diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index 67f947e6750d252492bcd973cc9aebe47a6c978f..ce0cb02a96a7cad38b691c2fd40e4e978cb75981 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -14,10 +14,10 @@ - + Simon Wilks <simon@px4.io> Flying Wing - https://pixhawk.org/platforms/planes/bormatec_camflyer_q + http://www.sparkletech.hk/ feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -47,10 +47,14 @@ right aileron throttle - - Lorenz Meier <lorenz@px4.io> + + Simon Wilks <simon@px4.io> Flying Wing - https://pixhawk.org/platforms/planes/z-84_wing_wing + + + Simon Wilks <simon@px4.io> + Flying 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 @@ -58,18 +62,14 @@ right aileron throttle - - Simon Wilks <simon@px4.io> - Flying Wing - Simon Wilks <simon@px4.io> Flying Wing - - Simon Wilks <simon@px4.io> + + Lorenz Meier <lorenz@px4.io> Flying Wing - http://www.sparkletech.hk/ + 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 @@ -82,6 +82,12 @@ Flying Wing + + + Bart Slinger <bartslinger@gmail.com> + Helicopter + + Anton Babushkin <anton@px4.io> @@ -177,16 +183,12 @@ Anton Babushkin <anton@px4.io> Quadrotor Wide - - Thomas Gubler <thomas@px4.io> - Quadrotor Wide - Simon Wilks <simon@px4.io> Quadrotor Wide - - Anton Matosov <anton.matosov@gmail.com> + + Thomas Gubler <thomas@px4.io> Quadrotor Wide @@ -195,75 +197,90 @@ Lorenz Meier <lorenz@px4.io> Quadrotor x - + 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 - - James Goppert <james.goppert@gmail.com> + + Pavel Kirienko <pavel@px4.io> + Quadrotor x + + + Leon Mueller <thedevleon> + Quadrotor x + + + 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 - - Lorenz Meier <lorenz@px4.io> + + Blankered 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 - - 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 - - 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 - - Pavel Kirienko <pavel@px4.io> + + Lorenz Meier <lorenz@px4.io> Quadrotor x Thomas Gubler <thomas@px4.io> Quadrotor x - - Andreas Antener <andreas@uaventure.com> - Quadrotor x - - - Blankered - Quadrotor x - - + 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 - + 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 + + Quadrotor x + + + Michael Schaeuble + Quadrotor x + + + Leon Mueller <thedevleon> + Quadrotor x + + + Andreas Antener <andreas@uaventure.com> + Quadrotor x + @@ -271,6 +288,10 @@ + + Anton Babushkin <anton@px4.io> + Simulation + Lorenz Meier <lorenz@px4.io> Simulation @@ -279,28 +300,12 @@ rudder throttle - - Anton Babushkin <anton@px4.io> - Simulation - Anton Babushkin <anton@px4.io> Simulation - - Thomas Gubler <thomas@px4.io> - Simulation - - - Thomas Gubler <thomas@px4.io> - Simulation - - - Lorenz Meier <lorenz@px4.io> - Standard Plane - Lorenz Meier <lorenz@px4.io> Standard Plane @@ -313,7 +318,25 @@ throttle flaps - + + 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 + aileron + elevator + rudder + throttle + wheel + flaps + + + Lorenz Meier <lorenz@px4.io> + Standard Plane + + Lorenz Meier <lorenz@px4.io> Standard Plane feed-through of RC AUX1 channel @@ -335,7 +358,7 @@ elevator throttle - + Lorenz Meier <lorenz@px4.io> Standard Plane feed-through of RC AUX1 channel @@ -347,30 +370,8 @@ rudder flaps - - 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 - aileron - elevator - rudder - throttle - wheel - flaps - - - Simon Wilks <simon@uaventure.com> - Standard VTOL - - - Simon Wilks <simon@uaventure.com> - Standard VTOL - Sander Smeets <sander@droneslab.com> Standard VTOL @@ -379,6 +380,14 @@ Sander Smeets <sander@droneslab.com> Standard VTOL + + Simon Wilks <simon@uaventure.com> + Standard VTOL + + + Simon Wilks <simon@uaventure.com> + Standard VTOL + Andreas Antener <andreas@uaventure.com> Standard VTOL @@ -407,24 +416,24 @@ - + Roman Bapst <roman@px4.io> VTOL Quad Tailsitter - + Roman Bapst <roman@px4.io> VTOL Quad Tailsitter - - Roman Bapst <roman@px4.io> - VTOL Tiltrotor - Samay Siga <samay_s@icloud.com> VTOL Tiltrotor + + Roman Bapst <roman@px4.io> + VTOL Tiltrotor + diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index b68ea44a408b51db987c93666aaf9dc1d2fac8e8..83682333a97799cff36ca7d8c7d6dce926e8624b 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -446,9 +446,9 @@ velocity Distance, mission controlled - + Camera trigger pin - Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 34 would trigger on pins 3 and 4. + Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. 1 123456 0 @@ -647,7 +647,7 @@ velocity Time-out for auto disarm after landing - A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled. + A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will be longer by a factor of 5. A value of zero means that automatic disarming is disabled. 