@ Assumes measurement is timestamped at trailing edge of integration period-20 20 m + modules/position_estimator_inav Disable vision input @@ -3141,6 +3592,7 @@ Assumes measurement is timestamped at trailing edge of integration period0 328754 true + modules/position_estimator_inav @@ -3151,6 +3603,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.25 2 0.01 + modules/commander Pitch trim @@ -3159,6 +3612,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.25 2 0.01 + modules/commander Yaw trim @@ -3167,6 +3621,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.25 2 0.01 + modules/commander RC Channel 1 Minimum @@ -3174,6 +3629,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 1 Trim @@ -3181,6 +3637,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 1 Maximum @@ -3188,12 +3645,14 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 1 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 1 dead zone @@ -3201,6 +3660,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 100.0 us + modules/sensors RC Channel 2 Minimum @@ -3208,6 +3668,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 2 Trim @@ -3215,6 +3676,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 2 Maximum @@ -3222,12 +3684,14 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 2 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 2 dead zone @@ -3235,6 +3699,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 100.0 us + modules/sensors RC Channel 3 Minimum @@ -3242,6 +3707,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 3 Trim @@ -3249,6 +3715,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 3 Maximum @@ -3256,12 +3723,14 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 3 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 3 dead zone @@ -3269,6 +3738,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 100.0 us + modules/sensors RC Channel 4 Minimum @@ -3276,6 +3746,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 4 Trim @@ -3283,6 +3754,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 4 Maximum @@ -3290,12 +3762,14 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 4 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 4 dead zone @@ -3303,6 +3777,7 @@ Assumes measurement is timestamped at trailing edge of integration period0.0 100.0 us + modules/sensors RC Channel 5 Minimum @@ -3310,6 +3785,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 5 Trim @@ -3317,6 +3793,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 5 Maximum @@ -3324,18 +3801,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 5 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 5 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 6 Minimum @@ -3343,6 +3823,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 6 Trim @@ -3350,6 +3831,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 6 Maximum @@ -3357,18 +3839,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 6 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 6 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 7 Minimum @@ -3376,6 +3861,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 7 Trim @@ -3383,6 +3869,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 7 Maximum @@ -3390,18 +3877,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 7 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 7 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 8 Minimum @@ -3409,6 +3899,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 8 Trim @@ -3416,6 +3907,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 8 Maximum @@ -3423,18 +3915,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 8 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 8 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 9 Minimum @@ -3442,6 +3937,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 9 Trim @@ -3449,6 +3945,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 9 Maximum @@ -3456,18 +3953,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 9 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 9 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 10 Minimum @@ -3475,6 +3975,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 10 Trim @@ -3482,6 +3983,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 10 Maximum @@ -3489,18 +3991,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 10 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 10 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 