From c4da69536e067addfbf394609e9369c1c2d00129 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 25 Feb 2017 19:26:00 +0100 Subject: [PATCH] Update PX4 meta data --- .../PX4/AirframeFactMetaData.xml | 241 +- .../PX4/PX4ParameterFactMetaData.xml | 2204 +++++++++++------ 2 files changed, 1637 insertions(+), 808 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index a5e7bd16f..81d6019f7 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -14,18 +14,10 @@ - - Simon Wilks <simon@px4.io> - Flying Wing - - - Simon Wilks <simon@px4.io> - Flying Wing - - + Simon Wilks <simon@px4.io> Flying Wing - https://pixhawk.org/platforms/planes/z-84_wing_wing + https://pixhawk.org/platforms/planes/bormatec_camflyer_q feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -33,8 +25,8 @@ right aileron throttle - - Lorenz Meier <lorenz@px4.io> + + Simon Wilks <simon@px4.io> Flying Wing https://pixhawk.org/platforms/planes/z-84_wing_wing feed-through of RC AUX1 channel @@ -55,10 +47,10 @@ right aileron throttle - - Simon Wilks <simon@px4.io> + + Lorenz Meier <lorenz@px4.io> Flying Wing - https://pixhawk.org/platforms/planes/bormatec_camflyer_q + https://pixhawk.org/platforms/planes/z-84_wing_wing feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -66,6 +58,14 @@ right aileron throttle + + Simon Wilks <simon@px4.io> + Flying Wing + + + Simon Wilks <simon@px4.io> + Flying Wing + Simon Wilks <simon@px4.io> Flying Wing @@ -86,6 +86,11 @@ Bart Slinger <bartslinger@gmail.com> Helicopter + main motor + front swashplate servo + right swashplate servo + left swashplate servo + tail-rotor servo @@ -179,57 +184,69 @@ Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io> Quadrotor Wide - - Thomas Gubler <thomas@px4.io> - Quadrotor Wide - Anton Babushkin <anton@px4.io> Quadrotor Wide + + Thomas Gubler <thomas@px4.io> + Quadrotor Wide + Simon Wilks <simon@px4.io> Quadrotor Wide - - - Michael Schaeuble - Quadrotor x + + + Mark Whitehorn <kd0aij@gmail.com> + Quadrotor asymmetric + motor1 (front right: CCW) + motor2 (back left: CCW) + motor3 (front left: CW) + motor4 (back right: CW) + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + + Lorenz Meier <lorenz@px4.io> Quadrotor x - - Andreas Antener <andreas@uaventure.com> - Quadrotor x - - - Blankered - Quadrotor x - - + + Leon Mueller <thedevleon> Quadrotor x - - Mark Whitehorn <kd0aij@gmail.com> + + Lorenz Meier <lorenz@px4.io> Quadrotor x feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - - Pavel Kirienko <pavel@px4.io> + + James Goppert <james.goppert@gmail.com> Quadrotor x + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel Leon Mueller <thedevleon> Quadrotor x - - Lorenz Meier <lorenz@px4.io> + + Mark Whitehorn <kd0aij@gmail.com> Quadrotor x + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel + motor1 (front right: CCW) + motor2 (back left: CCW) + motor3 (front left: CW) + motor4 (back right: CW) Lorenz Meier <lorenz@px4.io> @@ -238,51 +255,45 @@ feed-through of RC AUX2 channel feed-through of RC AUX3 channel - - James Goppert <james.goppert@gmail.com> + + Lorenz Meier <lorenz@px4.io> Quadrotor x feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - - Thomas Gubler <thomas@px4.io> + + Pavel Kirienko <pavel@px4.io> Quadrotor x - - James Goppert <james.goppert@gmail.com> + + Blankered Quadrotor x - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - + Mark Whitehorn <kd0aij@gmail.com> Quadrotor x feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel + feed-through of RC FLAPS channel + motor1 (front right: CCW) + motor2 (back left: CCW) + motor3 (front left: CW) + motor4 (back right: CW) - - Leon Mueller <thedevleon> - Quadrotor x - - - Lorenz Meier <lorenz@px4.io> + + James Goppert <james.goppert@gmail.com> Quadrotor x feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - - Lorenz Meier <lorenz@px4.io> + + Anton Matosov <anton.matosov@gmail.com> Quadrotor x feed-through of RC AUX1 channel feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - - - Quadrotor x @@ -299,17 +310,21 @@ rudder throttle - + Anton Babushkin <anton@px4.io> Simulation - + Anton Babushkin <anton@px4.io> Simulation - + + Lorenz Meier <lorenz@px4.io> + Standard Plane + + Lorenz Meier <lorenz@px4.io> Standard Plane feed-through of RC AUX1 channel @@ -317,25 +332,23 @@ feed-through of RC AUX3 channel aileron elevator - throttle - rudder + rudder + throttle flaps - - Andreas Antener <andreas@uaventure.com> + + Lorenz Meier <lorenz@px4.io> Standard Plane feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel aileron - aileron - elevator + elevator + throttle rudder - throttle - wheel - flaps + flaps - + Lorenz Meier <lorenz@px4.io> Standard Plane feed-through of RC AUX1 channel @@ -343,9 +356,7 @@ feed-through of RC AUX3 channel aileron elevator - rudder throttle - flaps Lorenz Meier <lorenz@px4.io> @@ -359,42 +370,58 @@ rudder flaps - - Lorenz Meier <lorenz@px4.io> + + Andreas Antener <andreas@uaventure.com> Standard Plane feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel aileron - elevator - throttle - - - Lorenz Meier <lorenz@px4.io> - Standard Plane + aileron + elevator + rudder + throttle + wheel + flaps - - Andreas Antener <andreas@uaventure.com> - Standard VTOL - - - Sander Smeets <sander@droneslab.com> - Standard VTOL - - + Simon Wilks <simon@uaventure.com> Standard VTOL - - + Aileron 1 + Aileron 2 + Elevator + Rudder + Throttle + Front right