0 20 s @@ -689,6 +689,31 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action + + 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 + Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint @@ -748,31 +773,6 @@ 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 - @@ -1313,7 +1313,7 @@ value will determine the minimum airspeed which will still be fused 1 modules/ekf2 - + Time constant of the velocity output prediction and smoothing filter 1.0 s @@ -1900,6 +1900,16 @@ value will determine the minimum airspeed which will still be fused + + Cruise Airspeed + The fixed wing controller tries to fly at this airspeed. + 0.0 + 40 + m/s + 1 + 0.5 + modules/navigator + Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. @@ -2069,16 +2079,6 @@ value will determine the minimum airspeed which will still be fused 0.01 modules/fw_pos_control_l1 - - Cruise Airspeed - The fixed wing controller tries to fly at this airspeed. - 0.0 - 40 - m/s - 1 - 0.5 - modules/navigator - @@ -2213,45 +2213,25 @@ but also ignore less noise 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 + Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. + 0 + 10000 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 + Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0. + 0 + 10000 m 1 modules/navigator - - - Consider 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 - AUX3 - AUX2 - - - Multicopter max climb rate @@ -2376,6 +2356,11 @@ but also ignore less noise + + Publish AGL as Z + + modules/local_position_estimator + Optical flow z offset from center -1 @@ -2384,15 +2369,23 @@ but also ignore less noise 3 modules/local_position_estimator - - Optical flow xy standard deviation - 0.01 + + Optical flow scale + 0.1 + 10.0 + m + 3 + modules/local_position_estimator + + + Optical flow gyro compensation + -1 1 m 3 modules/local_position_estimator - + Optical flow minimum quality threshold 0 255 @@ -2431,7 +2424,7 @@ but also ignore less noise 3 modules/local_position_estimator - + Accelerometer xy noise density Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error. 0.00001 @@ -2440,7 +2433,7 @@ but also ignore less noise 4 modules/local_position_estimator - + Accelerometer z noise density Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) 0.00001 @@ -2519,7 +2512,15 @@ EPV used if greater than this value 3 modules/local_position_estimator - + + Vision delay compensaton + 0 + 0.1 + sec + 2 + modules/local_position_estimator + + Vision xy standard deviation 0.01 1 @@ -2540,12 +2541,12 @@ EPV used if greater than this value modules/local_position_estimator - + Vicon position standard deviation - 0.01 + 0.0001 1 m - 3 + 4 modules/local_position_estimator @@ -2574,15 +2575,24 @@ EPV used if greater than this value 8 modules/local_position_estimator + + Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) + 0 + 1 + (m/s)/(sqrt(hz)) + 3 + modules/local_position_estimator + - Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) + Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) +Used to calculate increased terrain random walk nosie due to movement 0 100 % 3 modules/local_position_estimator - + Flow gyro high pass filter cut off frequency 0 2 @@ -2614,12 +2624,12 @@ EPV used if greater than this value 0 modules/local_position_estimator - - Required xy standard deviation to publish position - 0.3 - 5.0 - m - 1 + + Required velocity xy standard deviation to publish position + 0.01 + 1.0 + m/s + 3 modules/local_position_estimator @@ -2630,6 +2640,14 @@ EPV used if greater than this value 1 modules/local_position_estimator + + Land detector z standard deviation + 0.001 + 10.0 + m + 3 + modules/local_position_estimator + @@ -2644,7 +2662,7 @@ EPV used if greater than this value 250 modules/mavlink - + MAVLink protocol version modules/mavlink @@ -2742,28 +2760,6 @@ EPV used if greater than this value - - 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 - - Take-off altitude This is the minimum altitude the system will take off to. @@ -2915,137 +2911,132 @@ EPV used if greater than this value Return to Land - - - - 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 + + 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 + - - 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 + + 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 + - - 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 + + + + Mount input mode +RC uses the AUX input channels (see MNT_MAN_* parameters), +MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the +MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount + 0 + 3 + drivers/vmount + + RC + DISABLE + MAVLINK_DO_MOUNT + MAVLINK_ROI + - - 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 + + Mount output mode +AUX uses the mixer output Control Group #2. +MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages +to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID) + 0 + 1 + drivers/vmount + + MAVLINK + AUX + - - 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 + + Mavlink System ID (if MNT_MODE_OUT is MAVLINK) + drivers/vmount - - 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 + + Mavlink Component ID (if MNT_MODE_OUT is MAVLINK) + drivers/vmount - - 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 + + Mixer value for selecting normal mode +if required by the gimbal (only in AUX output mode) + -1.0 + 1.0 + 3 + drivers/vmount - - 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 + + Mixer value for selecting a locking mode +if required for the gimbal (only in AUX output mode) + -1.0 + 1.0 + 3 + drivers/vmount - - 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 + + This enables the mount to be manually controlled when no ROI is set + If set to 1, the mount will be controlled by the AUX channels below when no ROI is set. + + drivers/vmount - - 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 + + Auxiliary channel to control roll (in AUX input or manual mode) + 0 + 5 + drivers/vmount + + AUX1 + Disable + AUX3 + AUX2 + AUX5 + AUX4 + - - 