3
1
15
Speed controller bandwidth
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.
Hertz
10
250
Reverse direction
Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.
0
1
Speed (RPM) controller gain
Speed (RPM) controller gain. Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
higher rotational inertia (large props) will need gain increased;
systems with low rotational inertia (small props) may need gain
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.
amp-seconds per radian
3
0.00
1.00
Idle speed (e Hz)
Idle speed (e Hz)
Hertz
3
0.0
100.0
Spin-up rate (e Hz/s)
Spin-up rate (e Hz/s)
Hz/s
5
1000
Index of this ESC in throttle command messages.
Index of this ESC in throttle command messages.
Index
0
15
Extended status ID
Extended status ID
1
1000000
Extended status interval (µs)
Extended status interval (µs)
µs
0
1000000
ESC status interval (µs)
ESC status interval (µs)
µs
1000000
Motor current limit in amps
Motor current limit in amps. This determines the maximum
current controller setpoint, as well as the maximum allowable
current setpoint slew rate. This value should generally be set to
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.
Amps
3
1
80
Motor Kv in RPM per volt
Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.
RPM/v
0
4000
READ ONLY: Motor inductance in henries.
READ ONLY: Motor inductance in henries. This is measured on start-up.
henries
3
Number of motor poles.
Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.
Poles
2
40
READ ONLY: Motor resistance in ohms
READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.
Ohms
3
Acceleration limit (V)
Acceleration limit (V)
Volts
3
0.01
1.00
Motor voltage limit in volts
Motor voltage limit in volts. The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.
Volts
3
0
Acceleration compensation based on GPS
velocity
Gyro bias limit
0
2
rad/s
3
External heading usage mode (from Motion capture/Vision)
Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture
0
2
None
Vision
Motion Capture
Magnetic declination, in degrees
This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.
deg
2
Automatic GPS based declination compensation
Complimentary filter accelerometer weight
0
1
2
Complimentary filter external heading weight
0
1
Complimentary filter gyroscope bias weight
0
1
2
Complimentary filter magnetometer weight
Set to 0 to avoid using the magnetometer.
0
1
2
Battery ADC Channel
This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
Battery current per volt (A/V)
The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
8
Battery capacity
Defines the capacity of the attached battery.
-1.0
100000
mAh
0
50
true
Scaling from ADC counts to volt on the ADC input (battery current)
This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.
8
Scaling from ADC counts to volt on the ADC input (battery voltage)
This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.
8
Critical threshold
Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.
0.05
0.1
norm
2
0.01
true
Emergency threshold
Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.
0.03
0.07
norm
2
0.01
true
Low threshold
Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.
0.12
0.4
norm
2
0.01
true
Number of cells
Defines the number of cells the attached battery consists of.
S
true
Unconfigured
2S Battery
3S Battery
4S Battery
5S Battery
6S Battery
7S Battery
8S Battery
9S Battery
10S Battery
11S Battery
12S Battery
13S Battery
14S Battery
15S Battery
16S Battery
Explicitly defines the per cell internal resistance
If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.
-1.0
0.2
Ohms
true
Battery monitoring source
This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.
0
1
Power Module
External
Full cell voltage (5C load)
Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V
V
2
0.01
true
Battery voltage divider (V divider)
This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
8
Empty cell voltage (5C load)
Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
V
2
0.01
true
Voltage drop per cell on full throttle
This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.
0.07
0.5
V
2
0.01
true
Offset in volt as seen by the ADC input of the current sensor
This offset will be subtracted before calculating the battery current based on the voltage.
8
Camera strobe delay
This parameter sets the delay between image integration start and strobe firing
0.0
100.0
ms
1
Camera capture edge
true
Falling edge
Rising edge
Camera capture feedback
Enables camera capture feedback
true
Camera capture timestamping mode
Change time measurement
true
Get absolute timestamp
Get timestamp of mid exposure (active high)
Get timestamp of mid exposure (active low)
Camera trigger activation time
This parameter sets the time the trigger needs to pulled high or low.
0.1
3000
ms
1
Camera trigger distance
Sets the distance at which to trigger the camera.
0
m
1
1
Camera trigger Interface
Selects the trigger interface
true
GPIO
Seagull MAP2 (over PWM)
MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
Generic PWM (IR trigger, servo)
Camera trigger interval
This parameter sets the time between two consecutive trigger events
4.0
10000.0
ms
1
Camera trigger mode
0
4
true
Disable
Time based, on command
Time based, always on
Distance based, always on
Distance based, on command (Survey mode)
Camera trigger pin
Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4_fmu-v2 and the rail pins on px4_fmu-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. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is < .2 uS.
1
123456
0
true
Camera trigger polarity
This parameter sets the polarity of the trigger (0 = active low, 1 = active high )
0
1
Active low
Active high
PWM neutral output on trigger pin
1000
2000
us
true
PWM output to trigger shot
1000
2000
us
true
Force F7 D cache on and disregard errata 1259864 data corruption in
a sequence of write-through stores and loads on ARM M7 silicon
Fault Status: Present in r0p1, r0p2, r1p0 and r1p1. Fixed in r1p2
0
2
if Eratta exits turn dcache off else leave it on
Force it off
Force it on
Circuit breaker for airspeed sensor
Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
162128
true
Circuit breaker for disabling buzzer
Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
782097
true
Circuit breaker for engine failure detection
Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
284953
true
Circuit breaker for flight termination
Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
121212
true
Circuit breaker for GPS failure detection
Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
240024
true
Circuit breaker for IO safety
Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
22027
true
Circuit breaker for rate controller output
Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
140253
true
Circuit breaker for power supply check
Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
894281
true
Circuit breaker for USB link check
Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
197848
true
Circuit breaker for position error check
Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
0
201607
true
Arm authorization parameters, this uint32_t will be split between starting from the LSB:
- 8bits to authorizer system id
- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
- 7bits to authentication method
- one arm = 0
- two step arm = 1
* the MSB bit is not used to avoid problems in the conversion between int and uint
Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm
Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful
0.001
0.01
m/s
4
0.0001
Maximum value of EKF gyro delta angle bias estimate that will allow arming
0.0001
0.0017
rad
5
0.0001
Maximum EKF height innovation test ratio that will allow arming
0.1
1.0
m
2
0.05
Maximum EKF position innovation test ratio that will allow arming
0.1
1.0
m
2
0.05
Maximum EKF velocity innovation test ratio that will allow arming
0.1
1.0
m/s
2
0.05
Maximum EKF yaw innovation test ratio that will allow arming
0.1
1.0
rad
2
0.05
Maximum accelerometer inconsistency between IMU units that will allow arming
0.1
1.0
m/s/s
2
0.05
Maximum rate gyro inconsistency between IMU units that will allow arming
0.02
0.3
rad/s
3
0.01
Maximum magnetic field inconsistency between units that will allow arming
0.05
0.5
Gauss
2
0.05
Require valid mission to arm
The default allows to arm the vehicle without a valid mission.
Arm switch is only a button
The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.
0
1
Arm switch is a switch that stays on when armed
Arm switch is a button that only triggers arming and disarming
Allow arming without GPS
The default allows to arm the vehicle without GPS signal.
Airspeed fault detection (Experimental)
Failsafe action when bad airspeed measurements are detected. Ensure the COM_ASPD_STALL parameter is set correctly before use.
disabled
log a message
log a message, warn the user
log a message, warn the user, switch to non-airspeed TECS mode
log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds
Airspeed fault detection delay before RTL (Experimental)
RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.
0
300
s
Airspeed fault detection stall airspeed. (Experimental)
This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
m/s
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. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.