motor: CCW + Back left motor: CCW + Front left motor: CW + Back right motor: CW + + Simon Wilks <simon@uaventure.com> Standard VTOL + Right elevon + Left elevon + Motor + Front right motor: CCW + Back left motor: CCW + Front left motor: CW + Back right motor: CW Sander Smeets <sander@droneslab.com> Standard VTOL + + Sander Smeets <sander@droneslab.com> + Standard VTOL + + + Andreas Antener <andreas@uaventure.com> + Standard VTOL + @@ -429,14 +456,36 @@ - - Roman Bapst <roman@px4.io> + + Roman Bapst <roman@uaventure.com> VTOL Tiltrotor + Tilt servo + Elevon 1 + Elevon 2 + Gear + Front right motor bottom + Front right motor top + Back motor bottom + Back motor top + Front left motor bottom + Front left motor top Samay Siga <samay_s@icloud.com> VTOL Tiltrotor + + Andreas Antener <andreas@uaventure.com> + VTOL Tiltrotor + Motor right + Motor left + Motor back + empty + Tilt servo right + Tilt servo left + Elevon right + Elevon left + diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 83682333a..782fefd92 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -2,7 +2,7 @@ 3 1 - 9 + 14 Speed controller bandwidth @@ -137,57 +137,6 @@ 0 - - - 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 - - - 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 - - Complimentary filter accelerometer weight @@ -255,13 +204,6 @@ velocity 3 modules/attitude_estimator_q - - Threshold (of RMS) to warn about high vibration levels - 0.01 - 10 - 2 - modules/attitude_estimator_q - @@ -339,7 +281,7 @@ velocity Critical threshold - Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL or landing. + Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL. 0.05 0.1 norm @@ -347,9 +289,19 @@ velocity 0.01 modules/systemlib + + Emergency threshold + Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing. + 0.03 + 0.07 + norm + 2 + 0.01 + modules/systemlib + Voltage drop per cell on full throttle - This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. + This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set. 0.07 0.5 V @@ -357,6 +309,14 @@ velocity 0.01 modules/systemlib + + Explicitly defines the per cell internal resistance + If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations. + -1.0 + 0.2 + Ohms + modules/systemlib + Number of cells Defines the number of cells the attached battery consists of. @@ -400,6 +360,7 @@ velocity drivers/camera_trigger GPIO + MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE) Seagull MAP2 (PWM) @@ -666,6 +627,17 @@ velocity Don't allow arming without GPS + + Arm switch is only a button + The default uses the arm switch as real switch. If parameter set button gets handled like stick arming. + 0 + 1 + modules/commander + + Arm switch is a button that only triggers arming and disarming + Arm switch is a switch that stays on when armed + + Battery failsafe mode Action the system takes on low battery. Defaults to off @@ -673,8 +645,9 @@ velocity 1 modules/commander - Return to Land + Return to land Warning + Return to land at critically low level, land at current position if reaching dangerously low levels Land at current position @@ -687,33 +660,80 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 1 modules/commander - - - - Airfield home Lat - Latitude of airfield home waypoint - -900000000 - 900000000 - deg * 1e7 - modules/navigator + + Maximum EKF position innovation test ratio that will allow arming + 0.1 + 1.0 + m + 2 + 0.05 + modules/commander - - Airfield home Lon - Longitude of airfield home waypoint - -1800000000 - 1800000000 - deg * 1e7 - modules/navigator + + Maximum EKF velocity innovation test ratio that will allow arming + 0.1 + 1.0 + m/s + 2 + 0.05 + modules/commander - - Airfield home alt - Altitude of airfield home waypoint - -50 + + Maximum EKF height innovation test ratio that will allow arming + 0.1 + 1.0 m - 1 - 0.5 - modules/navigator + 2 + 0.05 + modules/commander + + + Maximum EKF yaw innovation test ratio that will allow arming + 0.1 + 1.0 + rad + 2 + 0.05 + modules/commander + + + Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming + 0.001 + 0.01 + m/s + 4 + 0.0005 + modules/commander + + + Maximum value of EKF gyro delta angle bias estimate that will allow arming + 0.0001 + 0.0017 + rad + 5 + 0.0001 + modules/commander + + + Maximum accelerometer inconsistency between IMU units that will allow arming + 0.1 + 1.0 + m/s/s + 2 + 0.05 + modules/commander + + + Maximum rate gyro inconsistency between IMU units that will allow arming + 0.02 + 0.2 + rad/s + 3 + 0.01 + modules/commander + + Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint @@ -773,8 +793,41 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action modules/navigator + + Airfield home Lat + Latitude of airfield home waypoint + -900000000 + 900000000 + deg * 1e7 + modules/navigator + + + Airfield home Lon + Longitude of airfield home waypoint + -1800000000 + 1800000000 + deg * 1e7 + modules/navigator + + + Airfield home alt + Altitude of airfield home waypoint + -50 + m + 1 + 0.5 + modules/navigator + + + Minimum time of arrival delta between non-IMU observations before data is downsampled. +Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information + 10 + 50 + ms + modules/ekf2 + Magnetometer measurement delay relative to IMU measurements 0 @@ -1015,6 +1068,14 @@ Assumes measurement is timestamped at trailing edge of integration period1 modules/ekf2 + + Noise for synthetic sideslip fusion + 0.1 + 1.0 + m/s + 2 + modules/ekf2 + Magnetic declination deg @@ -1313,6 +1374,12 @@ value will determine the minimum airspeed which will still be fused 1 modules/ekf2 + + Boolean determining if synthetic sideslip measurements should fused + A value of 1 indicates that fusion is active + + modules/ekf2 + Time constant of the velocity output prediction and smoothing filter 1.0 @@ -1352,6 +1419,14 @@ value will determine the minimum airspeed which will still be fused 3 modules/ekf2 + + Range sensor pitch offset + -0.75 + 0.75 + rad + 3 + modules/ekf2 + @@ -1501,6 +1576,14 @@ value will determine the minimum airspeed which will still be fused 0.5 modules/fw_att_control + + Roll control to yaw control feedforward gain + This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect. + 0.0 + 1 + 0.01 + modules/fw_att_control + Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. @@ -1699,6 +1782,45 @@ value will determine the minimum airspeed which will still be fused 0.01 modules/fw_att_control + + Whether to scale throttle by battery power level + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + modules/fw_att_control + + + Acro body x max rate + This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode. + 45 + 720 + degrees + modules/fw_att_control + + + Acro body y max rate + This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode. + 45 + 720 + degrees + modules/fw_att_control + + + Acro body z max rate + This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode. + 10 + 180 + degrees + modules/fw_att_control + + + Threshold for Rattitude mode + Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints + 0.0 + 1.0 + 2 + 0.01 + modules/fw_att_control + @@ -2181,6 +2303,7 @@ but also ignore less noise None Return to Land Loiter + Flight terminate @@ -2232,6 +2355,15 @@ but also ignore less noise modules/navigator + + + Satellite radio read interval + 0 + 300 + s + drivers/iridiumsbd + + Multicopter max climb rate @@ -2263,6 +2395,14 @@ but also ignore less noise 2 modules/land_detector + + Multicopter sub-hover throttle scaling + The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed. + 0.05 + 0.5 + 2 + modules/land_detector + Multicopter free-fall trigger time Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h @@ -2272,6 +2412,14 @@ but also ignore less noise 2 modules/land_detector + + Manual flight stick down threshold for landing + When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position. + 0 + 1 + 2 + modules/land_detector + Fixedwing max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) @@ -2308,6 +2456,18 @@ but also ignore less noise 1 modules/land_detector + + Total flight time in microseconds + Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO. + 0 + modules/land_detector + + + Total flight time in microseconds + Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO. + 0 + modules/land_detector + @@ -2356,11 +2516,6 @@ but also ignore less noise - - Publish AGL as Z - - modules/local_position_estimator - Optical flow z offset from center -1 @@ -2377,11 +2532,19 @@ but also ignore less noise 3 modules/local_position_estimator - - Optical flow gyro compensation - -1 - 1 - m + + Optical flow rotation (roll/pitch) noise gain + 0.1 + 10.0 + m/s / (rad) + 3 + modules/local_position_estimator + + + Optical flow angular velocity noise gain + 0.0 + 10.0 + m/s / (rad/s) 3 modules/local_position_estimator @@ -2445,16 +2608,11 @@ but also ignore less noise Barometric presssure altitude z standard deviation 0.01 - 3 + 100 m 2 modules/local_position_estimator - - Enables GPS data, also forces alt init with GPS - - modules/local_position_estimator - GPS delay compensaton 0 @@ -2514,6 +2672,7 @@ EPV used if greater than this value Vision delay compensaton + Set to zero to enable automatic compensation from measurement timestamps 0 0.1 sec @@ -2531,16 +2690,11 @@ EPV used if greater than this value Vision z standard deviation 0.01 - 2 + 100 m 3 modules/local_position_estimator - - Vision correction - - modules/local_position_estimator - Vicon position standard deviation 0.0001 @@ -2600,7 +2754,14 @@ Used to calculate increased terrain random walk nosie due to movement3 modules/local_position_estimator - + + Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) +by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable + 0 + 1 + modules/local_position_estimator + + Local origin latitude for nav w/o GPS -90 90 @@ -2608,7 +2769,7 @@ Used to calculate increased terrain random walk nosie due to movement8 modules/local_position_estimator - + Local origin longitude for nav w/o GPS -180 180 @@ -2648,6 +2809,31 @@ Used to calculate increased terrain random walk nosie due to movement3 modules/local_position_estimator + + Land detector xy velocity standard deviation + 0.01 + 10.0 + m/s + 3 + modules/local_position_estimator + + + Integer bitmask controlling data fusion + Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (247, no vision yaw) + 0 + 255 + modules/local_position_estimator + + fuse GPS, requires GPS for alt. init + fuse optical flow + fuse vision position + fuse vision yaw + fuse land detector + pub agl as lpos down + flow gyro compensation + fuse baro + + @@ -2719,48 +2905,30 @@ Used to calculate increased terrain random walk nosie due to movementdrivers/mkblctrl - - - Low pass filter frequency for Gyro - platforms/qurt/fc_addon/mpu_spi - - MPU9X50_GYRO_LPF_184HZ - MPU9X50_GYRO_LPF_250HZ - MPU9X50_GYRO_LPF_41HZ - MPU9X50_GYRO_LPF_92HZ - MPU9X50_GYRO_LPF_10HZ - MPU9X50_GYRO_LPF_20HZ - MPU9X50_GYRO_LPF_3600HZ_NOLPF - MPU9X50_GYRO_LPF_5HZ - - - - Low pass filter frequency for Accelerometer - platforms/qurt/fc_addon/mpu_spi + + + Set offboard loss failsafe mode + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander - MPU9X50_ACC_LPF_184HZ - MPU9X50_ACC_LPF_460HZ - MPU9X50_ACC_LPF_41HZ - MPU9X50_ACC_LPF_92HZ - MPU9X50_ACC_LPF_10HZ - MPU9X50_ACC_LPF_20HZ - MPU9X50_ACC_LPF_460HZ_NOLPF - MPU9X50_ACC_LPF_5HZ + Loiter + Land at current position + Return to Land - - Sample rate in Hz - platforms/qurt/fc_addon/mpu_spi + + Set offboard loss failsafe mode when RC is available + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander - MPU9x50_SAMPLE_RATE_200HZ - MPU9x50_SAMPLE_RATE_100HZ - MPU9x50_SAMPLE_RATE_1000HZ - MPU9x50_SAMPLE_RATE_500HZ + Altitude control + Position control + Return to Land + Manual + Land at current position - - - + Take-off altitude This is the minimum altitude the system will take off to. 0 @@ -2844,8 +3012,13 @@ Used to calculate increased terrain random walk nosie due to movement modules/navigator + + Enable weather-vane mode takeoff for missions + + modules/navigator + - Weather-vane mode for loiter mode + Weather-vane mode for loiter modules/navigator @@ -2898,6 +3071,9 @@ Used to calculate increased terrain random walk nosie due to movementDisabled Land at current position Return to Land + Terminate + Data Link Auto Recovery (CASA Outback Challenge rules) + Lockdown @@ -2909,29 +3085,15 @@ Used to calculate increased terrain random walk nosie due to movementDisabled Land at current position Return to Land + Terminate + RC Auto Recovery (CASA Outback Challenge rules) + Lockdown - - Set offboard loss failsafe mode - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Loiter - Land at current position - Return to Land - - - - Set offboard loss failsafe mode when RC is available - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Altitude control - Position control - Return to Land - Manual - Land at current position - + + Force VTOL mode takeoff and land + + modules/navigator @@ -3062,6 +3224,7 @@ if required for the gimbal (only in AUX output mode) Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 8 + 1/s 2 0.1 modules/mc_att_control @@ -3083,6 +3246,14 @@ if required for the gimbal (only in AUX output mode) 0.01 modules/mc_att_control + + Roll rate integrator limit + Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. + 0.0 + 2 + 0.01 + modules/mc_att_control + Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. @@ -3106,7 +3277,7 @@ if required for the gimbal (only in AUX output mode) 10 1/s 2 - 0.0005 + 0.1 modules/mc_att_control @@ -3126,6 +3297,14 @@ if required for the gimbal (only in AUX output mode) 0.01 modules/mc_att_control + + Pitch rate integrator limit + Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. + 0.0 + 2 + 0.01 + modules/mc_att_control + Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. @@ -3168,6 +3347,14 @@ if required for the gimbal (only in AUX output mode) 0.01 modules/mc_att_control + + Yaw rate integrator limit + Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. + 0.0 + 2 + 0.01 + modules/mc_att_control + Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. @@ -3260,7 +3447,7 @@ if required for the gimbal (only in AUX output mode) 5 modules/mc_att_control - + Threshold for Rattitude mode Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints 0.0 @@ -3269,152 +3456,65 @@ if required for the gimbal (only in AUX output mode) 0.01 modules/mc_att_control - - Threshold for Throttle PID Attenuation (TPA) - Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain + + Battery power level scaler + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + modules/mc_att_control + + + TPA P Breakpoint + Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain 0.0 1.0 2 0.1 modules/mc_att_control - - Slope for Throttle PID Attenuation (TPA) - Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - slope*(abs(throttle)-breakpoint)) + + TPA I Breakpoint + Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain 0.0 - 2.0 + 1.0 2 0.1 modules/mc_att_control - - Max manual roll - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform - - - Max manual pitch - 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform - - - Max manual yaw rate - 0.0 - deg/s - examples/mc_pos_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 - - - 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 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 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 - - - 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 - - - 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 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 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 - - - 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 - - - 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 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 - - - 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 feed forward - Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + + TPA D Breakpoint + Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain 0.0 1.0 - 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 + 2 + 0.1 + modules/mc_att_control - - Max acro roll rate + + TPA Rate P + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform + 1.0 + 2 + 0.05 + modules/mc_att_control - - Max acro pitch rate + + TPA Rate I + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform + 1.0 + 2 + 0.05 + modules/mc_att_control - - Max acro yaw rate + + TPA Rate D + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) 0.0 - deg/s - examples/mc_att_control_multiplatform + 1.0 + 2 + 0.05 + modules/mc_att_control @@ -3668,6 +3768,13 @@ if required for the gimbal (only in AUX output mode) 2 modules/mc_pos_control + + Deadzone of Z stick where altitude 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 @@ -3701,6 +3808,24 @@ if required for the gimbal (only in AUX output mode) 1 modules/mc_pos_control + + Maximum vertical acceleration in velocity controlled modes upward + 2.0 + 15.0 + m/s/s + 2 + 1 + modules/mc_pos_control + + + Maximum vertical acceleration in velocity controlled modes down + 2.0 + 15.0 + m/s/s + 2 + 1 + modules/mc_pos_control + Altitude control mode, note mode 1 only tested with LPE 0 @@ -3711,117 +3836,122 @@ if required for the gimbal (only in AUX output mode) Altitude following - - 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 thrust - Limit max allowed thrust. - 0.0 - 1.0 - examples/mc_pos_control_multiplatform + + Manual control stick exponential curve sensitivity attenuation with small velocity setpoints + The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. + 0 + 1 + 2 + modules/mc_pos_control + + Purely cubic input curve + Purely linear input curve (default) + - - Proportional gain for vertical position error - 0.0 - examples/mc_pos_control_multiplatform + + + + Invert direction of aux output channel 1 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Proportional gain for vertical velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 2 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - 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 + + Invert direction of aux output channel 3 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Differential gain for vertical velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 4 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). - 0.0 - m/s - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 5 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - 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 + + Invert direction of aux output channel 6 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Proportional gain for horizontal position error - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 1 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Proportional gain for horizontal velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 2 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 3 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 4 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 5 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 6 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 - - - Landing descend rate - 0.0 - m/s - examples/mc_pos_control_multiplatform + + Set the PWM output frequency for the main outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for industry default or 1000 for high frequency ESCs. + -1 + 2000 + Hz + true + modules/sensors - - - Set the minimum PWM for the MAIN outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel. + Set the minimum PWM for the main outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for industry default or 900 to increase servo travel. 800 1400 us @@ -3829,17 +3959,17 @@ if required for the gimbal (only in AUX output mode) modules/sensors - Set the maximum PWM for the MAIN outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel. + Set the maximum PWM for the main outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for industry default or 2100 to increase servo travel. 1600 2200 us true modules/sensors - - Set the disarmed PWM for MAIN outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + + Set the disarmed PWM for the main outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 us @@ -3847,8 +3977,8 @@ if required for the gimbal (only in AUX output mode) modules/sensors - Set the minimum PWM for the MAIN outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel + Set the minimum PWM for the auxiliary outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 1000 for default or 900 to increase servo travel 800 1400 us @@ -3856,23 +3986,30 @@ if required for the gimbal (only in AUX output mode) modules/sensors - Set the maximum PWM for the MAIN outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel + Set the maximum PWM for the auxiliary outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 2000 for default or 2100 to increase servo travel 1600 2200 us true modules/sensors - - Set the disarmed PWM for AUX outputs - IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. + + Set the disarmed PWM for auxiliary outputs + IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 us true modules/sensors + + Thrust to PWM model parameter + Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 + 0.0 + 1.0 + modules/sensors + Minimum motor rise time (slew rate limit) Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. @@ -3880,110 +4017,6 @@ if required for the gimbal (only in AUX output