11 Minimum @@ -3508,6 +4013,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 11 Trim @@ -3515,6 +4021,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 11 Maximum @@ -3522,18 +4029,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 11 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 11 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 12 Minimum @@ -3541,6 +4051,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 12 Trim @@ -3548,6 +4059,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 12 Maximum @@ -3555,18 +4067,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 12 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 12 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 13 Minimum @@ -3574,6 +4089,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 13 Trim @@ -3581,6 +4097,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 13 Maximum @@ -3588,18 +4105,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 13 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 13 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 14 Minimum @@ -3607,6 +4127,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 14 Trim @@ -3614,6 +4135,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 14 Maximum @@ -3621,18 +4143,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 14 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 14 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 15 Minimum @@ -3640,6 +4165,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 15 Trim @@ -3647,6 +4173,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 15 Maximum @@ -3654,18 +4181,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 15 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 15 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 16 Minimum @@ -3673,6 +4203,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 16 Trim @@ -3680,6 +4211,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 16 Maximum @@ -3687,18 +4219,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 16 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 16 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 17 Minimum @@ -3706,6 +4241,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 17 Trim @@ -3713,6 +4249,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 17 Maximum @@ -3720,18 +4257,21 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 17 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 17 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors RC Channel 18 Minimum @@ -3739,6 +4279,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 1500.0 us + modules/sensors RC Channel 18 Trim @@ -3746,6 +4287,7 @@ Assumes measurement is timestamped at trailing edge of integration period800.0 2200.0 us + modules/sensors RC Channel 18 Maximum @@ -3753,23 +4295,27 @@ Assumes measurement is timestamped at trailing edge of integration period1500.0 2200.0 us + modules/sensors RC Channel 18 Reverse Set to -1 to reverse channel. -1.0 1.0 + modules/sensors RC Channel 18 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 + modules/sensors Enable relay control of relay 1 mapped to the Spektrum receiver power supply 0 1 + modules/sensors Relay controls DSM power Disabled @@ -3779,6 +4325,7 @@ Assumes measurement is timestamped at trailing edge of integration periodDSM binding trigger -1 1 + modules/sensors Start DSMX bind Start DSM2 bind @@ -3790,17 +4337,20 @@ Assumes measurement is timestamped at trailing edge of integration periodThis parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use. 0 18 + modules/sensors RC mode switch threshold automatic distribution This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use. + modules/sensors Roll control channel mapping The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned. 0 18 + modules/sensors Channel 11 Channel 10 @@ -3828,6 +4378,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThe channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned. 0 18 + modules/sensors Channel 11 Channel 10 @@ -3855,6 +4406,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThe channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned. 0 18 + modules/sensors Channel 11 Channel 10 @@ -3882,6 +4434,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThe channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned. 0 18 + modules/sensors Channel 11 Channel 10 @@ -3905,10 +4458,11 @@ Assumes measurement is timestamped at trailing edge of integration period - AUX1 channel + AUX1 Passthrough RC Channel Default function: Camera pitch 0 18 + modules/sensors Channel 11 Channel 10 @@ -3932,10 +4486,11 @@ Assumes measurement is timestamped at trailing edge of integration period - AUX2 channel + AUX2 Passthrough RC Channel Default function: Camera roll 0 18 + modules/sensors Channel 11 Channel 10 @@ -3959,10 +4514,65 @@ Assumes measurement is timestamped at trailing edge of integration period - AUX3 Channel + AUX3 Passthrough RC Channel Default function: Camera azimuth / yaw 0 18 + modules/sensors + + 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 + + + + AUX4 Passthrough RC Channel + 0 + 18 + modules/sensors + + 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 + + + + AUX5 Passthrough RC Channel + 0 + 18 + modules/sensors Channel 11 Channel 10 @@ -3990,6 +4600,7 @@ Assumes measurement is timestamped at trailing edge of integration periodCan be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate * 0 18 + modules/sensors Channel 11 Channel 10 @@ -4017,6 +4628,7 @@ Assumes measurement is timestamped at trailing edge of integration periodCan be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate * 0 18 + modules/sensors Channel 11 Channel 10 @@ -4044,6 +4656,7 @@ Assumes measurement is timestamped at trailing edge of integration periodCan be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate * 0 18 + modules/sensors Channel 11 Channel 10 @@ -4072,12 +4685,14 @@ Assumes measurement is timestamped at trailing edge of integration period0 2200 us + modules/sensors 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 + modules/sensors Channel 11 Channel 10 @@ -4105,12 +4720,14 @@ Assumes measurement is timestamped at trailing edge of integration periodOnly used if RC_RSSI_PWM_CHAN > 0 0 2000 + modules/sensors Min input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 + modules/sensors @@ -4121,6 +4738,7 @@ Assumes measurement is timestamped at trailing edge of integration periods 1 0.1 + modules/navigator @@ -4129,6 +4747,7 @@ Assumes measurement is timestamped at trailing edge of integration periodIf this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots. 0 18 + modules/sensors Channel 11 Channel 10 @@ -4156,6 +4775,7 @@ Assumes measurement is timestamped at trailing edge of integration periodThis is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned. 0 18 + modules/sensors Channel 11 Channel 10 @@ -4182,6 +4802,7 @@ Assumes measurement is timestamped at trailing edge of integration periodReturn switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4208,6 +4829,7 @@ Assumes measurement is timestamped at trailing edge of integration periodRattitude switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4234,6 +4856,7 @@ Assumes measurement is timestamped at trailing edge of integration periodPosition Control switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4260,6 +4883,7 @@ Assumes measurement is timestamped at trailing edge of integration periodLoiter switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4286,6 +4910,7 @@ Assumes measurement is timestamped at trailing edge of integration periodAcro switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4312,6 +4937,7 @@ Assumes measurement is timestamped at trailing edge of integration periodOffboard switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4338,6 +4964,7 @@ Assumes measurement is timestamped at trailing edge of integration periodKill switch channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4364,6 +4991,7 @@ Assumes measurement is timestamped at trailing edge of integration periodFlaps channel 0 18 + modules/sensors Channel 11 Channel 10 @@ -4391,54 +5019,63 @@ Assumes measurement is timestamped at trailing edge of integration period0-1 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 -1 1 + modules/sensors Threshold for selecting auto mode 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 -1 1 + modules/sensors Threshold for selecting rattitude mode 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 -1 1 + modules/sensors Threshold for selecting posctl mode 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 -1 1 + modules/sensors Threshold for selecting return to launch mode 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 -1 1 + modules/sensors Threshold for selecting loiter