-1
20
s
2
Datalink loss time threshold
After this amount of seconds without datalink the data link lost mode triggers
5
300
s
1
0.5
Engine Failure Current/Throttle Threshold
Engine failure triggers only below this current value
0.0
50.0
A/%
2
1
Engine Failure Throttle Threshold
Engine failure triggers only above this throttle value
0.0
1.0
norm
2
0.01
Engine Failure Time Threshold
Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time
0.0
60.0
s
1
1
Next flight UUID
This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.
0
First flightmode slot (1000-1160)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
Second flightmode slot (1160-1320)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
Third flightmode slot (1320-1480)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
Fourth flightmode slot (1480-1640)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
Fifth flightmode slot (1640-1800)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
Sixth flightmode slot (1800-2000)
If the main switch channel is in this range the selected flight mode will be applied.
Unassigned
Manual
Altitude
Position
Mission
Hold
Return
Acro
Offboard
Stabilized
Rattitude
Takeoff
Land
Follow Me
High Latency Datalink loss time threshold
After this amount of seconds without datalink the data link lost mode triggers
60
3600
s
High Latency Datalink regain time threshold
After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false
0
60
s
Home set horizontal threshold
The home position will be set if the estimated positioning accuracy is below the threshold.
2
15
m
2
0.5
Home set vertical threshold
The home position will be set if the estimated positioning accuracy is below the threshold.
5
25
m
2
0.5
Battery failsafe mode
Action the system takes on low battery. Defaults to off
0
1
Warning
Return mode
Land mode
Return mode at critically low level, Land mode at current position if reaching dangerously low levels
Set avoidance system bootup timeout
The avoidance system running on the companion computer is expected to boot within this time and start providing trajectory points. If no avoidance system is detected a MAVLink warning message is sent.
0
200
s
Time-out to wait when offboard connection is lost before triggering offboard lost action.
See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
0
60
s
1
Position control navigation loss response
This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
Loss of position failsafe activation delay
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.
1
100
sec
true
Horizontal position error threshold
This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
Vertical position error threshold
This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
Loss of position probation gain factor
This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.
true
Loss of position probation delay at takeoff
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.
1
100
sec
true
RC input arm/disarm command duration
The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
100
1500
RC control input mode
The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.
0
2
RC Transmitter
Joystick/No RC Checks
Virtual RC by Joystick
RC loss time threshold
After this amount of seconds without RC connection the rc lost flag is set to true
0
35
s
1
0.1
Enable RC stick override of auto modes
RC stick override threshold
If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.
5
40
%
0
0.05
Airspeed failsafe consistency threshold (Experimental)
This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
0.5
3.0
Airspeed failsafe consistency delay (Experimental)
This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
30.0
s
Airspeed failsafe stop delay (Experimental)
Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
1
10
s
Airspeed failsafe start delay (Experimental)
Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
10
1000
s
Horizontal velocity error threshold
This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m/s
Airfield home alt
Altitude of airfield home waypoint
-50
m
1
0.5
Airfield home Lat
Latitude of airfield home waypoint
-900000000
900000000
deg * 1e7
Airfield home Lon
Longitude of airfield home waypoint
-1800000000
1800000000
deg * 1e7
Airfield home wait time
The amount of time in seconds the system should wait at the airfield home waypoint
0.0
3600.0
s
0
1
Skip comms hold wp
If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home
Comms hold alt
Altitude of comms hold waypoint
-50
30000
m
1
0.5
Comms hold Lat
Latitude of comms hold waypoint
-900000000
900000000
deg * 1e7
Comms hold Lon
Longitude of comms hold waypoint
-1800000000
1800000000
deg * 1e7
Comms hold wait time
The amount of time in seconds the system should wait at the comms hold waypoint
0.0
3600.0
s
0
1
Number of allowed Datalink timeouts
After more than this number of data link timeouts the aircraft returns home directly
0
1000
1-sigma IMU accelerometer switch-on bias
0.0
0.5
m/s/s
2
true
Maximum IMU accel magnitude that allows IMU bias learning.
If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates
20.0
200.0
m/s/s
1
Maximum IMU gyro angular rate magnitude that allows IMU bias learning.
If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates
2.0
20.0
rad/s
1
Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value
0.0
0.8
m/s/s
2
Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning.
The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay.
This parameter controls the time constant of the decay
0.1
1.0
s
2
Process noise for IMU accelerometer bias prediction
0.0
0.01
m/s**3
6
Accelerometer noise for covariance prediction
0.01
1.0
m/s/s
2
Integer bitmask controlling data fusion and aiding methods
Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.
0
255
true
use GPS
use optical flow
inhibit IMU bias estimation
vision position fusion
vision yaw fusion
multi-rotor drag fusion
rotate external vision
GPS yaw fusion
1-sigma tilt angle uncertainty after gravity vector alignment
0.0
0.5
rad
3
true
Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed.
Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS.
Use EKF2_FUSE_BETA to activate sideslip fusion
0.0
m/s
1
Upper limit on airspeed along individual axes used to correct baro for position error effects
5.0
50.0
m/s
1
Airspeed measurement delay relative to IMU measurements
0
300
ms
1
true
Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements
0
300
ms
1
true
Barometer measurement delay relative to IMU measurements
0
300
ms
1
true
Gate size for barometric and GPS height fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for barometric altitude
0.01
15.0
m
2
X-axis ballistic coefficient used by the multi-rotor specific drag force model.
This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence
1.0
100.0
kg/m**2
1
Y-axis ballistic coefficient used by the multi-rotor specific drag force model.
This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence
1.0
100.0
kg/m**2
1
Gate size for synthetic sideslip fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Noise for synthetic sideslip fusion
0.1
1.0
m/s
2
Integer bitmask controlling handling of magnetic declination
Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.
0
7
true
use geo_lookup declination
save EKF2_MAG_DECL on disarm
use declination as an observation
Specific drag force observation noise variance used by the multi-rotor specific drag force model.
Increasing it makes the multi-rotor wind estimates adjust more slowly
0.5
10.0
(m/sec**2)**2
2
Measurement noise for airspeed fusion
0.5
5.0
m/s
1
Measurement noise for vision angle observations used when the vision system does not supply error estimates
0.01
rad
2
Measurement noise for vision position observations used when the vision system does not supply error estimates
0.01
m
2
Vision Position Estimator delay relative to IMU measurements
0
300
ms
1
true
Gate size for vision estimate fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
X position of VI sensor focal point in body frame
m
3
Y position of VI sensor focal point in body frame
m
3
Z position of VI sensor focal point in body frame
m
3
Boolean determining if synthetic sideslip measurements should fused
A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.
1-sigma IMU gyro switch-on bias
0.0
0.2
rad/sec
2
true
Baro deadzone range for height fusion
Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.
0.0
10.0
M
1
Height above ground level for ground effect zone
Sets the maximum distance to the ground level where negative baro innovations are expected.
0.0
5.0
M
1
Integer bitmask controlling GPS checks
Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
0
511
Min sat count (EKF2_REQ_NSATS)
Min GDoP (EKF2_REQ_GDOP)
Max horizontal position error (EKF2_REQ_EPH)
Max vertical position error (EKF2_REQ_EPV)
Max speed error (EKF2_REQ_SACC)
Max horizontal position rate (EKF2_REQ_HDRIFT)
Max vertical position rate (EKF2_REQ_VDRIFT)
Max horizontal speed (EKF2_REQ_HDRIFT)
Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
GPS measurement delay relative to IMU measurements
0
300
ms
1
true
Multi GPS Blending Control Mask
Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy
0
7
use speed accuracy
use hpos accuracy
use vpos accuracy
X position of GPS antenna in body frame
m
3
Y position of GPS antenna in body frame
m
3
Z position of GPS antenna in body frame
m
3
Gate size for GPS horizontal position fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for gps position
0.01
10.0
m
2
Multi GPS Blending Time Constant
Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.