mode) s/(1000*PWM) modules/sensors - - Invert direction of aux output channel 1 - Set 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 - - - S.BUS out - Set to 1 to enable S.BUS version 1 output instead of RSSI. - - drivers/px4io - @@ -4393,13 +4426,6 @@ if required for the gimbal (only in AUX output mode) modules/position_estimator_inav - - - RC receiver type - Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2, - platforms/qurt/fc_addon/rc_receiver - - RC Channel 1 Minimum @@ -5507,6 +5533,20 @@ if required for the gimbal (only in AUX output mode) 2000 modules/sensors + + Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle + Has an influence on the cutoff frequency precision. + 1.0 + Hz + modules/sensors + + + Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle + Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. + 0.1 + Hz + modules/sensors + Roll trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. @@ -5792,6 +5832,33 @@ if required for the gimbal (only in AUX output mode) Channel 8 + + Arm switch 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 + + Flaps channel 0 @@ -5873,6 +5940,60 @@ if required for the gimbal (only in AUX output mode) Channel 8 + + Stabilize switch channel mapping + 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 + + + + Manual switch channel mapping + 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 + + Threshold for selecting assist 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 @@ -5936,6 +6057,13 @@ if required for the gimbal (only in AUX output mode) 1 modules/sensors + + Threshold for the arm 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 + Threshold for the VTOL transition 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 @@ -5950,6 +6078,20 @@ if required for the gimbal (only in AUX output mode) 1 modules/sensors + + Threshold for the stabilize 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 + + + Threshold for the manual 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 + @@ -6127,6 +6269,26 @@ This is used for gathering replay logs for the ekf2 module min modules/logger + + Logging Mode + Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). + 0 + 3 + true + modules/logger + + from boot until disarm + when armed until disarm (default) + from boot until shutdown - IMU and Baro data only (used for thermal calibration) + from boot until shutdown + + + + Log UUID + If set to 1, add an ID to the log, which uniquely identifies the vehicle + + modules/logger + @@ -6625,9 +6787,9 @@ This is used for gathering replay logs for the ekf2 module Roll 90°, Yaw 90° - + 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 + This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw). true modules/sensors @@ -6696,120 +6858,693 @@ This is used for gathering replay logs for the ekf2 module 0 2 modules/sensors - - External is primary Mag - Auto-select Mag - Internal is primary Mag - + + External is primary Mag + Auto-select Mag + Internal is primary Mag + + + + Threshold (of RMS) to warn about high vibration levels + 0.01 + 10 + 2 + modules/sensors + + + + + Lidar-Lite (LL40LS) PWM + + true + modules/sensors + + + Lightware laser rangefinder (serial) + 0 + 4 + true + modules/sensors + + SF02 + Disabled + SF10/b + SF10/a + SF11/c + SF10/c + + + + Maxbotix Soanr (mb12xx) + + true + modules/sensors + + + TeraRanger One (trone) + + true + modules/sensors + + + Lightware SF1xx laser rangefinder (i2c) + 0 + 4 + true + modules/sensors + + SF10/a + Disabled + SF10/c + SF10/b + SF11/c + + + + Thermal control of sensor temperature + modules/sensors + + Thermal control off + Thermal control unavailable + + + + + + Set to 1 to enable thermal compensation for accelerometer sensors. Set to 0 to disable + 0 + 1 + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + ID of Accelerometer that the calibration is for + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Accelerometer offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Accelerometer scale factor - X axis + modules/sensors + + + Accelerometer scale factor - Y axis + modules/sensors + + + Accelerometer scale factor - Z axis + modules/sensors + + + Accelerometer calibration reference temperature + modules/sensors + + + Accelerometer calibration minimum temperature + modules/sensors + + + Accelerometer calibration maximum temperature + modules/sensors + + + Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + 0 + 1 + modules/sensors + + + ID of Barometer that the calibration is for + modules/sensors + + + Barometer offset temperature ^5 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^4 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^3 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^2 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^1 polynomial coefficients + modules/sensors + + + Barometer offset temperature ^0 polynomial coefficient + modules/sensors + + + Barometer scale factor - X axis + modules/sensors + + + Barometer calibration reference temperature + modules/sensors + + + Barometer calibration minimum temperature + modules/sensors + + + Barometer calibration maximum temperature + modules/sensors + + + ID of Barometer that the calibration is for + modules/sensors + + + Barometer offset temperature ^5 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^4 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^3 