mode 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 -1 1 + modules/sensors Threshold for selecting acro mode 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 -1 1 + modules/sensors Threshold for selecting offboard mode 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 -1 1 + modules/sensors Threshold for the kill switch 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 -1 1 + modules/sensors @@ -4450,6 +5087,7 @@ Assumes measurement is timestamped at trailing edge of integration periodm 1 0.5 + modules/navigator RTL loiter altitude @@ -4459,6 +5097,7 @@ Assumes measurement is timestamped at trailing edge of integration periodm 1 0.5 + modules/navigator RTL delay @@ -4468,6 +5107,7 @@ Assumes measurement is timestamped at trailing edge of integration periods 1 0.5 + modules/navigator Minimum distance to trigger rising to a safe altitude @@ -4477,6 +5117,7 @@ Assumes measurement is timestamped at trailing edge of integration periodm 1 0.5 + modules/navigator @@ -4484,12 +5125,14 @@ Assumes measurement is timestamped at trailing edge of integration periodEnable or disable runway takeoff with landing gear 0: disabled, 1: enabled + lib/runway_takeoff Specifies which heading should be held during runnway takeoff 0: airframe heading, 1: heading towards takeoff waypoint 0 1 + lib/runway_takeoff Waypoint Airframe @@ -4503,12 +5146,14 @@ FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0 0.0 100.0 m + lib/runway_takeoff Max throttle during runway takeoff. (Can be used to test taxi on runway) 0.0 1.0 + lib/runway_takeoff Pitch setpoint during taxi / before takeoff airspeed is reached. @@ -4518,6 +5163,7 @@ to takeoff is reached 0.0 20.0 deg + lib/runway_takeoff Max pitch during takeoff. @@ -4526,6 +5172,7 @@ pitch of 10 degrees during takeoff, so this must be larger if set 0.0 60.0 deg + lib/runway_takeoff Max roll during climbout. @@ -4534,6 +5181,7 @@ navigation before we're on a safe height 0.0 60.0 deg + lib/runway_takeoff Min. airspeed scaling factor for takeoff. @@ -4541,6 +5189,7 @@ Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL 0.0 2.0 + lib/runway_takeoff @@ -4550,12 +5199,14 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL -1 250 Hz + modules/sdlog2 Enable 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 @@ -4566,6 +5217,7 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL Use timestamps only if GPS 3D fix is available A value of 1 constrains the log folder creation to only use the time stamp if a 3D GPS lock is present. + modules/sdlog2 UTC offset (unit: min) @@ -4573,6 +5225,7 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL -1000 1000 min + modules/sdlog2 Give logging app higher thread priority to avoid data loss. @@ -4580,6 +5233,7 @@ 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 @@ -4591,48 +5245,58 @@ This is used for gathering replay logs for the ekf2 module ID of the board this parameter set was calibrated on + modules/sensors ID of the Gyro that the calibration is for + modules/sensors Gyro X-axis offset -10.0 10.0 + modules/sensors Gyro Y-axis offset -10.0 10.0 + modules/sensors Gyro Z-axis offset -5.0 5.0 + modules/sensors Gyro X-axis scaling factor -1.5 1.5 + modules/sensors Gyro Y-axis scaling factor -1.5 1.5 + modules/sensors Gyro Z-axis scaling factor -1.5 1.5 + modules/sensors ID of Magnetometer the calibration is for + 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 + modules/sensors Pitch 90° Pitch 270° @@ -4667,88 +5331,110 @@ This is used for gathering replay logs for the ekf2 module Magnetometer X-axis offset -500.0 500.0 + modules/sensors Magnetometer Y-axis offset -500.0 500.0 + modules/sensors Magnetometer Z-axis offset -500.0 500.0 + modules/sensors Magnetometer X-axis scaling factor + modules/sensors Magnetometer Y-axis scaling factor + modules/sensors Magnetometer Z-axis scaling factor + modules/sensors ID of the Accelerometer that 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 X-axis offset -10.0 10.0 + modules/sensors Gyro Y-axis offset -10.0 10.0 + modules/sensors Gyro Z-axis offset -5.0 5.0 + modules/sensors Gyro X-axis scaling factor -1.5 1.5 + modules/sensors Gyro Y-axis scaling factor -1.5 1.5 + modules/sensors Gyro Z-axis scaling factor -1.5 1.5 + modules/sensors ID of Magnetometer the calibration is for + modules/sensors Rotation of magnetometer 1 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 + modules/sensors Pitch 90° Pitch 270° @@ -4783,88 +5469,110 @@ This is used for gathering replay logs for the ekf2 module Magnetometer X-axis offset -500.0 500.0 + modules/sensors Magnetometer Y-axis offset -500.0 500.0 + modules/sensors Magnetometer Z-axis offset -500.0 500.0 + modules/sensors Magnetometer X-axis scaling factor + modules/sensors Magnetometer Y-axis scaling factor + modules/sensors Magnetometer Z-axis scaling factor + modules/sensors ID of the Accelerometer that 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 X-axis offset -10.0 10.0 + modules/sensors Gyro Y-axis offset -10.0 10.0 + modules/sensors Gyro Z-axis offset -5.0 5.0 + modules/sensors Gyro X-axis scaling factor -1.5 1.5 + modules/sensors Gyro Y-axis scaling factor -1.5 1.5 + modules/sensors Gyro Z-axis scaling factor -1.5 1.5 + modules/sensors ID of Magnetometer the calibration is for + modules/sensors Rotation of magnetometer 2 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 + modules/sensors Pitch 90° Pitch 270° @@ -4899,76 +5607,97 @@ This is used for gathering replay logs for the ekf2 module Magnetometer X-axis offset -500.0 500.0 + modules/sensors Magnetometer Y-axis offset -500.0 500.0 + modules/sensors Magnetometer Z-axis offset -500.0 500.0 + modules/sensors Magnetometer X-axis scaling factor + modules/sensors Magnetometer Y-axis scaling factor + modules/sensors Magnetometer Z-axis scaling factor + modules/sensors ID of the Accelerometer that 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 Primary accel ID + modules/sensors Primary gyro ID + modules/sensors Primary mag ID + modules/sensors Primary baro ID + 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 QNH for barometer 500 1500 hPa + modules/sensors Board rotation This parameter defines the rotation of the FMU board relative to the platform. + modules/sensors Pitch 90° Pitch 270° @@ -5002,6 +5731,7 @@ This is used for gathering replay logs for the ekf2 module PX4Flow board rotation This parameter defines the rotation of the PX4FLOW board relative to the platform. Zero rotation is defined as Y on flow board pointing towards front of vehicle true + modules/sensors Yaw 45° No rotation @@ -5017,19 +5747,23 @@ This is used for gathering replay logs for the ekf2 module Board rotation Y (Pitch) offset This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment. deg + modules/sensors Board rotation X (Roll) offset This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment. deg + modules/sensors Board rotation Z (YAW) offset 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 + modules/sensors External magnetometer rotation + modules/sensors Pitch 90° Pitch 270° @@ -5063,6 +5797,7 @@ This is used for gathering replay logs for the ekf2 module Select primary magnetometer 0 2 + modules/sensors External is primary Mag Auto-select Mag @@ -5075,20 +5810,24 @@ This is used for gathering replay logs for the ekf2 module Enable Lidar-Lite (LL40LS) pwm driver true + modules/sensors Enable sf0x driver true + modules/sensors Interval of one subscriber in the example in ms ms + examples/subscriber Float Demonstration Parameter in the Example + examples/subscriber @@ -5097,29 +5836,34 @@ This is used for gathering replay logs for the ekf2 module 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. true + modules/systemlib Automatically configure default values Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved. 0 1 + modules/systemlib 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 + modules/systemlib Set restart type Set by px4io to indicate type of restart 0 2 + modules/systemlib Set multicopter estimator group @@ -5127,6 +5871,7 @@ This is used for gathering replay logs for the ekf2 module 0 2 true + modules/systemlib local_position_estimator, attitude_estimator_q position_estimator_inav, attitude_estimator_q @@ -5139,6 +5884,7 @@ This is used for gathering replay logs for the ekf2 module 0 1921600 true + modules/systemlib FrSky Telemetry Normal Telemetry (57600 baud, 8N1) @@ -5154,6 +5900,7 @@ This is used for gathering replay logs for the ekf2 module Parameter version This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration. 0 + modules/systemlib @@ -5162,6 +5909,7 @@ This is used for gathering replay logs for the ekf2 module Allowed values: 0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled 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. 