From f2e842920da552e2a04d9576dccfe443dce1025e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 14 Aug 2016 20:43:58 +0200 Subject: [PATCH] Update PX4 Param meta --- .../PX4/PX4ParameterFactMetaData.xml | 1362 +++++++++-------- 1 file changed, 737 insertions(+), 625 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 6b3a2928c..b68ea44a4 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -140,52 +140,52 @@ Body angular rate process noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Body angular acceleration process noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Acceleration process noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Magnet field vector process noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Gyro measurement noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Accel measurement noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Mag measurement noise - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (1, 1) kg*m^2 - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (2, 2) kg*m^2 - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (3, 3) kg*m^2 - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf Moment of inertia enabled in estimator If set to != 0 the moment of inertia will be used in the estimator - modules/attitude_estimator_ekf + examples/attitude_estimator_ekf @@ -393,6 +393,16 @@ velocity + + Camera trigger Interface + Selects the trigger interface + true + drivers/camera_trigger + + GPIO + Seagull MAP2 (PWM) + + Camera trigger interval This parameter sets the time between two consecutive trigger events @@ -417,7 +427,7 @@ velocity Camera trigger activation time This parameter sets the time the trigger needs to pulled high or low. 0.1 - 3 + 3000 ms 1 drivers/camera_trigger @@ -436,9 +446,9 @@ velocity Distance, mission controlled - + Camera trigger pin - Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6) + 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. 1 123456 0 @@ -679,31 +689,6 @@ 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 @@ -763,6 +748,31 @@ 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 + @@ -1661,6 +1671,34 @@ value will determine the minimum airspeed which will still be fused declare airspeed invalid + + Manual roll scale + Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + 1.0 + norm + 2 + 0.01 + modules/fw_att_control + + + Manual pitch scale + Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + modules/fw_att_control + + + Manual yaw scale + Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + modules/fw_att_control + @@ -2079,7 +2117,7 @@ but also ignore less noise Dump GPS communication to a file - If this is set to 1, all GPS communication data will be written to a file. Two files will be created, for reading and writing. All communication from startup until device disarm will be dumped. + If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. 0 1 drivers/gps @@ -2536,11 +2574,11 @@ EPV used if greater than this value 8 modules/local_position_estimator - - Terrain random walk noise density, hilly/outdoor (1e-1), flat/Indoor (1e-3) + + Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) 0 - 1 - m/s/sqrt(Hz) + 100 + % 3 modules/local_position_estimator @@ -2553,7 +2591,7 @@ EPV used if greater than this value modules/local_position_estimator - Home latitude for nav w/o GPS + Local origin latitude for nav w/o GPS -90 90 deg @@ -2561,7 +2599,7 @@ EPV used if greater than this value modules/local_position_estimator - Home longitude for nav w/o GPS + Local origin longitude for nav w/o GPS -180 180 deg @@ -2726,48 +2764,6 @@ EPV used if greater than this value Land at current position - - Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 25 - 1000 - m - 1 - 0.5 - modules/navigator - - - Acceptance Radius - Default acceptance radius, overridden by acceptance radius of waypoint if set. - 0.05 - 200.0 - m - 1 - 0.5 - modules/navigator - - - Set data link loss failsafe mode - The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. - modules/navigator - - Loiter - Disabled - Land at current position - Return to Land - - - - Set RC loss failsafe mode - The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. - modules/navigator - - Loiter - Disabled - Land at current position - Return to Land - - Take-off altitude This is the minimum altitude the system will take off to. @@ -2857,117 +2853,308 @@ EPV used if greater than this value modules/navigator - - - - Roll time constant - Reduce if the system is too twitchy, increase if the response is too slow and sluggish. - 0.15 - 0.25 - s - 2 - 0.01 - modules/mc_att_control + + Loiter radius (FW only) + Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + 25 + 1000 + m + 1 + 0.5 + modules/navigator - - Pitch time constant - Reduce if the system is too twitchy, increase if the response is too slow and sluggish. - 0.15 - 0.25 - s - 2 - 0.01 - modules/mc_att_control + + Acceptance Radius + Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance. + 0.05 + 200.0 + m + 1 + 0.5 + modules/navigator - + + FW Altitude Acceptance Radius + Acceptance radius for fixedwing altitude. + 0.05 + 200.0 + m + 1 + 0.5 + modules/navigator + + + MC Altitude Acceptance Radius + Acceptance radius for multicopter altitude. + 0.05 + 200.0 + m + 1 + 0.5 + modules/navigator + + + Set data link loss failsafe mode + The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. + modules/navigator + + Loiter + Disabled + Land at current position + Return to Land + + + + Set RC loss failsafe mode + The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. + modules/navigator + + Loiter + Disabled + Land at current position + Return to Land + + + + + Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 - 8 - 2 - 0.1 - modules/mc_att_control + 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 - 0.5 - 3 - 0.01 - modules/mc_att_control + 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 - 3 - 0.01 - modules/mc_att_control + 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 - 0.01 - 4 - 0.0005 - modules/mc_att_control - - - Roll rate feedforward - Improves tracking performance. - 0.0 - 4 - modules/mc_att_control + 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 - 10 1/s - 2 - 0.0005 - modules/mc_att_control + 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 - 0.6 - 3 - 0.01 - modules/mc_att_control + 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 - 3 - 0.01 - modules/mc_att_control + 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 - 4 - 0.0005 - modules/mc_att_control - - - Pitch rate feedforward - Improves