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^2 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^1 polynomial coefficients + modules/sensors + + + Barometer offset temperature ^0 polynomial coefficient + modules/sensors + + + Barometer scale factor - X axis + modules/sensors + + + Barometer calibration reference temperature + modules/sensors + + + Barometer calibration minimum temperature + modules/sensors + + + Barometer calibration maximum temperature + modules/sensors + + + ID of Barometer that the calibration is for + modules/sensors + + + Barometer offset temperature ^5 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^4 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^3 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^2 polynomial coefficient + modules/sensors + + + Barometer offset temperature ^1 polynomial coefficients + modules/sensors + + + Barometer offset temperature ^0 polynomial coefficient + modules/sensors + + + Barometer scale factor - X axis + modules/sensors + + + Barometer calibration reference temperature + modules/sensors + + + Barometer calibration minimum temperature + modules/sensors + + + Barometer calibration maximum temperature + modules/sensors + + + Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable + 0 + 1 + modules/sensors + + + ID of Gyro that the calibration is for + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Gyro scale factor - X axis + modules/sensors + + + Gyro scale factor - Y axis + modules/sensors + + + Gyro scale factor - Z axis + modules/sensors + + + Gyro calibration reference temperature + modules/sensors + + + Gyro calibration minimum temperature + modules/sensors + + + Gyro calibration maximum temperature + modules/sensors + + + ID of Gyro that the calibration is for + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - X axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis + modules/sensors + + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis + modules/sensors + + + Gyro scale factor - X axis + modules/sensors + + + Gyro scale factor - Y axis + modules/sensors + + + Gyro scale factor - Z axis + modules/sensors + + + Gyro calibration reference temperature + modules/sensors + + + Gyro calibration minimum temperature + modules/sensors + + + Gyro calibration maximum temperature + modules/sensors + + + ID of Gyro that the calibration is for + modules/sensors + + + Gyro rate offset temperature ^3 polynomial coefficient - X axis + modules/sensors - - - - Lidar-Lite (LL40LS) PWM - - true + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Lightware SF0x laser rangefinder - - true + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Maxbotix Soanr (mb12xx) - - true + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - TeraRanger One (trone) - - true + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Lightware SF1xx laser rangefinder - 0 - 4 - true + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - SF10/a - Disabled - SF10/c - SF10/b - SF11/c - - - - - ESC model - See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values. - platforms/qurt/fc_addon/uart_esc - - ESC_350QX - ESC_200QX - ESC_210QC - + + Gyro rate offset temperature ^1 polynomial coefficient - X axis + modules/sensors - - ESC UART baud rate - Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products. - platforms/qurt/fc_addon/uart_esc + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis + modules/sensors - - Motor 1 Mapping - platforms/qurt/fc_addon/uart_esc + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis + modules/sensors - - Motor 2 Mapping - platforms/qurt/fc_addon/uart_esc + + Gyro rate offset temperature ^0 polynomial coefficient - X axis + modules/sensors - - Motor 3 Mapping - platforms/qurt/fc_addon/uart_esc + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis + modules/sensors - - Motor 4 Mapping - platforms/qurt/fc_addon/uart_esc + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis + modules/sensors - - - - Interval of one subscriber in the example in ms - ms - examples/subscriber + + Gyro scale factor - X axis + modules/sensors - - Float Demonstration Parameter in the Example - examples/subscriber + + Gyro scale factor - Y axis + modules/sensors - - - - Operating channel of the NRF51 - 0 - 125 - modules/syslink + + Gyro scale factor - Z axis + modules/sensors - - Operating datarate of the NRF51 - 0 - 2 - modules/syslink + + Gyro calibration reference temperature + modules/sensors - - Operating address of the NRF51 (most significant byte) - modules/syslink + + Gyro calibration minimum temperature + modules/sensors - - Operating address of the NRF51 (least significant 4 bytes) - modules/syslink + + Gyro calibration maximum temperature + modules/sensors + + RGB Led brightness limit + 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. @@ -6849,16 +7584,15 @@ This is used for gathering replay logs for the ekf2 module Data does not survive reset - + Set multicopter estimator group - Set the group of estimators used for multicopters and vtols - 0 + Set the group of estimators used for multicopters and VTOLs + 1 2 true modules/systemlib local_position_estimator, attitude_estimator_q - position_estimator_inav, attitude_estimator_q ekf2 @@ -6875,12 +7609,14 @@ This is used for gathering replay logs for the ekf2 module Normal Telemetry (57600 baud, 8N1) Command Receiver (57600 baud, 8N1) OSD (57600 baud, 