mainWindow.showMessageDialog(qsTr("Sensor Calibration"),qsTr("Performing sensor calibration over a WiFi connection can be unreliable. If you run into problems try using a direct USB connection instead."))
readonlypropertystring_helpText:qsTr("Pressure calibration will set the %1 to zero at the current pressure reading. %2").arg(_altText).arg(_helpTextFW)
readonlypropertystring_helpTextFW:activeVehicle.fixedWing?qsTr("To calibrate the airspeed sensor shield it from the wind. Do not touch the sensor or obstruct any holes during the calibration."):""
readonlypropertystring_helpTextFW:globals.activeVehicle.fixedWing?qsTr("To calibrate the airspeed sensor shield it from the wind. Do not touch the sensor or obstruct any holes during the calibration."):""
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
@@ -962,7 +960,7 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
<short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
<min>0.1</min>
<max>1.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>0.05</increment>
</parameter>
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@@ -1298,7 +1296,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
@@ -1321,7 +1319,7 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
<long_desc>The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.</long_desc>
@@ -1473,7 +1471,7 @@ If the magnitude of the IMU accelerometer vector exceeds this value, the EKF del
This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates</short_desc>
@@ -1489,7 +1487,7 @@ This reduces the adverse effect of rapid rotation rates and associated errors on
<short_desc>Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value</short_desc>
@@ -1904,7 +1902,7 @@ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assu
This is the amount of X-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
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@@ -1913,7 +1911,7 @@ This is the amount of X-axis magnetometer bias learned by the EKF and saved from
This is the amount of Y-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
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@@ -1922,7 +1920,7 @@ This is the amount of Y-axis magnetometer bias learned by the EKF and saved from
This is the amount of Z-axis magnetometer bias learned by the EKF and saved from the last flight. It must be set to zero if the ground based magnetometer calibration is repeated</short_desc>
<min>-0.5</min>
<max>0.5</max>
<unit>mGauss</unit>
<unit>mgauss</unit>
<decimal>3</decimal>
<reboot_required>true</reboot_required>
</parameter>
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@@ -1936,7 +1934,7 @@ Smaller values make the saved mag bias learn slower from flight to flight. Large
<short_desc>State variance assumed for magnetometer bias storage.
This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster</short_desc>
<unit>mGauss**2</unit>
<unit>mgauss^2</unit>
<decimal>8</decimal>
<reboot_required>true</reboot_required>
</parameter>
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@@ -1945,14 +1943,14 @@ This is a reference variance used to calculate the fraction of learned magnetome
This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion</short_desc>
@@ -2047,7 +2045,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will
<short_desc>Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid</short_desc>
<long_desc>LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
<min>0</min>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
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@@ -3154,7 +3152,7 @@ Set to 0 to disable heading hold</short_desc>
<long_desc>This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</long_desc>
<min>1.0</min>
<max>10.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
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@@ -3175,7 +3173,7 @@ automatic trigger system (ATS)</short_desc>
@@ -3183,7 +3181,7 @@ automatic trigger system (ATS)</short_desc>
<long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
@@ -3198,7 +3196,7 @@ automatic trigger system (ATS)</short_desc>
<long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
@@ -4492,7 +4488,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>12</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
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@@ -4518,7 +4514,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>12</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
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@@ -4535,7 +4531,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min>0.0</min>
<max>5</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
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@@ -4544,7 +4540,7 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.</long_desc>
<min>0.0</min>
<max>1.0</max>
<unit>1/s</unit>
<unit>Hz</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
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@@ -4564,14 +4560,14 @@ if required by the gimbal (only in AUX output mode)</short_desc>
<long_desc>Only used in Position mode.</long_desc>
<short_desc>Manual tilt input filter time constant
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@@ -4596,7 +4592,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<short_desc>Maximum vertical acceleration in velocity controlled modes down</short_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
...
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@@ -4605,7 +4601,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Note: In manual, this parameter is only used in MPC_POS_MODE 1.</long_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
...
...
@@ -4614,7 +4610,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3.</long_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
...
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@@ -4622,7 +4618,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<short_desc>Maximum vertical acceleration in velocity controlled modes upward</short_desc>
<min>2.0</min>
<max>15.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
...
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@@ -4642,7 +4638,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Note: This is only used when MPC_POS_MODE is set to 1.</long_desc>
<min>0.5</min>
<max>10.0</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
...