tracking performance. - 0.0 - 4 - modules/mc_att_control + 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 - 5 + 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_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 + + + Max manual yaw rate + 0.0 + deg/s + examples/mc_pos_control_multiplatform + + + Roll time constant + Reduce if the system is too twitchy, increase if the response is too slow and sluggish. + 0.15 + 0.25 + s + 2 + 0.01 + modules/mc_att_control + + + Pitch time constant + Reduce if the system is too twitchy, increase if the response is too slow and sluggish. + 0.15 + 0.25 + s + 2 + 0.01 + modules/mc_att_control + + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 8 + 2 + 0.1 + modules/mc_att_control + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + 0.5 + 3 + 0.01 + modules/mc_att_control + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 3 + 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. + 0.0 + 0.01 + 4 + 0.0005 + modules/mc_att_control + + + Roll rate feedforward + Improves tracking performance. + 0.0 + 4 + modules/mc_att_control + + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 10 + 1/s + 2 + 0.0005 + modules/mc_att_control + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + 0.6 + 3 + 0.01 + modules/mc_att_control + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 3 + 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. + 0.0 + 4 + 0.0005 + modules/mc_att_control + + + Pitch rate feedforward + Improves tracking performance. + 0.0 + 4 + modules/mc_att_control + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 5 1/s 2 0.1 @@ -3091,137 +3278,114 @@ EPV used if greater than this value 0.01 modules/mc_att_control - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 0.0 - modules/mc_att_control_multiplatform - - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - modules/mc_att_control_multiplatform - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - modules/mc_att_control_multiplatform - - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + + + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 - modules/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Maximum thrust + Limit max allowed thrust. 0.0 - 1/s - modules/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + Proportional gain for vertical position error 0.0 - modules/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Proportional gain for vertical velocity error 0.0 - modules/mc_att_control_multiplatform + examples/mc_pos_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. + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 - modules/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Differential gain for vertical velocity error 0.0 - 1/s - modules/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 - modules/mc_att_control_multiplatform + m/s + examples/mc_pos_control_multiplatform - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + 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 - modules/mc_att_control_multiplatform + 1.0 + examples/mc_pos_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. + + Proportional gain for horizontal position error 0.0 - modules/mc_att_control_multiplatform + examples/mc_pos_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. + + Proportional gain for horizontal velocity error 0.0 - 1.0 - modules/mc_att_control_multiplatform + examples/mc_pos_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. + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. 0.0 - 360.0 - deg/s - modules/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Max acro roll rate + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 - 360.0 - deg/s - modules/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Max acro pitch rate + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 - 360.0 - deg/s - modules/mc_att_control_multiplatform + m/s + examples/mc_pos_control_multiplatform - - Max acro yaw rate + + 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 - deg/s - modules/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Max manual roll + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. 0.0 90.0 deg - modules/mc_pos_control_multiplatform + examples/mc_pos_control_multiplatform - - Max manual pitch + + Maximum tilt during landing + Limits maximum tilt angle on landing. 0.0 90.0 deg - modules/mc_pos_control_multiplatform + examples/mc_pos_control_multiplatform - - Max manual yaw rate + + Landing descend rate 0.0 - deg/s - modules/mc_pos_control_multiplatform + m/s + examples/mc_pos_control_multiplatform - - Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. @@ -3351,7 +3515,7 @@ EPV used if greater than this value 2 modules/mc_pos_control - + Proportional gain for horizontal position error 0.0 2.0 @@ -3496,186 +3660,68 @@ EPV used if greater than this value 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 - modules/mc_pos_control_multiplatform - - - Maximum thrust - Limit max allowed thrust. - 0.0 - 1.0 - modules/mc_pos_control_multiplatform - - - Proportional gain for vertical position error - 0.0 - modules/mc_pos_control_multiplatform - - - Proportional gain for vertical velocity error - 0.0 - modules/mc_pos_control_multiplatform - - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.0 - modules/mc_pos_control_multiplatform - - - Differential gain for vertical velocity error - 0.0 - modules/mc_pos_control_multiplatform - - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). - 0.0 - m/s - modules/mc_pos_control_multiplatform - - - Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.0 - 1.0 - modules/mc_pos_control_multiplatform - - - Proportional gain for horizontal position error - 0.0 - modules/mc_pos_control_multiplatform - - - Proportional gain for horizontal velocity error - 0.0 - modules/mc_pos_control_multiplatform - - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.0 - modules/mc_pos_control_multiplatform - - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.0 - modules/mc_pos_control_multiplatform - - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). - 0.0 - m/s - modules/mc_pos_control_multiplatform - - - Horizontal velocity feed forward - Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.0 - 1.0 - modules/mc_pos_control_multiplatform - - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. - 0.0 - 90.0 - deg - modules/mc_pos_control_multiplatform - - - Maximum tilt during landing - Limits maximum tilt angle on landing. - 0.0 - 90.0 - deg - modules/mc_pos_control_multiplatform + 2 + 1 + modules/mc_pos_control - - Landing descend