8N1) + Iridium Telemetry (19200 baud, 8N1) Normal Telemetry (38400 baud, 8N1) Disabled + Normal Telemetry (19200 baud, 8N1) ESP8266 (921600 baud, 8N1) Companion Link (57600 baud, 8N1) Companion Link (921600 baud, 8N1) - Normal Telemetry (19200 baud, 8N1) + Normal Telemetry (115200 baud, 8N1) @@ -6900,12 +7636,50 @@ This is used for gathering replay logs for the ekf2 module sdlog2 (default) - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) + + Enable stack checking + + modules/systemlib + + + Enable auto start of rate gyro thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) 0 - 15 - drivers/rgbled + 1 + modules/systemlib + + + Enable auto start of accelerometer thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + 0 + 1 + modules/systemlib + + + Enable auto start of barometer thermal calibration at the next power up + 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) + 0 + 1 + modules/systemlib + + + Required temperature rise during thermal calibration + A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit. + 10 + deg C + modules/systemlib + + + Minimum starting temperature for thermal calibration + Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN. + deg C + modules/systemlib + + + Maximum starting temperature for thermal calibration + Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX. + deg C + modules/systemlib @@ -6965,15 +7739,14 @@ This is used for gathering replay logs for the ekf2 module UAVCAN mode - 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 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full 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 - Motors/Update - Dynamic ID/Update + Sensors and Motors + Sensors Enabled @@ -6990,14 +7763,96 @@ This is used for gathering replay logs for the ekf2 module bit/s modules/uavcan - + UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints - 0 - 1 + + true modules/uavcan + + Target throttle value for pusher/puller motor during the transition to fw mode + 0.0 + 1.0 + 3 + 0.01 + modules/vtol_att_control + + + Maximum allowed down-pitch the controller is able to demand. This prevents large, negative +lift values being created when facing strong winds. The vehicle will use the pusher motor +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 + 0.0 + 1.0 + 3 + 0.01 + modules/vtol_att_control + + + Position of tilt servo in transition mode + 0.0 + 1.0 + 3 + 0.01 + modules/vtol_att_control + + + Position of tilt servo in fw mode + 0.0 + 1.0 + 3 + 0.01 + modules/vtol_att_control + + + Duration of front transition phase 2 + Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. + 0.1 + 5.0 + s + 3 + 0.01 + modules/vtol_att_control + + + The channel number of motors that must be turned off in fixed wing mode + 0 + 12345678 + 0 + 1 + modules/vtol_att_control + + + Differential thrust in forwards flight + Set to 1 to enable differential thrust in fixed-wing flight. + 0 + 1 + 0 + modules/vtol_att_control + + + Differential thrust scaling factor + This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. + 0.0 + 1.0 + 2 + 0.1 + modules/vtol_att_control + VTOL number of engines 0 @@ -7178,12 +8033,6 @@ This is used for gathering replay logs for the ekf2 module s modules/vtol_att_control - - Force VTOL mode takeoff and land - 0 - 1 - modules/vtol_att_control - QuadChute Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL @@ -7191,69 +8040,12 @@ This is used for gathering replay logs for the ekf2 module 200.0 modules/vtol_att_control - - Position of tilt servo in mc mode - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - - - Position of tilt servo in transition mode - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - - - Position of tilt servo in fw mode - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - - - Duration of front transition phase 2 - Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. - 0.1 - 5.0 - s - 3 - 0.01 - modules/vtol_att_control - - - The channel number of motors that must be turned off in fixed wing mode - 0 - 12345678 - 0 - 1 - modules/vtol_att_control - - - Target throttle value for pusher/puller motor during the transition to fw mode - 0.0 - 1.0 - 3 - 0.01 - modules/vtol_att_control - - - Maximum allowed down-pitch the controller is able to demand. This prevents large, negative -lift values being created when facing strong winds. The vehicle will use the pusher motor -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 + + Airspeed less front transition time (open loop) + The duration of the front transition when there is no airspeed feedback available. + 1.0 + 30.0 + seconds modules/vtol_att_control @@ -7513,22 +8305,6 @@ Maps the change of airspeed error to the acceleration setpoint - - 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 @@ -7557,6 +8333,10 @@ Maps the change of airspeed error to the acceleration setpoint Channel 8 + + COM_RC_STICK_OV + modules/commander + First flightmode slot (1000-1160) If the main switch channel is in this range the selected flight mode will be applied. @@ -7683,6 +8463,10 @@ Maps the change of airspeed error to the acceleration setpoint Stabilized + + RV_YAW_P + examples/rover_steering_control + EXFW_HDNG_P examples/fixedwing_control @@ -7695,9 +8479,5 @@ Maps the change of airspeed error to the acceleration setpoint EXFW_PITCH_P examples/fixedwing_control - - RV_YAW_P - examples/rover_steering_control - -- 2.22.0