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@@ -4671,7 +4667,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.</long_desc>
<min>1.0</min>
<max>80.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>1</decimal>
<increment>1</increment>
</parameter>
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@@ -4680,7 +4676,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.</long_desc>
<min>0.5</min>
<max>500.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
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@@ -4689,7 +4685,7 @@ Setting this parameter to 0 disables the filter</short_desc>
<long_desc>If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle's velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle's motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: This is only used when MPC_POS_MODE is set to 1.</long_desc>
<min>0</min>
<max>30.0</max>
<unit>m/s/s/s</unit>
<unit>m/s^3</unit>
<decimal>2</decimal>
<increment>1</increment>
</parameter>
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@@ -7661,7 +7657,7 @@ default 1.5 turns per second</short_desc>
<long_desc>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</long_desc>
<min>0</min>
<max>90</max>
<unit>degrees</unit>
<unit>deg</unit>
<values>
<valuecode="0">No cone, always climb to RTL_RETURN_ALT above destination.</value>
<short_desc>Vehicle cross term inertia yz</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</long_desc>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
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@@ -10096,7 +10091,7 @@ How often the sensor is readout</short_desc>
<short_desc>Vehicle inertia about Z axis</short_desc>
<long_desc>The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</long_desc>
<min>0.0</min>
<unit>kg*m*m</unit>
<unit>kg m^2</unit>
<decimal>3</decimal>
<increment>0.005</increment>
</parameter>
...
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@@ -10130,21 +10125,21 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<long_desc>This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<short_desc>North magnetic field at the initial location</short_desc>
<long_desc>This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
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@@ -10153,7 +10148,7 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
...
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@@ -10162,7 +10157,7 @@ How often the sensor is readout</short_desc>
<long_desc>This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</long_desc>
<min>-1.0</min>
<max>1.0</max>
<unit>Gauss</unit>
<unit>gauss</unit>
<decimal>2</decimal>
<increment>0.001</increment>
</parameter>
...
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@@ -10263,17 +10258,17 @@ How often the sensor is readout</short_desc>
<short_desc>Required temperature rise during thermal calibration</short_desc>
<long_desc>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.</long_desc>
<short_desc>Control if the vehicle has a barometer</short_desc>
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@@ -10928,7 +10923,7 @@ How often the sensor is readout</short_desc>
<short_desc>Backtransition deceleration setpoint to pitch feedforward gain</short_desc>
<min>0</min>
<max>0.2</max>
<unit>rad*s*s/m</unit>
<unit>rad s^2/m</unit>
<decimal>1</decimal>
<increment>0.05</increment>
</parameter>
...
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@@ -10936,7 +10931,7 @@ How often the sensor is readout</short_desc>
<short_desc>Backtransition deceleration setpoint to pitch I gain</short_desc>
<min>0</min>
<max>0.3</max>
<unit>rad*s/m</unit>
<unit>rads/m</unit>
<decimal>1</decimal>
<increment>0.05</increment>
</parameter>
...
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@@ -10945,7 +10940,7 @@ How often the sensor is readout</short_desc>
<long_desc>The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. For standard vtol and tiltrotors a controller is used to track this value during the transition.</long_desc>
<min>0.5</min>
<max>10</max>
<unit>m/s/s</unit>
<unit>m/s^2</unit>
<decimal>2</decimal>
<increment>0.1</increment>
</parameter>
...
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@@ -11098,7 +11093,7 @@ tailsitter, tiltrotor: main throttle</short_desc>
<long_desc>The duration of the front transition when there is no airspeed feedback available.</long_desc>
_vehicleInMissionMode=activeVehicle?_flightMode===activeVehicle.missionFlightMode:false// Must be last to get correct signalling for showStartMission popups
_vehicleInMissionMode=_activeVehicle?_flightMode===_activeVehicle.missionFlightMode:false// Must be last to get correct signalling for showStartMission popups
propertyboolallowOverrideSatCount:false///< true: sat count above failureSatCount reguired to pass, false: user can click past satCount <= failureSetCount
propertyintfailureSatCount:-1///< -1 indicates no sat count check
propertystring_satCountFailureText:allowOverrideSatCount?qsTr("Warning - Sat count below %1.").arg(failureSatCount+1):qsTr("Waiting for sat count above %1.").arg(failureSatCount)
Q_PROPERTY(boolreadyToFlyAvailableREADreadyToFlyAvailableNOTIFYreadyToFlyAvailableChanged)///< true: readyToFly signalling is available on this vehicle