1.0
100.0
s
1
Gate size for GPS velocity fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for gps horizontal velocity
0.01
5.0
m/s
2
Process noise for IMU rate gyro bias prediction
0.0
0.01
rad/s**2
6
Rate gyro noise for covariance prediction
0.0001
0.1
rad/s
4
Gate size for magnetic heading fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for magnetic heading fusion
0.01
1.0
rad
2
Determines the primary source of height data used by the EKF
The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
true
Barometric pressure
GPS
Range sensor
Vision
X position of IMU in body frame
m
3
Y position of IMU in body frame
m
3
Z position of IMU in body frame
m
3
ID of Magnetometer the learned bias is for
true
Learned value of magnetometer X axis bias.
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
-0.5
0.5
mGauss
3
true
Learned value of magnetometer Y axis bias.
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
-0.5
0.5
mGauss
3
true
Learned value of magnetometer Z axis bias.
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
-0.5
0.5
mGauss
3
true
Maximum fraction of learned mag bias saved at each disarm.
Smaller values make the saved mag bias learn slower from flight to flight. Larger values make it learn faster. Must be > 0.0 and <= 1.0
0.0
1.0
2
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
mGauss**2
8
true
Horizontal acceleration threshold used by automatic selection of magnetometer fusion method.
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
0.0
5.0
m/s**2
2
Process noise for body magnetic field prediction
0.0
0.1
Gauss/s
6
Magnetic declination
deg
1
Magnetometer measurement delay relative to IMU measurements
0
300
ms
1
true
Process noise for earth magnetic field prediction
0.0
0.1
Gauss/s
6
Gate size for magnetometer XYZ component fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for magnetometer 3-axis fusion
0.001
1.0
Gauss
3
Type of magnetometer fusion
Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
true
Automatic
Magnetic heading
3-axis
VTOL customn
MC custom
None
Yaw rate threshold used by automatic selection of magnetometer fusion method.
This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion
0.0
1.0
rad/s
2
Minimum time of arrival delta between non-IMU observations before data is downsampled.
Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information
10
50
ms
true
Minimum valid range for the range finder
0.01
m
2
Vehicle movement test threshold
Scales the threshold tests applied to IMU data used to determine if the vehicle is static or moving. See parameter descriptions for EKF2_GPS_CHECK and EKF2_MAG_TYPE for further information on the functionality affected by this parameter.
0.1
10.0
1
Measurement noise for non-aiding position hold
0.5
50.0
m
1
Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid
500000
10000000
uSec
Optical flow measurement delay relative to IMU measurements
Assumes measurement is timestamped at trailing edge of integration period
0
300
ms
1
true
Gate size for optical flow fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for the optical flow sensor
(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN
0.05
rad/s
2
Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
0.05
rad/s
2
X position of optical flow focal point in body frame
m
3
Y position of optical flow focal point in body frame
m
3
Z position of optical flow focal point in body frame
m
3
Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN
0
255
Static pressure position error coefficient for the negative X axis.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis.
If the baro height estimate rises during backwards flight, then this will be a negative number
-0.5
0.5
2
Static pressure position error coefficient for the positive X axis
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis.
If the baro height estimate rises during forward flight, then this will be a negative number
-0.5
0.5
2
Pressure position error coefficient for the negative Y axis.
This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis.
If the baro height estimate rises during sideways flight to the left, then this will be a negative number
-0.5
0.5
2
Pressure position error coefficient for the positive Y axis.
This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis.
If the baro height estimate rises during sideways flight to the right, then this will be a negative number
-0.5
0.5
2
Static pressure position error coefficient for the Z axis.
This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis
-0.5
0.5
2
Required EPH to use GPS
2
100
m
1
Required EPV to use GPS
2
100
m
1
Required GDoP to use GPS
1.5
5.0
1
Maximum horizontal drift speed to use GPS
0.1
1.0
m/s
2
Required satellite count to use GPS
4
12
Required speed accuracy to use GPS
0.5
5.0
m/s
2
Maximum vertical drift speed to use GPS
0.1
1.5
m/s
2
Range sensor aid
If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.
Range aid disabled
Range aid enabled
Maximum absolute altitude (height above ground level) allowed for range aid mode
If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
1.0
10.0
Gate size used for innovation consistency checks for range aid fusion
A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode
0.1
5.0
SD
Maximum horizontal velocity allowed for range aid mode
If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
0.1
2
Range finder measurement delay relative to IMU measurements
0
300
ms
1
true
Gate size for range finder fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Measurement noise for range finder fusion
0.01
m
2
Range sensor pitch offset
-0.75
0.75
rad
3
X position of range finder origin in body frame
m
3
Y position of range finder origin in body frame
m
3
Z position of range finder origin in body frame
m
3
Range finder range dependant noise scaler
Specifies the increase in range finder noise with range.
0.0
0.2
m/m
Gate size for TAS fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
1
Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states
0.1
1.0
s
2
Time constant of the velocity output prediction and smoothing filter
1.0
s
2
Magnitude of terrain gradient
0.0
m/m
2
Terrain altitude process noise - accounts for instability in vehicle height estimate
0.5
m/s
1
Process noise for wind velocity prediction
0.0
1.0
m/s/s
3
RC Loss Alarm
Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.
true
Status Display
Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -
true
Acro body x max rate
This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.
45
720
degrees
Acro body y max rate
This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.
45
720
degrees
Acro body z max rate
This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.
10
180
degrees
Airspeed mode
For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading
Normal (use airspeed if available)
Airspeed disabled
Whether to scale throttle by battery power level
This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
Pitch trim increment for flaps configuration
This increment is added to the pitch trim whenever flaps are fully deployed.
-0.25
0.25
2
0.01
Pitch trim increment at maximum airspeed
This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
-0.25
0.25
2
0.01
Pitch trim increment at minimum airspeed
This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
-0.25
0.25
2
0.01
Roll trim increment for flaps configuration
This increment is added to TRIM_ROLL whenever flaps are fully deployed.
-0.25
0.25
2
0.01
Roll trim increment at maximum airspeed
This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
-0.25
0.25
2
0.01
Roll trim increment at minimum airspeed
This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
-0.25
0.25
2
0.01
Yaw trim increment at maximum airspeed
This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
-0.25
0.25
2
0.01
Yaw trim increment at minimum airspeed
This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
-0.25
0.25
2
0.01
Scale factor for flaperons
0.0
1.0
norm
2
0.01
Flaps setting during landing
Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
0.0
1.0
norm
2
0.01
Scale factor for flaps
0.0
1.0
norm
2
0.01
Flaps setting during take-off
Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
0.0
1.0
norm
2
0.01
Max manual pitch
Max pitch for manual control in attitude stabilized mode
0.0
90.0
deg
1
0.5
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
Max manual roll
Max roll for manual control in attitude stabilized mode
0.0
90.0
deg
1
0.5
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
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
Pitch rate feed forward
Direct feed forward from rate setpoint to control surface output
0.0
10.0
%/rad/s
2
0.05
Pitch rate integrator gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
0.005
0.5
%/rad
3
0.005
Pitch rate integrator limit
The portion of the integrator part in the control surface deflection is limited to this value
0.0
1.0
2
0.05
Pitch rate proportional gain
This defines how much the elevator input will be commanded depending on the current body angular rate error.