rate - 0.0 - m/s - modules/mc_pos_control_multiplatform + + Altitude control mode, note mode 1 only tested with LPE + 0 + 1 + modules/mc_pos_control + + Terrain following + Altitude following + - - 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 + + Invert direction of aux output channel 1 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu - - 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 + + Invert direction of aux output channel 2 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu - - 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 + + Invert direction of aux output channel 3 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu - - 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 + + Invert direction of aux output channel 4 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu - - 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 + + Invert direction of aux output channel 5 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu - - 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 + + Invert direction of aux output channel 6 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4fmu Invert direction of main output channel 1 @@ -3739,47 +3785,59 @@ EPV used if greater than this value drivers/px4io - - Invert direction of aux output channel 1 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors - - Invert direction of aux output channel 2 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors - - Invert direction of aux output channel 3 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors - - Invert direction of aux output channel 4 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors - - Invert direction of aux output channel 5 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors - - Invert direction of aux output channel 6 - Set to 1 to invert the channel, 0 for default direction. - + + 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 - drivers/px4fmu + modules/sensors @@ -3837,7 +3895,7 @@ EPV used if greater than this value 0 1000 ms - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Position estimate delay @@ -3845,7 +3903,7 @@ EPV used if greater than this value 0 1000 ms - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Height estimate delay @@ -3853,7 +3911,7 @@ EPV used if greater than this value 0 1000 ms - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Mag estimate delay @@ -3861,7 +3919,7 @@ EPV used if greater than this value 0 1000 ms - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator True airspeeed estimate delay @@ -3869,126 +3927,126 @@ EPV used if greater than this value 0 1000 ms - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator GPS vs. barometric altitude update weight RE-CHECK this. 0.0 1.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. 0.5 5.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 0.05 5.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Velocity noise in down (vertical) direction Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 0.2 3.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 0.1 10.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Position noise in down (vertical) direction Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 0.5 3.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 0.01 1.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Gyro process noise Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more. 0.001 0.05 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Accelerometer process noise Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. 0.05 1.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. 0.00000005 0.00001 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Accelerometer bias estimate process noise Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. 0.00001 0.001 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer earth frame offsets process noise Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. 0.0001 0.01 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer body frame offsets process noise Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier. 0.0001 0.01 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer X bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer Y bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Magnetometer Z bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 0.3 10.0 - modules/ekf_att_pos_estimator + examples/ekf_att_pos_estimator @@ -4198,6 +4256,33 @@ 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 @@ -5304,33 +5389,6 @@ 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 - @@ -5616,6 +5674,33 @@ EPV used if greater than this value Channel 8 + + VTOL transition 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 @@ -5679,6 +5764,13 @@ EPV used if greater than this value 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 + -1 + 1 + modules/sensors + @@ -6445,6 +6537,26 @@ This is used for gathering replay logs for the ekf2 module true modules/sensors + + Maxbotix Soanr (mb12xx) + + true + modules/sensors + + + Lightware SF1xx laser rangefinder + 0 + 4 + true + modules/sensors + + SF10/a + Disabled + SF10/c + SF10/b + SF11/c + + @@ -6491,6 +6603,13 @@ This is used for gathering replay logs for the ekf2 module + + 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. @@ -6530,7 +6649,7 @@ 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 @@ -6574,23 +6693,12 @@ This is used for gathering replay logs for the ekf2 module true modules/systemlib - new logger (experimental) + new logger sdlog2 (default) - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) - 0 - 15 - drivers/rgbled - - - TEST_PARAMS - systemcmds/tests - TEST_MIN modules/controllib_test @@ -6639,6 +6747,10 @@ This is used for gathering replay logs for the ekf2 module TEST_DEV modules/controllib_test + + TEST_PARAMS + systemcmds/tests + @@ -6670,6 +6782,71 @@ This is used for gathering replay logs for the ekf2 module + + 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 + VTOL number of engines 0 @@ -6856,71 +7033,6 @@ This is used for gathering replay logs for the ekf2 module 1 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 - 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 @@ -7185,49 +7297,21 @@ Maps the change of airspeed error to the acceleration setpoint - - 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 First flightmode slot (1000-1160) @@ -7355,21 +7439,49 @@ Maps the change of airspeed error to the acceleration setpoint Stabilized - - 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 + -- 2.22.0