diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 8c06eecd38f5e07993484626730706be986d81ac..8e626f8840f4098a0e9c5b1c4a9f52ff7e3a44aa 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -137,57 +137,6 @@
0
-
-
- Moment of inertia matrix diagonal entry (1, 1)
- kg*m^2
- examples/attitude_estimator_ekf
-
-
- Moment of inertia matrix diagonal entry (2, 2)
- kg*m^2
- examples/attitude_estimator_ekf
-
-
- Moment of inertia matrix diagonal entry (3, 3)
- kg*m^2
- examples/attitude_estimator_ekf
-
-
- Moment of inertia enabled in estimator
- If set to != 0 the moment of inertia will be used in the estimator
-
- examples/attitude_estimator_ekf
-
-
- Body angular rate process noise
- examples/attitude_estimator_ekf
-
-
- Body angular acceleration process noise
- examples/attitude_estimator_ekf
-
-
- Acceleration process noise
- examples/attitude_estimator_ekf
-
-
- Magnet field vector process noise
- examples/attitude_estimator_ekf
-
-
- Gyro measurement noise
- examples/attitude_estimator_ekf
-
-
- Accel measurement noise
- examples/attitude_estimator_ekf
-
-
- Mag measurement noise
- examples/attitude_estimator_ekf
-
-
Acceleration compensation based on GPS
@@ -4367,135 +4316,6 @@ default 1.5 turns per second
0.01
modules/mc_att_control
-
- Max manual pitch
- 0.0
- 90.0
- deg
- examples/mc_pos_control_multiplatform
-
-
- Max manual roll
- 0.0
- 90.0
- deg
- examples/mc_pos_control_multiplatform
-
-
- Max manual yaw rate
- 0.0
- deg/s
- examples/mc_pos_control_multiplatform
-
-
- Max acro pitch rate
- 0.0
- 360.0
- deg/s
- examples/mc_att_control_multiplatform
-
-
- Max acro roll rate
- 0.0
- 360.0
- deg/s
- examples/mc_att_control_multiplatform
-
-
- Max acro yaw rate
- 0.0
- deg/s
- examples/mc_att_control_multiplatform
-
-
- Pitch rate D gain
- Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Pitch rate I gain
- Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Pitch rate P gain
- Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Pitch P gain
- Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- 0.0
- 1/s
- examples/mc_att_control_multiplatform
-
-
- Roll rate D gain
- Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Roll rate I gain
- Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Roll rate P gain
- Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Roll P gain
- Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Yaw rate D gain
- Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Yaw rate I gain
- Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Max yaw rate
- Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
- 0.0
- 360.0
- deg/s
- examples/mc_att_control_multiplatform
-
-
- Yaw rate P gain
- Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- 0.0
- examples/mc_att_control_multiplatform
-
-
- Yaw feed forward
- Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
- 0.0
- 1.0
- examples/mc_att_control_multiplatform
-
-
- Yaw P gain
- Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
- 0.0
- 1/s
- examples/mc_att_control_multiplatform
-
@@ -4863,112 +4683,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
2
modules/mc_pos_control
-
- Landing descend rate
- 0.0
- m/s
- examples/mc_pos_control_multiplatform
-
-
- Maximum thrust
- Limit max allowed thrust.
- 0.0
- 1.0
- examples/mc_pos_control_multiplatform
-
-
- Minimum thrust
- Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
- 0.0
- 1.0
- examples/mc_pos_control_multiplatform
-
-
- Maximum tilt angle in air
- Limits maximum tilt in AUTO and POSCTRL modes during flight.
- 0.0
- 90.0
- deg
- examples/mc_pos_control_multiplatform
-
-
- Maximum tilt during landing
- Limits maximum tilt angle on landing.
- 0.0
- 90.0
- deg
- examples/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
- examples/mc_pos_control_multiplatform
-
-
- Proportional gain for horizontal position error
- 0.0
- examples/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
- examples/mc_pos_control_multiplatform
-
-
- Integral gain for horizontal velocity error
- Non-zero value allows to resist wind.
- 0.0
- examples/mc_pos_control_multiplatform
-
-
- Maximum horizontal velocity
- Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
- 0.0
- m/s
- examples/mc_pos_control_multiplatform
-
-
- Proportional gain for horizontal velocity error
- 0.0
- examples/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
- examples/mc_pos_control_multiplatform
-
-
- Proportional gain for vertical position error
- 0.0
- examples/mc_pos_control_multiplatform
-
-
- Differential gain for vertical velocity error
- 0.0
- examples/mc_pos_control_multiplatform
-
-
- Integral gain for vertical velocity error
- Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
- 0.0
- examples/mc_pos_control_multiplatform
-
-
- Maximum vertical velocity
- Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).
- 0.0
- m/s
- examples/mc_pos_control_multiplatform
-
-
- Proportional gain for vertical velocity error
- 0.0
- examples/mc_pos_control_multiplatform
-
@@ -5439,167 +5153,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
examples/bottle_drop
-
-
- 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
- examples/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
- examples/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
- examples/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
- examples/ekf_att_pos_estimator
-
-
- GPS vs. barometric altitude update weight
- RE-CHECK this.
- 0.0
- 1.0
- examples/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
- examples/ekf_att_pos_estimator
-
-
- Height estimate delay
- The delay in milliseconds of the height estimate from the barometer.
- 0
- 1000
- ms
- examples/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
- examples/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
- examples/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
- examples/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
- examples/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
- examples/ekf_att_pos_estimator
-
-
- Mag estimate delay
- The delay in milliseconds of the magnetic field estimate from the magnetometer.
- 0
- 1000
- ms
- examples/ekf_att_pos_estimator
-
-
- Magnetometer measurement noise
- Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
- 0.01
- 1.0
- examples/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
- examples/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
- examples/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
- examples/ekf_att_pos_estimator
-
-
- Position estimate delay
- The delay in milliseconds of the position estimate from GPS.
- 0
- 1000
- ms
- examples/ekf_att_pos_estimator
-
-
- True airspeeed estimate delay
- The delay in milliseconds of the airspeed estimate.
- 0
- 1000
- ms
- examples/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
- examples/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
- examples/ekf_att_pos_estimator
-
-
- Velocity estimate delay
- The delay in milliseconds of the velocity estimate from GPS.
- 0
- 1000
- ms
- examples/ekf_att_pos_estimator
-
-
Disable vision input
@@ -8858,13 +8411,6 @@ This is used for gathering replay logs for the ekf2 module
-
- Threshold (of RMS) to warn about high vibration levels
- 0.01
- 10
- 2
- modules/sensors
-
Bitfield selecting mag sides for calibration
DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32