0.005
1.0
%/rad/s
3
0.005
Pitch setpoint offset
An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe.
-90.0
90.0
deg
1
0.5
Maximum negative / down pitch rate
This limits the maximum pitch down up angular rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
Maximum positive / up pitch rate
This limits the maximum pitch up angular rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
Attitude pitch time constant
This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
0.2
1.0
s
2
0.05
Threshold for Rattitude mode
Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints
0.0
1.0
2
0.01
Roll control to yaw control feedforward gain
This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect.
0.0
1
0.01
Roll rate feed forward
Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.
0.0
10.0
%/rad/s
2
0.05
Roll rate integrator Gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
0.005
0.2
%/rad
3
0.005
Roll integrator anti-windup
The portion of the integrator part in the control surface deflection is limited to this value.
0.0
1.0
2
0.05
Roll rate proportional Gain
This defines how much the aileron input will be commanded depending on the current body angular rate error.
0.005
1.0
%/rad/s
3
0.005
Roll setpoint offset
An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe.
-90.0
90.0
deg
1
0.5
Maximum roll rate
This limits the maximum roll rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
Attitude Roll Time Constant
This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
0.4
1.0
s
2
0.05
Wheel steering rate feed forward
Direct feed forward from rate setpoint to control surface output
0.0
10.0
%/rad/s
2
0.05
Wheel steering rate integrator gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
0.005
0.5
%/rad
3
0.005
Wheel steering rate integrator limit
The portion of the integrator part in the control surface deflection is limited to this value
0.0
1.0
2
0.05
Wheel steering rate proportional gain
This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
0.005
1.0
%/rad/s
3
0.005
Enable wheel steering controller
Maximum wheel steering rate
This limits the maximum wheel steering rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
Yaw rate feed forward
Direct feed forward from rate setpoint to control surface output
0.0
10.0
%/rad/s
2
0.05
Yaw rate integrator gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
0.0
50.0
%/rad
1
0.5
Yaw rate integrator limit
The portion of the integrator part in the control surface deflection is limited to this value
0.0
1.0
2
0.05
Yaw rate proportional gain
This defines how much the rudder input will be commanded depending on the current body angular rate error.
0.005
1.0
%/rad/s
3
0.005
Maximum yaw rate
This limits the maximum yaw rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
Climbout Altitude difference
If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).
0.0
150.0
m
1
0.5
L1 damping
Damping factor for L1 control.
0.6
0.9
2
0.05
L1 period
This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.
12.0
50.0
m
1
0.5
L1 controller roll slew rate limit
The maxium change in roll angle setpoint per second.
0
deg/s
1
Min. airspeed scaling factor for landing
Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC
1.0
1.5
norm
2
0.01
Landing slope angle
1.0
15.0
deg
1
0.5
Early landing configuration deployment
When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.
Landing flare altitude (relative to landing altitude)
0.0
25.0
m
1
0.5
Flare, maximum pitch
Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached
0
45.0
deg
1
0.5
Flare, minimum pitch
Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached
0
15.0
deg
1
0.5
Landing heading hold horizontal distance.
Set to 0 to disable heading hold
0
30.0
m
1
0.5
FW_LND_HVIRT
1.0
15.0
m
1
0.5
Throttle time constant factor for landing
Set this parameter to <1.0 to make the TECS throttle loop react faster during landing than during normal flight (i.e. giving efficiency and low motor wear at high altitudes but control accuracy during landing). During landing, the TECS throttle time constant (FW_T_THRO_CONST) is multiplied by this value.
0.2
1.0
0.1
Landing throttle limit altitude (relative landing altitude)
Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.
-1.0
30.0
m
1
0.5
Use terrain estimate during landing
This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position).
Positive pitch limit
The maximum positive pitch the controller will output.
0.0
60.0
deg
1
0.5
Negative pitch limit
The minimum negative pitch the controller will output.
-60.0
0.0
deg
1
0.5
Controller roll limit
The maximum roll the controller will output.
35.0
65.0
deg
1
0.5
Scale throttle by pressure change
Automatically adjust throttle to account for decreased air density at higher altitudes. Start with a scale factor of 1.0 and adjust for different propulsion systems. When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges. The default value of 0 will disable scaling.
0.0
10.0
1
0.1
Cruise throttle
This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
0.0
1.0
norm
2
0.01
Idle throttle
This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.
0.0
0.4
norm
2
0.01
Throttle limit during landing below throttle limit altitude
During the flare of the autonomous landing process, this value will be set as throttle limit when the aircraft altitude is below FW_LND_TLALT.
0.0
1.0
norm
2
0.01
Throttle limit max
This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
0.0
1.0
norm
2
0.01
Throttle limit min
This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.
0.0
1.0
norm
2
0.01
Throttle max slew rate
Maximum slew rate for the commanded throttle
0.0
1.0
Launch detection
Catapult accelerometer threshold
LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
0
m/s/s
1
0.5
Motor delay
Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate
0.0
10.0
s
1
0.5
Maximum pitch before the throttle is powered up (during motor delay phase)
This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
0.0
45.0
deg
1
0.5
Catapult time threshold
LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
0.0
5.0
s
2
0.05
Maximum Airspeed
If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.
0.0
40
m/s
1
0.5
Minimum Airspeed
If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.
0.0
40
m/s
1
0.5
Cruise Airspeed
The fixed wing controller tries to fly at this airspeed.
0.0
40
m/s
1
0.5
Maximum climb rate
This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.
1.0
15.0
m/s
1
0.5
Complementary filter "omega" parameter for height
This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.
1.0
10.0
rad/s
1
0.5
Height rate feed forward
0.0
1.0
2
0.05
Height rate proportional factor
0.0
1.0
2
0.05
Integrator gain
This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
0.0
2.0
2
0.05
Pitch damping factor
This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.
0.0
2.0
1
0.1
Roll -> Throttle feedforward
Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.
0.0
20.0
1
0.5
Maximum descent rate
This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.
1.0
15.0
m/s
1
0.5
Minimum descent rate
This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.
1.0
5.0
m/s
1
0.5
Speed <--> Altitude priority
This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).
0.0
2.0
1
1.0
Complementary filter "omega" parameter for speed
This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.
1.0
10.0
rad/s
1
0.5
Speed rate P factor
0.0
2.0
2
0.01
TECS Throttle time constant
This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.
1.0
10.0
s
1
0.5
Throttle damping factor
This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.
0.0
2.0
1
0.1
TECS time constant
This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.
1.0
10.0
s
1
0.5
Maximum vertical acceleration
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.
1.0
10.0
m/s/s
1
0.5
Maximum ground speed
0.0
40
m/s
1
0.5
Trim ground speed
0.0
40
m/s
1
0.5
FailureDetector Max Pitch
Maximum pitch angle before FailureDetector triggers the attitude_failure flag Does not affect the behavior of the vehicle for now; only for logging
0
180
degrees
FailureDetector Max Roll
Maximum roll angle before FailureDetector triggers the attitude_failure flag Does not affect the behavior of the vehicle for now; only for logging
0
180
degrees
Distance to follow target from
The distance in meters to follow the target at
1.0
meters
Side to follow target from
The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)
0
3
n/a
Dynamic filtering algorithm responsiveness to target movement
lower numbers increase the responsiveness to changing long lat
but also ignore less noise
0.0
1.0
n/a
2
Minimum follow target altitude
The minimum height in meters relative to home for following a target
8.0
meters
Whether to scale throttle by battery power level
This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
Groundspeed speed trim
This allows to scale the turning radius depending on the speed.