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. - 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 - - - Max acro roll rate - 0.0 - 360.0 - deg/s - examples/mc_att_control_multiplatform - - - Max acro pitch 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 - - - 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 + + Auxiliary channel to control pitch (in AUX input or manual mode) + 0 + 5 + drivers/vmount + + AUX1 + Disable + AUX3 + AUX2 + AUX5 + AUX4 + - - Max manual yaw rate - 0.0 - deg/s - examples/mc_pos_control_multiplatform + + Auxiliary channel to control yaw (in AUX input or manual mode) + 0 + 5 + drivers/vmount + + AUX1 + Disable + AUX3 + AUX2 + AUX5 + AUX4 + + + Roll time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. @@ -3278,114 +3269,155 @@ EPV used if greater than this value 0.01 modules/mc_att_control - - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + + Threshold for Throttle PID Attenuation (TPA) + Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain 0.0 1.0 - examples/mc_pos_control_multiplatform + 2 + 0.1 + modules/mc_att_control - - Maximum thrust - Limit max allowed thrust. + + 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)) 0.0 - 1.0 - examples/mc_pos_control_multiplatform + 2.0 + 2 + 0.1 + modules/mc_att_control - - Proportional gain for vertical position error + + Max manual roll 0.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Proportional gain for vertical velocity error + + Max manual pitch 0.0 + 90.0 + deg examples/mc_pos_control_multiplatform - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + + Max manual yaw rate 0.0 + deg/s examples/mc_pos_control_multiplatform - - Differential gain for vertical velocity error + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_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. + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - 1.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Proportional gain for horizontal position error + + 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_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Proportional gain for horizontal velocity error + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - examples/mc_pos_control_multiplatform + 1/s + examples/mc_att_control_multiplatform - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + + 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 - m/s - examples/mc_pos_control_multiplatform + examples/mc_att_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. + + 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. 0.0 1.0 - examples/mc_pos_control_multiplatform + examples/mc_att_control_multiplatform - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. + + 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 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Maximum tilt during landing - Limits maximum tilt angle on landing. + + Max acro roll rate 0.0 - 90.0 - deg - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform - - Landing descend rate + + Max acro pitch rate 0.0 - m/s - examples/mc_pos_control_multiplatform + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro yaw rate + 0.0 + deg/s + examples/mc_att_control_multiplatform + + Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. @@ -3647,40 +3679,207 @@ EPV used if greater than this value Maximum vertical velocity for which position hold is enabled (use 0 to disable check) 0.0 - 3.0 + 3.0 + m/s + 2 + modules/mc_pos_control + + + Low pass filter cut freq. for numerical velocity derivative + 0.0 + 10 + Hz + 2 + modules/mc_pos_control + + + Maximum horizonal acceleration in velocity controlled modes + 2.0 + 15.0 + m/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 + + + + 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 + + + Proportional gain for vertical position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional 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 + + + Differential gain for vertical velocity error + 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 + + + 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 horizontal position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for horizontal velocity error + 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 + + + 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 + + + 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 + + + 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 + + + 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 - 2 - modules/mc_pos_control + examples/mc_pos_control_multiplatform - - Low pass filter cut freq. for numerical velocity derivative - 0.0 - 10 - Hz - 2 - modules/mc_pos_control + + + + 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. + 800 + 1400 + us + true + modules/sensors - - Maximum horizonal acceleration in velocity controlled modes - 2.0 - 15.0 - m/s/s - 2 - 1 - modules/mc_pos_control + + 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. + 1600 + 2200 + us + true + modules/sensors - - Altitude control mode, note mode 1 only tested with LPE + + 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. 