0 3 + modules/uavcan Enabled Disabled @@ -5174,12 +5922,14 @@ This is used for gathering replay logs for the ekf2 module Read the specs at http://uavcan.org to learn more about Node ID. 1 125 + modules/uavcan UAVCAN CAN bus bitrate 20000 1000000 bit/s + modules/uavcan @@ -5189,6 +5939,7 @@ This is used for gathering replay logs for the ekf2 module 1.0 3 0.01 + modules/vtol_att_control Maximum allowed down-pitch the controller is able to demand. This prevents large, negative @@ -5196,12 +5947,14 @@ lift values being created when facing strong winds. The vehicle will use the pus to accelerate forward if necessary 0.0 45.0 + 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. 0.0 2.0 + modules/vtol_att_control Position of tilt servo in mc mode @@ -5209,6 +5962,7 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control Position of tilt servo in transition mode @@ -5216,6 +5970,7 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control Position of tilt servo in fw mode @@ -5223,6 +5978,7 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control Duration of front transition phase 2 @@ -5232,6 +5988,7 @@ to accelerate forward if necessary s 3 0.01 + modules/vtol_att_control The channel number of motors that must be turned off in fixed wing mode @@ -5239,6 +5996,7 @@ to accelerate forward if necessary 12345678 0 1 + modules/vtol_att_control VTOL number of engines @@ -5246,6 +6004,7 @@ to accelerate forward if necessary 8 0 1 + modules/vtol_att_control Idle speed of VTOL when in multicopter mode @@ -5254,6 +6013,7 @@ to accelerate forward if necessary us 0 1 + modules/vtol_att_control Minimum airspeed in multicopter mode @@ -5263,6 +6023,7 @@ to accelerate forward if necessary m/s 2 0.5 + modules/vtol_att_control Maximum airspeed in multicopter mode @@ -5272,6 +6033,7 @@ to accelerate forward if necessary m/s 2 0.5 + modules/vtol_att_control Trim airspeed when in multicopter mode @@ -5281,11 +6043,13 @@ to accelerate forward if necessary m/s 2 0.5 + modules/vtol_att_control Permanent stabilization in fw mode If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake. + modules/vtol_att_control Fixed wing pitch trim @@ -5294,6 +6058,7 @@ to accelerate forward if necessary 1.0 2 0.01 + modules/vtol_att_control Motor max power @@ -5303,6 +6068,7 @@ to accelerate forward if necessary W 0 1 + modules/vtol_att_control Propeller efficiency parameter @@ -5311,6 +6077,7 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control Total airspeed estimate low-pass filter gain @@ -5319,12 +6086,14 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) 0 2 0 + modules/vtol_att_control Tiltrotor Tailsitter @@ -5335,6 +6104,7 @@ to accelerate forward if necessary Lock elevons in multicopter mode If set to 1 the elevons are locked in multicopter mode + modules/vtol_att_control Duration of a front transition @@ -5344,6 +6114,7 @@ to accelerate forward if necessary s 2 1 + modules/vtol_att_control Duration of a back transition @@ -5353,6 +6124,7 @@ to accelerate forward if necessary s 2 1 + modules/vtol_att_control Transition blending airspeed @@ -5362,6 +6134,7 @@ to accelerate forward if necessary m/s 2 1 + modules/vtol_att_control Transition airspeed @@ -5371,14 +6144,17 @@ to accelerate forward if necessary m/s 2 1 + modules/vtol_att_control Enable optimal recovery strategy for pitch-weak tailsitters + modules/vtol_att_control Enable weather-vane mode landings for missions + modules/vtol_att_control Weather-vane yaw rate scale @@ -5387,10 +6163,12 @@ to accelerate forward if necessary 1.0 3 0.01 + modules/vtol_att_control Enable weather-vane mode for loiter + modules/vtol_att_control Front transition timeout @@ -5400,6 +6178,7 @@ to accelerate forward if necessary s 2 1 + modules/vtol_att_control Front transition minimum time @@ -5407,11 +6186,13 @@ to accelerate forward if necessary 0.0 10.0 s + modules/vtol_att_control Force VTOL mode takeoff and land 0 1 + modules/vtol_att_control @@ -5419,232 +6200,278 @@ to accelerate forward if necessary mTECS enabled Set to 1 to enable mTECS + modules/fw_pos_control_l1/mtecs Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Total Energy Rate Control Offset (Cruise throttle sp) 0.0 10.0 + modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Total Energy Distribution Offset (Cruise pitch sp) 0.0 10.0 + modules/fw_pos_control_l1/mtecs Minimal Throttle Setpoint 0.0 1.0 + modules/fw_pos_control_l1/mtecs Maximal Throttle Setpoint 0.0 1.0 + modules/fw_pos_control_l1/mtecs Minimal Pitch