0.0
norm
2
0.1
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
Speed proportional gain
This is the derivative gain for the speed closed loop controller
0.00
50.0
%m/s
3
0.005
Speed Integral gain
This is the integral gain for the speed closed loop controller
0.00
50.0
%m/s
3
0.005
Speed integral maximum value
This is the maxim value the integral can reach to prevent wind-up.
0.005
50.0
%m/s
3
0.005
Speed proportional gain
This is the proportional gain for the speed closed loop controller
0.005
50.0
%m/s
3
0.005
Speed to throttle scaler
This is a gain to map the speed control output to the throttle linearly.
0.005
50.0
%m/s
3
0.005
Control mode for speed
This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
0
1
open loop control
close the loop with gps speed
Wheel steering rate integrator gain
0.00
30
%/rad
3
0.005
Wheel steering rate feed forward
Direct feed forward from rate setpoint to control surface output
0.0
10.0
%/rad/s
2
0.05
Wheel steering rate integrator gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
0.00
0.5
%/rad
3
0.005
Wheel steering rate integrator limit
The portion of the integrator part in the control surface deflection is limited to this value
0.0
1.0
2
0.05
Wheel steering rate proportional gain
This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
0.005
1.0
%/rad/s
3
0.005
Attitude Wheel Time Constant
This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
0.4
1.0
s
2
0.05
Maximum wheel steering rate
This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
0.0
90.0
deg/s
1
0.5
L1 damping
Damping factor for L1 control.
0.6
0.9
2
0.05
L1 distance
This is the waypoint radius
0.0
100.0
m
1
0.1
L1 period
This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation.
0.0
50.0
m
1
0.5
Cruise throttle
This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode
0.0
1.0
norm
2
0.01
Idle throttle
This is the minimum throttle while on the ground, it should be 0 for a rover
0.0
0.4
norm
2
0.01
Throttle limit max
This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
0.0
1.0
norm
2
0.01
Throttle limit min
This is the minimum throttle % that can be used by the controller. Set to 0 for rover
0.0
1.0
norm
2
0.01
Serial Configuration for Main GPS
Configure on which serial port to run Main GPS.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Serial Configuration for Secondary GPS
Configure on which serial port to run Secondary GPS.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Dump GPS communication to a file
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
Disable
Enable
u-blox GPS dynamic platform model
u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
0
9
true
stationary
automotive
airborne with <1g acceleration
airborne with <2g acceleration
airborne with <4g acceleration
Heading/Yaw offset for dual antenna GPS
Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.
0
360
deg
0
true
Loiter time
The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.
0.0
3600.0
s
0
1
Fixed pitch angle
Pitch in degrees during the open loop loiter
-30.0
30.0
deg
1
0.5
Fixed bank angle
Roll in degrees during the loiter
0.0
30.0
deg
1
0.5
Thrust
Thrust value which is set during the open loop loiter
0.0
1.0
norm
2
0.05
Geofence violation action
Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.
0
4
None
Warning
Hold mode
Return mode
Terminate
Geofence altitude mode
Select which altitude reference should be used 0 = WGS84, 1 = AMSL
0
1
WGS84
AMSL
Geofence counter limit
Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
-1
10
1
Max horizontal distance in meters
Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
0
10000
m
1
Max vertical distance in meters
Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
0
10000
m
1
Geofence source
Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS
0
1
GPOS
GPS
Serial Configuration for Iridium (with MAVLink)
Configure on which serial port to run Iridium (with MAVLink).
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call
0
5000
s
Iridium SBD session timeout
0
300
s
Time [ms] the Iridium driver will wait for additional mavlink messages to combine them into one SBD message
Value 0 turns the functionality off
0
500
ms
Airspeed max
Maximum airspeed allowed in the landed state (m/s)
4
20
m/s
1
Fixedwing max horizontal velocity
Maximum horizontal velocity allowed in the landed state (m/s)
0.5
10
m/s
1
Fixedwing max climb rate
Maximum vertical velocity allowed in the landed state (m/s up and down)
0.1
20
m/s
1
Fixedwing max horizontal acceleration
Maximum horizontal (x,y body axes) acceleration allowed in the landed state (m/s^2)
2
15
m/s^2
1
Maximum altitude for multicopters
The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.
-1
10000
m
2
Multicopter specific force threshold
Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
0.1
10
m/s^2
2
Multicopter free-fall trigger time
Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
0.02
5
s
2
Low throttle detection threshold
Defines the commanded throttle value below which the land detector considers the vehicle to have "low thrust". This is one condition that is used to detect the ground contact state. The value is calculated as val = (MPC_THR_HOVER - MPC_THR_MIN) * LNDMC_LOW_T_THR + MPC_THR_MIN Increase this value if the system takes long time to detect landing.
0.1
0.9
norm
2
Multicopter max rotation
Maximum allowed angular velocity around each axis allowed in the landed state.
deg/s
1
Multicopter max horizontal velocity
Maximum horizontal velocity allowed in the landed state (m/s)
m/s
1
Multicopter max climb rate
Maximum vertical velocity allowed in the landed state (m/s up and down)
m/s
1
Total flight time in microseconds
Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
Total flight time in microseconds
Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
Acceleration uncertainty
Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
0.01
(m/s^2)^2
2
Landing target measurement uncertainty
Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.
tan(rad)^2
4
Landing target mode
Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
0
1
Moving
Stationary
Initial landing target position uncertainty
Initial variance of the relative landing target position in x and y direction
0.001
m^2
3
Scale factor for sensor measurements in sensor x axis
Landing target x measurements are scaled by this factor before being used
0.01
3
Scale factor for sensor measurements in sensor y axis
Landing target y measurements are scaled by this factor before being used
0.01
3
Initial landing target velocity uncertainty
Initial variance of the relative landing target velocity in x and y direction
0.001
(m/s)^2
3
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
2
m/s^2/sqrt(Hz)
4
Accelerometer z noise density
Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
0.00001
2
m/s^2/sqrt(Hz)
4
Barometric presssure altitude z standard deviation
0.01
100
m
2
Max EPH allowed for GPS initialization
1.0
5.0
m
3
Max EPV allowed for GPS initialization
1.0
5.0
m
3
Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable
0
1
Flow gyro high pass filter cut off frequency
0
2
Hz
3
Optical flow z offset from center
-1
1
m
3
Optical flow minimum quality threshold
0
255
0
Optical flow rotation (roll/pitch) noise gain
0.1
10.0
m/s / (rad)
3
Optical flow angular velocity noise gain
0.0
10.0
m/s / (rad/s)
3
Optical flow scale
0.1
10.0
m
3
Integer bitmask controlling data fusion
Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)
0
255
fuse GPS, requires GPS for alt. init
fuse optical flow
fuse vision position
fuse landing target
fuse land detector
pub agl as lpos down
flow gyro compensation
fuse baro
GPS delay compensaton
0
0.4
sec
2
GPS xy velocity standard deviation.
EPV used if greater than this value
0.01
2
m/s
3
GPS z velocity standard deviation
0.01
2
m/s
3
Minimum GPS xy standard deviation, uses reported EPH if greater
0.01
5
m
2
Minimum GPS z standard deviation, uses reported EPV if greater
0.01
200
m
2
Land detector xy velocity standard deviation
0.01
10.0
m/s
3
Land detector z standard deviation
0.001
10.0
m
3
Local origin latitude for nav w/o GPS
-90
90
deg
8
Lidar z offset from center of vehicle +down
-1
1
m
3
Lidar z standard deviation
0.01
1
m
3
Local origin longitude for nav w/o GPS
-180
180
deg
8
Minimum landing target standard covariance, uses reported covariance if greater
0.0
10
m^2
2
Accel bias propagation noise density
0
1
(m/s^2)/s/sqrt(Hz)
8
Position propagation noise density
Increase to trust measurements more. Decrease to trust model more.