0 - 1 - modules/mc_pos_control - - Terrain following - Altitude following - + 2200 + us + 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 default or 900 to increase servo travel + 800 + 1400 + us + true + 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 + 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. + 0 + 2200 + us + true + 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. + 0.0 + s/(1000*PWM) + modules/sensors - - Invert direction of aux output channel 1 Set to 1 to invert the channel, 0 for default direction. @@ -3785,60 +3984,6 @@ EPV used if greater than this value drivers/px4io - - 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. - 800 - 1400 - us - true - 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. - 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. - 0 - 2200 - us - 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 default or 900 to increase servo travel - 800 - 1400 - us - true - 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 - 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. - 0 - 2200 - us - true - modules/sensors - @@ -4256,33 +4401,6 @@ EPV used if greater than this value - - 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. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - - - Pitch 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. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - - - Yaw 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. - -0.25 - 0.25 - 2 - 0.01 - modules/commander - RC Channel 1 Minimum Minimum value for RC channel 1 @@ -5389,6 +5507,33 @@ EPV used if greater than this value 2000 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. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + + + Pitch 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. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + + + Yaw 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. + -0.25 + 0.25 + 2 + 0.01 + modules/commander + @@ -5701,6 +5846,33 @@ EPV used if greater than this value Channel 8 + + Landing gear 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 + + 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 @@ -5771,6 +5943,13 @@ EPV used if greater than this value 1 modules/sensors + + Threshold for the landing gear 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 + @@ -5900,14 +6079,6 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL - - UTC offset (unit: min) - the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets - -1000 - 1000 - min - modules/logger - Logging rate A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). @@ -5948,6 +6119,14 @@ This is used for gathering replay logs for the ekf2 module Medium priority + + UTC offset (unit: min) + the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets + -1000 + 1000 + min + modules/logger + @@ -6543,6 +6722,12 @@ This is used for gathering replay logs for the ekf2 module true modules/sensors + + TeraRanger One (trone) + + true + modules/sensors + Lightware SF1xx laser rangefinder 0 @@ -6597,19 +6782,34 @@ This is used for gathering replay logs for the ekf2 module ms examples/subscriber - - Float Demonstration Parameter in the Example - examples/subscriber + + Float Demonstration Parameter in the Example + examples/subscriber + + + + + Operating channel of the NRF51 + 0 + 125 + modules/syslink + + + Operating datarate of the NRF51 + 0 + 2 + modules/syslink + + + Operating address of the NRF51 (most significant byte) + modules/syslink + + + Operating address of the NRF51 (least significant 4 bytes) + modules/syslink - - 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. @@ -6671,13 +6871,16 @@ This is used for gathering replay logs for the ekf2 module modules/systemlib FrSky Telemetry + Crazyflie (Syslink) Normal Telemetry (57600 baud, 8N1) Command Receiver (57600 baud, 8N1) OSD (57600 baud, 8N1) + Normal Telemetry (38400 baud, 8N1) Disabled ESP8266 (921600 baud, 8N1) Companion Link (57600 baud, 8N1) Companion Link (921600 baud, 8N1) + Normal Telemetry (19200 baud, 8N1) @@ -6697,6 +6900,13 @@ 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) + 0 + 15 + drivers/rgbled + @@ -6780,73 +6990,14 @@ This is used for gathering replay logs for the ekf2 module bit/s 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 + + UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints 0 - 12345678 - 0 - 1 - modules/vtol_att_control + 1 + modules/uavcan + + VTOL number of engines 0 @@ -7040,6 +7191,71 @@ to accelerate forward if necessary 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 + modules/vtol_att_control + @@ -7297,21 +7513,49 @@ Maps the change of airspeed error to the acceleration setpoint - - EXFW_HDNG_P - examples/fixedwing_control + + SEG_TH2V_P + modules/segway - - EXFW_ROLL_P - examples/fixedwing_control + + SEG_TH2V_I + modules/segway - - EXFW_PITCH_P - examples/fixedwing_control + + SEG_TH2V_I_MAX + modules/segway - - RV_YAW_P - examples/rover_steering_control + + 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 + 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 + First flightmode slot (1000-1160) @@ -7439,49 +7683,21 @@ Maps the change of airspeed error to the acceleration setpoint Stabilized - - SEG_TH2V_P - modules/segway - - - SEG_TH2V_I - modules/segway + + EXFW_HDNG_P + examples/fixedwing_control - - SEG_TH2V_I_MAX - modules/segway + + EXFW_ROLL_P + examples/fixedwing_control - - SEG_Q2V - modules/segway + + EXFW_PITCH_P + examples/fixedwing_control - - 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 - 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 - + + RV_YAW_P + examples/rover_steering_control