Setpoint in Degrees -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Maximal Pitch Setpoint in Degrees -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for altitude Hz + modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for the flight path angle Hz + modules/fw_pos_control_l1/mtecs P gain for the altitude control Maps the altitude error to the flight path angle setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Lowpass for FPA error derivative calculation (see MT_FPA_D) + modules/fw_pos_control_l1/mtecs Minimal flight path angle setpoint -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Maximal flight path angle setpoint -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for airspeed + modules/fw_pos_control_l1/mtecs Airspeed derivative calculation lowpass + modules/fw_pos_control_l1/mtecs P gain for the airspeed control Maps the airspeed error to the acceleration setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint 0.0 10.0 + modules/fw_pos_control_l1/mtecs Lowpass for ACC error derivative calculation (see MT_ACC_D) + modules/fw_pos_control_l1/mtecs Minimal acceleration (air) m/s/s + modules/fw_pos_control_l1/mtecs Maximal acceleration (air) m/s/s + modules/fw_pos_control_l1/mtecs Minimal throttle during takeoff 0.0 1.0 + modules/fw_pos_control_l1/mtecs Maximal throttle during takeoff 0.0 1.0 + modules/fw_pos_control_l1/mtecs Minimal pitch during takeoff -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Maximal pitch during takeoff -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Minimal throttle in underspeed mode 0.0 1.0 + modules/fw_pos_control_l1/mtecs Maximal throttle in underspeed mode 0.0 1.0 + modules/fw_pos_control_l1/mtecs Minimal pitch in underspeed mode -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Maximal pitch in underspeed mode -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Minimal throttle in landing mode (only last phase of landing) 0.0 1.0 + modules/fw_pos_control_l1/mtecs Maximal throttle in landing mode (only last phase of landing) 0.0 1.0 + modules/fw_pos_control_l1/mtecs Minimal pitch in landing mode -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Maximal pitch in landing mode -90.0 90.0 deg + modules/fw_pos_control_l1/mtecs Integrator Limit for Total Energy Rate Control 0.0 10.0 + modules/fw_pos_control_l1/mtecs Integrator Limit for Energy Distribution Rate Control 0.0 10.0 + modules/fw_pos_control_l1/mtecs 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 First flightmode slot (1000-1160) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5665,6 +6492,7 @@ Maps the change of airspeed error to the acceleration setpoint Second flightmode slot (1160-1320) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5685,6 +6513,7 @@ Maps the change of airspeed error to the acceleration setpoint Third flightmode slot (1320-1480) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5705,6 +6534,7 @@ Maps the change of airspeed error to the acceleration setpoint Fourth flightmode slot (1480-1640) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5725,6 +6555,7 @@ Maps the change of airspeed error to the acceleration setpoint Fift flightmode slot (1640-1800) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5745,6 +6576,7 @@ Maps the change of airspeed error to the acceleration setpoint Sixth flightmode slot (1800-2000) If the main switch channel is in this range the selected flight mode will be applied. + modules/commander Land Takeoff @@ -5764,57 +6596,74 @@ Maps the change of airspeed error to the acceleration setpoint TEST_MIN + modules/controllib_test TEST_MAX + modules/controllib_test TEST_TRIM + modules/controllib_test TEST_HP + modules/controllib_test TEST_LP + modules/controllib_test TEST_P + modules/controllib_test TEST_I + modules/controllib_test TEST_I_MAX + modules/controllib_test TEST_D + modules/controllib_test TEST_D_LP + modules/controllib_test TEST_MEAN + modules/controllib_test TEST_DEV + modules/controllib_test SEG_TH2V_P + modules/segway SEG_TH2V_I + modules/segway SEG_TH2V_I_MAX + modules/segway SEG_Q2V + modules/segway Failsafe channel mapping 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 0 18 + modules/sensors Channel 11 Channel 10 diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index e9962e193cdf825a90968c82ca718375ba9a5936..30d5f74237044c3d6e0bb2b2eec4c8b0171c2836 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -99,8 +99,8 @@ Vehicle::Vehicle(LinkInterface* link, , _navigationTargetBearing(0.0f) , _refreshTimer(new QTimer(this)) , _updateCount(0) - , _rcRSSI(0) - , _rcRSSIstore(100.0) + , _rcRSSI(255) + , _rcRSSIstore(255) , _autoDisconnect(false) , _flying(false) , _connectionLost(false) @@ -270,8 +270,8 @@ Vehicle::Vehicle(QObject* parent) , _navigationTargetBearing(0.0f) , _refreshTimer(new QTimer(this)) , _updateCount(0) - , _rcRSSI(0) - , _rcRSSIstore(100.0) + , _rcRSSI(255) + , _rcRSSIstore(255) , _autoDisconnect(false) , _connectionLost(false) , _connectionLostEnabled(true) @@ -1336,6 +1336,10 @@ void Vehicle::_imageReady(UASInterface*) void Vehicle::_remoteControlRSSIChanged(uint8_t rssi) { + if (_rcRSSIstore < 0 || _rcRSSIstore > 100) { + _rcRSSIstore = rssi; + } + // Low pass to git rid of jitter _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1); uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore); diff --git a/src/ui/QGCMapRCToParamDialog.cpp b/src/ui/QGCMapRCToParamDialog.cpp index e3a2dfff1c4560a64b775e8c6f53839ae6e317f3..7b8254fa5f2e7bd89a8bd8f5bbd8b9758a4300ac 100644 --- a/src/ui/QGCMapRCToParamDialog.cpp +++ b/src/ui/QGCMapRCToParamDialog.cpp @@ -41,17 +41,22 @@ QGCMapRCToParamDialog::QGCMapRCToParamDialog(QString param_id, UASInterface *mav , ui(new Ui::QGCMapRCToParamDialog) { ui->setupUi(this); + + // refresh the parameter from onboard to make sure the current value is used + AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin(); + Q_ASSERT(autopilot); + Fact* paramFact = autopilot->getParameterFact(FactSystem::defaultComponentId, param_id); + ui->minValueDoubleSpinBox->setValue(paramFact->rawMin().toDouble()); + ui->maxValueDoubleSpinBox->setValue(paramFact->rawMax().toDouble()); + // only enable ok button when param was refreshed QPushButton *okButton = ui->buttonBox->button(QDialogButtonBox::Ok); okButton->setEnabled(false); ui->paramIdLabel->setText(param_id); - // refresh the parameter from onboard to make sure the current value is used - AutoPilotPlugin* autopilot = _multiVehicleManager->getVehicleById(mav->getUASID())->autopilotPlugin(); - Q_ASSERT(autopilot); - connect(autopilot->getParameterFact(FactSystem::defaultComponentId, param_id), &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated); + connect(paramFact, &Fact::valueChanged, this, &QGCMapRCToParamDialog::_parameterUpdated); autopilot->refreshParameter(FactSystem::defaultComponentId, param_id); } diff --git a/src/ui/QGCMapRCToParamDialog.ui b/src/ui/QGCMapRCToParamDialog.ui index 8fde55314b79ea2913881056387b92e4fb62783d..f42c79ea2310d93b6a0457b3c68b549314e8ea23 100644 --- a/src/ui/QGCMapRCToParamDialog.ui +++ b/src/ui/QGCMapRCToParamDialog.ui @@ -35,7 +35,7 @@ 9 9 381 - 271 + 296 @@ -52,7 +52,7 @@ - RC-Parameter Channel (Knob No.) + Parameter Tuning ID @@ -81,13 +81,6 @@ - - - - to - - - @@ -112,7 +105,7 @@ - Scale + Scale (keep default) @@ -126,7 +119,7 @@ - Initial Value + Center value @@ -212,6 +205,13 @@ + + + + Tuning IDs can be mapped to channels in the RC settings + + + diff --git a/src/ui/toolbar/MainToolBar.qml b/src/ui/toolbar/MainToolBar.qml index b87100eb8c8fea019df7404fa28abfdf6e618c1d..ebd44291e25e3b097c83150eb011f77d5d6d471d 100644 --- a/src/ui/toolbar/MainToolBar.qml +++ b/src/ui/toolbar/MainToolBar.qml @@ -314,14 +314,14 @@ Rectangle { QGCLabel { id: rssiLabel - text: activeVehicle ? (activeVehicle.rcRSSI > 0 ? qsTr("RC RSSI Status") : qsTr("RC RSSI Data Unavailable")) : qsTr("N/A", "No data avaliable") + text: activeVehicle ? (activeVehicle.rcRSSI != 255 ? qsTr("RC RSSI Status") : qsTr("RC RSSI Data Unavailable")) : qsTr("N/A", "No data avaliable") font.weight:Font.DemiBold anchors.horizontalCenter: parent.horizontalCenter } GridLayout { id: rcrssiGrid - visible: activeVehicle && activeVehicle.rcRSSI > 0 + visible: activeVehicle && activeVehicle.rcRSSI != 255 anchors.margins: ScreenTools.defaultFontPixelHeight columnSpacing: ScreenTools.defaultFontPixelWidth columns: 2 diff --git a/src/ui/toolbar/SignalStrength.qml b/src/ui/toolbar/SignalStrength.qml index c2dbdb9706cdf5489bcdf11ad0fd718c34470abc..05b7f8012965cfad4fec6cb66c41a9b8f4e3266e 100644 --- a/src/ui/toolbar/SignalStrength.qml +++ b/src/ui/toolbar/SignalStrength.qml @@ -51,7 +51,7 @@ Item { return "/qmlimages/Signal40.svg" if (percent < 80) return "/qmlimages/Signal60.svg" - if (percent < 100) + if (percent < 95) return "/qmlimages/Signal80.svg" return "/qmlimages/Signal100.svg" }