0
1
m/s/sqrt(Hz)
8
Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
0
1
(m/s)/(sqrt(hz))
3
Velocity propagation noise density
Increase to trust measurements more. Decrease to trust model more.
0
1
(m/s)/s/sqrt(Hz)
8
Sonar z offset from center of vehicle +down
-1
1
m
3
Sonar z standard deviation
0.01
1
m
3
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
Vicon position standard deviation
0.0001
1
m
4
Vision delay compensaton
Set to zero to enable automatic compensation from measurement timestamps
0
0.1
sec
2
Vision xy standard deviation
0.01
1
m
3
Vision z standard deviation
0.01
100
m
3
Required velocity xy standard deviation to publish position
0.01
1.0
m/s
3
Cut frequency for state publication
5
1000
Hz
0
Required z standard deviation to publish altitude/ terrain
0.3
5.0
m
1
Serial Configuration for MAVLink (instance 0)
Configure on which serial port to run MAVLink.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Enable MAVLink Message forwarding for instance 0
If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
True
MAVLink Mode for instance 0
The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
True
Normal
Custom
Onboard
OSD
Magic
Config
Minimal
External Vision
Maximum MAVLink sending rate for instance 0
Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
0
B/s
True
Serial Configuration for MAVLink (instance 1)
Configure on which serial port to run MAVLink.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Enable MAVLink Message forwarding for instance 1
If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
True
MAVLink Mode for instance 1
The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
True
Normal
Custom
Onboard
OSD
Magic
Config
Minimal
External Vision
Maximum MAVLink sending rate for instance 1
Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
0
B/s
True
Serial Configuration for MAVLink (instance 2)
Configure on which serial port to run MAVLink.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Enable MAVLink Message forwarding for instance 2
If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
True
MAVLink Mode for instance 2
The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
True
Normal
Custom
Onboard
OSD
Magic
Config
Minimal
External Vision
Maximum MAVLink sending rate for instance 2
Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0, a value of <baudrate>/20 is used, which corresponds to half of the theoretical maximum bandwidth.
0
B/s
True
Broadcast heartbeats on local network
This allows a ground control station to automatically find the drone on the local network.
Never broadcast
Always broadcast
Only multicast
MAVLink component ID
1
250
true
Forward external setpoint messages
If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode
Parameter hash check
Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.
Hearbeat message forwarding
The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
Activate ODOMETRY loopback
If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry' serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.
MAVLink protocol version
Default to 1, switch to 2 if GCS sends version 2
Always use version 1
Always use version 2
MAVLink Radio ID
When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults.
-1
240
MAVLink system ID
1
250
true
MAVLink airframe type
1
27
Generic micro air vehicle
Fixed wing aircraft
Quadrotor
Coaxial helicopter
Normal helicopter with tail rotor
Ground installation
Operator control unit / ground control station
Airship, controlled
Free balloon, uncontrolled
Rocket
Ground rover
Surface vessel, boat, ship
Submarine
Hexarotor
Octorotor
Tricopter
Flapping wing
Kite
Onboard companion controller
Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
Tiltrotor VTOL
VTOL reserved 2
VTOL reserved 3
VTOL reserved 4
VTOL reserved 5
Onboard gimbal
Onboard ADSB peripheral
Use/Accept HIL GPS message even if not in HIL mode
If set to 1 incoming HIL GPS messages are parsed.
Test mode (Identify) of MKBLCTRL Driver
Low pass filter frequency for Accelerometer
MPU9X50_ACC_LPF_460HZ
MPU9X50_ACC_LPF_184HZ
MPU9X50_ACC_LPF_92HZ
MPU9X50_ACC_LPF_41HZ
MPU9X50_ACC_LPF_20HZ
MPU9X50_ACC_LPF_10HZ
MPU9X50_ACC_LPF_5HZ
MPU9X50_ACC_LPF_460HZ_NOLPF
Low pass filter frequency for Gyro
MPU9X50_GYRO_LPF_250HZ
MPU9X50_GYRO_LPF_184HZ
MPU9X50_GYRO_LPF_92HZ
MPU9X50_GYRO_LPF_41HZ
MPU9X50_GYRO_LPF_20HZ
MPU9X50_GYRO_LPF_10HZ
MPU9X50_GYRO_LPF_5HZ
MPU9X50_GYRO_LPF_3600HZ_NOLPF
Sample rate in Hz
MPU9x50_SAMPLE_RATE_100HZ
MPU9x50_SAMPLE_RATE_200HZ
MPU9x50_SAMPLE_RATE_500HZ
MPU9x50_SAMPLE_RATE_1000HZ
Set offboard loss failsafe mode
The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
Land mode
Hold mode
Return mode
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.
Position mode
Altitude mode
Manual
Return mode
Land mode
Hold mode
Flag to enable obstacle avoidance
Action after TAKEOFF has been accepted
The mode transition after TAKEOFF has completed successfully.
Hold
Mission (if valid)
Altitude setpoint mode
0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode
0
1
Zero Order Hold
First Order Hold
Maximal horizontal distance from home to first waypoint
Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position.
0
10000
m
1
100
Maximal horizontal distance between waypoint
Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.
0
10000
m
1
100
Minimum Loiter altitude
This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude
-1
80
m
1
0.5
Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.
0
1
Disable
Enable
Take-off altitude
This is the minimum altitude the system will take off to.
0
80
m
1
0.5
Take-off waypoint required
If set, the mission feasibility checker will check for a takeoff waypoint on the mission.
Max yaw error in degrees needed for waypoint heading acceptance
0
90
deg
1
1
Time in seconds we wait on reaching target heading at a waypoint if it is forced
If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.
-1
20
s
1
1
Yaw mode
Specifies the heading in Auto.
0
3
towards waypoint
towards home
away from home
along trajectory
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
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.
Disabled
Hold mode
Return mode
Land mode
Data Link Auto Recovery (CASA Outback Challenge rules)
Terminate
Lockdown
Force VTOL mode takeoff and land
FW Altitude Acceptance Radius before a landing
Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.
0.05
200.0
m
1
FW Altitude Acceptance Radius
Acceptance radius for fixedwing altitude.
0.05
200.0
m
1
0.5
Loiter radius (FW only)
Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).
25
1000
m
1
0.5
MC Altitude Acceptance Radius
Acceptance radius for multicopter altitude.
0.05
200.0
m
1
0.5
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.
Disabled
Hold mode
Return mode
Land mode
RC Auto Recovery (CASA Outback Challenge rules)
Terminate
Lockdown
RC Loss Loiter Time (CASA Outback Challenge rules)
The amount of time in seconds the system should loiter at current position before termination. Only applies if NAV_RCL_ACT is set to 2 (CASA Outback Challenge rules). Set to -1 to make the system skip loitering.
-1.0
s
1
0.1
Set traffic avoidance mode
Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders
Disabled
Warn only
Return mode
Land mode
Stabilize the mount (set to true for servo gimbal, false for passthrough).
Does not affect MAVLINK_ROI input
Auxiliary channel to control pitch (in AUX input or manual mode)
0
5
Disable
AUX1
AUX2
AUX3
AUX4
AUX5
AUX6
Auxiliary channel to control roll (in AUX input or manual mode)
0
5
Disable
AUX1
AUX2
AUX3
AUX4
AUX5
AUX6
Auxiliary channel to control yaw (in AUX input or manual mode)
0
5
Disable
AUX1
AUX2
AUX3
AUX4
AUX5
AUX6
Mavlink Component ID of the mount
If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID.
Mavlink System ID of the mount
If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID.
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.
-1
3
true
DISABLED
AUTO
RC
MAVLINK_ROI
MAVLINK_DO_MOUNT
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
AUX
MAVLINK
Mixer value for selecting a locking mode
if required for the gimbal (only in AUX output mode)
-1.0
1.0
3
Mixer value for selecting normal mode
if required by the gimbal (only in AUX output mode)
-1.0
1.0
3
Offset for pitch channel output in degrees
-360.0
360.0
1
Offset for roll channel output in degrees
-360.0
360.0
1
Offset for yaw channel output in degrees
-360.0
360.0
1
Range of pitch channel output in degrees (only in AUX output mode)
1.0
720.0
1
Range of roll channel output in degrees (only in AUX output mode)
1.0
720.0
1
Range of yaw channel output in degrees (only in AUX output mode)
1.0
720.0
1
Acro mode Expo factor for Roll and Pitch
Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
0
1
2
Acro mode Expo factor for Yaw
Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve
0
1
2
Max acro pitch rate
default: 2 turns per second
0.0
1800.0
deg/s
1
5
Max acro roll rate
default: 2 turns per second
0.0
1800.0
deg/s
1
5
Acro mode SuperExpo factor for Roll and Pitch
SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
0
0.95
2
Acro mode SuperExpo factor for Yaw
SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
0
0.95
2
Max acro yaw rate
default 1.5 turns per second
0.0
1800.0
deg/s
1
5
Multicopter air-mode
The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.
Disabled
Roll/Pitch
Roll/Pitch/Yaw
Battery power level scaler
This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
Cutoff frequency for the low pass filter on the D-term in the rate controller
The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.
0
1000
Hz
0
10
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
Pitch rate feedforward
Improves tracking performance.
0.0
4
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
Max pitch rate
Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
0.0
1800.0
deg/s
1
5
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
Pitch P gain
Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
0.0
12
1/s
2
0.1
Pitch rate integrator limit
Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
0.0
2
0.01
Threshold for Rattitude mode
Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints
0.0
1.0
2
0.01
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
Roll rate feedforward
Improves tracking performance.
0.0
4
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
Max roll rate
Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.
0.0
1800.0
deg/s
1
5
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
Roll P gain
Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
0.0
12
1/s
2
0.1
Roll rate integrator limit
Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
0.0
2
0.01
TPA D Breakpoint
Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain
0.0
1.0
2
0.1
TPA I Breakpoint
Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain
0.0
1.0
2
0.1
TPA P Breakpoint
Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain
0.0
1.0
2
0.1
TPA Rate D
Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
0.0
1.0
2
0.05
TPA Rate I
Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch I gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
0.0
1.0
2
0.05
TPA Rate P
Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch P gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
0.0
1.0
2
0.05
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
2
0.01
Yaw rate feedforward
Improves tracking performance.
0.0
4
0.01
Yaw rate I gain
Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
0.0
2
0.01
Max yaw rate
0.0
1800.0
deg/s
1
5
Yaw rate P gain
Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
0.0
0.6
2
0.01
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
Yaw rate integrator limit
Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
0.0
2
0.01
Max yaw rate in auto mode
Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.
0.0
360.0
deg/s
1
5
Maximum vertical acceleration in velocity controlled modes down
2.0
15.0
m/s/s
2
1
Acceleration for auto and for manual
2.0
15.0
m/s/s
2
1
Horizontal acceleration in manual modes when te estimator speed limit is removed.
If full stick is being applied and the estimator stops demanding a speed limit,
which it had been before (e.g if GPS is gained while flying on optical flow/vision only),
the vehicle will accelerate at this rate until the normal position control speed is achieved
0.2
2.0
m/s/s
1
0.1
Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
2.0
15.0
m/s/s
2
1
Maximum vertical acceleration in velocity controlled modes upward
2.0
15.0
m/s/s
2
1
Altitude control mode
Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
0
2
Altitude following
Terrain following
Terrain hold
Auto sub-mode
Default line tracking
Jerk-limited trajectory
Minimum distance the vehicle should keep to all obstacles
Only used in Position mode. Collision avoidace is disabled by setting this parameter to a negative value
-1
15
meters
Cruise speed when angle prev-current/current-next setpoint
is 90 degrees. It should be lower than MPC_XY_CRUISE
Applies only in AUTO modes (includes also RTL / hold / etc.)
1.0
20.0
m/s
2
1
Slow horizontal manual deceleration for manual mode
0.5
10.0
m/s/s
2
1
Deadzone of sticks where position hold is enabled
0.0
1.0
2
Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
0.0
3.0
m/s
2
Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
0.0
3.0
m/s
2
Maximum jerk limit
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.
0.5
500.0
m/s/s/s
2
1
Velocity-based jerk limit
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 a smoothing mode.
0
30.0
m/s/s/s
2
1
Altitude for 1. step of slow landing (descend)
Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2"
0
122
m
1
Altitude for 2. step of slow landing (landing)
Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"
0
122
m
1
Landing descend rate
0.6
m/s
1
Minimum manual thrust
Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.
0.0
1.0
norm
2
0.01
Maximal tilt angle in manual or altitude mode
0.0
90.0
deg
1
Max manual yaw rate
0.0
400
deg/s
1
Manual-Position control sub-mode
The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).
Default position control
Smooth position control
Sport position control
Smooth position control (Velocity)
Enforced delay between arming and takeoff
For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.
0
10
s
Thrust curve in Manual Mode
This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: in case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
Rescale to hover thrust
No Rescale
Hover thrust
Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.
0.1
0.8
norm
2
0.01
Maximum thrust in auto thrust control
Limit max allowed thrust
0.0
1.0
norm
2
0.01
Minimum thrust in auto thrust control
It's recommended to set it > 0 to avoid free fall with zero thrust.
0.05
1.0
norm
2
0.01
Maximum tilt angle in air
Limits maximum tilt in AUTO and POSCTRL modes during flight.
20.0
180.0
deg
1
Maximum tilt during landing
Limits maximum tilt angle on landing.
10.0
90.0
deg
1
Position control smooth takeoff ramp time constant
Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp
0
1
Takeoff climb rate
1
5
m/s
2
Low pass filter cut freq. for numerical velocity derivative
0.0
10
Hz
2
Maximum horizontal velocity setpoint for manual controlled mode
If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
the setpoint will be capped to MPC_XY_VEL_MAX
3.0
20.0
m/s
2
1
Maximum horizontal velocity in mission
Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).
3.0
20.0
m/s
2
1
Manual position control stick exponential curve sensitivity
The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
0
1
2
Proportional gain for horizontal position error
0.0
2.0
2
Proportional gain for horizontal trajectory position error
0.1
5.0
1
Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again
0.005
0.1
3
Integral gain for horizontal velocity error
Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
0.0
3.0
3
Maximum horizontal velocity
Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.
0.0
20.0
m/s
2
1
Proportional gain for horizontal velocity error
0.06
0.15
2
Manual control stick yaw rotation exponential curve
The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
0
1
2
Manual control stick vertical exponential curve
The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
0
1
2
Proportional gain for vertical position error
0.0
1.5
2
Proportional gain for vertical trajectory position error
0.1
5.0
1
Differential gain for vertical velocity error
0.0
0.1
3
Integral gain for vertical velocity error
Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
0.01
0.1
3
Maximum vertical descent velocity
Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
0.5
4.0
m/s
Maximum vertical ascent velocity
Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
0.5
8.0
m/s
1
Proportional gain for vertical velocity error
0.1
0.4
2
Enable weathervane
Minimum roll angle setpoint for weathervane controller to demand a yaw-rate
0
5
deg
Maximum yawrate the weathervane controller is allowed to demand
0
120
deg/s
Enable/Disable the ATXXX OSD Chip
Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.
true
Disabled
NTSC
PAL
Motor Ordering
Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. ONLY supported for fmu output (Pixracer or Omnibus F4). When changing this, make sure to test the motor response without props first.
0
1
PX4
Betaflight / Cleanflight
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)
Set the disarmed PWM for the auxiliary 1 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 2 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 3 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 4 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 5 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 6 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 7 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the auxiliary 8 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for auxiliary outputs
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
Set the failsafe PWM for the auxiliary 1 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 2 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 3 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 4 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 5 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 6 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 7 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the auxiliary 8 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the maximum PWM for the auxiliary outputs
Set to 2000 for industry default or 2100 to increase servo travel.
1600
2200
us
true
Set the max PWM value for the auxiliary 1 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 2 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 3 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 4 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 5 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 6 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 7 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the max PWM value for the auxiliary 8 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
-1
2200
us
true
Set the minimum PWM for the auxiliary outputs
Set to 1000 for industry default or 900 to increase servo travel.
800
1400
us
true
Set the min PWM value for the auxiliary 1 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 2 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 3 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 4 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 5 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 6 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 7 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the min PWM value for the auxiliary 8 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
-1
2200
us
true
Set the PWM output frequency for the auxiliary outputs
Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
-1
2000
Hz
true
Invert direction of auxiliary output channel 1
Enable to invert the channel.
Invert direction of auxiliary output channel 2
Enable to invert the channel.
Invert direction of auxiliary output channel 3
Enable to invert the channel.
Invert direction of auxiliary output channel 4
Enable to invert the channel.
Invert direction of auxiliary output channel 5
Enable to invert the channel.
Invert direction of auxiliary output channel 6
Enable to invert the channel.
Invert direction of auxiliary output channel 7
Enable to invert the channel.
Invert direction of auxiliary output channel 8
Enable to invert the channel.
Trim value for auxiliary output channel 1
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 2
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 3
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 4
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 5
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 6
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 7
Set to normalized offset
-0.2
0.2
2
Trim value for auxiliary output channel 8
Set to normalized offset
-0.2
0.2
2
Set the disarmed PWM for the main outputs
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
Set the disarmed PWM for the main 1 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 2 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 3 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 4 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 5 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 6 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 7 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the disarmed PWM for the main 8 output
This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used
-1
2200
us
true
Set the failsafe PWM for the main 1 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 2 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 3 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 4 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 5 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 6 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 7 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the failsafe PWM for the main 8 output
This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
-1
2200
us
true
Set the max PWM value for the main 1 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 2 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 3 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 4 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 5 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 6 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 7 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the max PWM value for the main 8 output
This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used
-1
2200
us
true
Set the min PWM value for the main 1 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 2 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 3 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 4 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 5 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 6 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 7 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Set the min PWM value for the main 8 output
This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used
-1
2200
us
true
Invert direction of main output channel 1
Enable to invert the channel.
Invert direction of main output channel 2
Enable to invert the channel.
Invert direction of main output channel 3
Enable to invert the channel.
Invert direction of main output channel 4
Enable to invert the channel.
Invert direction of main output channel 5
Enable to invert the channel.
Invert direction of main output channel 6
Enable to invert the channel.
Invert direction of main output channel 7
Enable to invert the channel.
Invert direction of main output channel 8
Enable to invert the channel.
Trim value for main output channel 1
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 2
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 3
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 4
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 5
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 6
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 7
Set to normalized offset
-0.2
0.2
2
Trim value for main output channel 8
Set to normalized offset
-0.2
0.2
2
Set the maximum PWM for the main outputs
Set to 2000 for industry default or 2100 to increase servo travel.
1600
2200
us
true
Set the minimum PWM for the main outputs
Set to 1000 for industry default or 900 to increase servo travel.
800
1400
us
true
Set the PWM output frequency for the main outputs
Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
-1
2000
Hz
true
S.BUS out
Set to 1 to enable S.BUS version 1 output instead of RSSI.
Thrust to PWM model parameter
Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
0.0
1.0
Ground drag property
This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.
0.001
0.1
Payload drag coefficient of the dropped object
The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient
0.08
1.5
Payload mass
A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg
0.001
5.0
kg
Payload front surface area
A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2
0.001
0.5
m^2
Drop precision
If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy.
1.0
80.0
m
Plane turn radius
The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop.
30.0
500.0
m
Disable vision input
Set to the appropriate key (328754) to disable vision input.
0
328754
true
GPS delay
GPS delay compensation
0.0
1.0
s
Mo-cap
Set to 0 if using fake GPS
Mo-cap enabled
Mo-cap disabled
Flow module offset (center of rotation) in X direction
Yaw X flow compensation
-1.0
1.0
m
Flow module offset (center of rotation) in Y direction
Yaw Y flow compensation
-1.0
1.0
m
Optical flow scale factor
Factor to scale optical flow
0.0
10.0
Minimal acceptable optical flow quality
0 - lowest quality, 1 - best quality.
0.0
1.0
Land detector altitude dispersion threshold
Dispersion threshold for triggering land detector.
0.0
10.0
m
Land detector time
Vehicle assumed landed if no altitude changes happened during this time on low throttle.
0.0
10.0
s
Land detector throttle threshold
Value should be lower than minimal hovering thrust. Half of it is good choice.
0.0
1.0
Sonar maximal error for new surface
If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
0.0
1.0
m
LIDAR for altitude estimation
LIDAR calibration offset
LIDAR calibration offset. Value will be added to the measured distance
-20
20
m
Accelerometer bias estimation weight
Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
0.0
0.1
XY axis weight factor for GPS when optical flow available
When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
0.0
1.0
Weight for mocap system
Weight (cutoff frequency) for mocap position measurements.
0.0
10.0
XY axis weight for optical flow
Weight (cutoff frequency) for optical flow (velocity) measurements.
0.0
10.0
XY axis weight for GPS position
Weight (cutoff frequency) for GPS position measurements.
0.0
10.0
XY axis weight for GPS velocity
Weight (cutoff frequency) for GPS velocity measurements.
0.0
10.0
XY axis weight for resetting velocity
When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
0.0
10.0
XY axis weight for vision position
Weight (cutoff frequency) for vision position measurements.
0.0
10.0
XY axis weight for vision velocity
Weight (cutoff frequency) for vision velocity measurements.
0.0
10.0
Z axis weight for barometer
Weight (cutoff frequency) for barometer altitude measurements.
0.0
10.0
Z axis weight for GPS
Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
0.0
10.0
Z velocity weight for GPS
Weight (cutoff frequency) for GPS altitude velocity measurements.
0.0
10.0
Z axis weight for lidar
Weight (cutoff frequency) for lidar measurements.
0.0
10.0
Z axis weight for vision
Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
0.0
10.0
Landing Target Timeout
Time after which the landing target is considered lost without any new measurements.
0.0
50
s
1
0.5
Final approach altitude
Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
0.0
10
m
2
0.1
Horizontal acceptance radius
Start descending if closer above landing target than this.
0.0
10
m
2
0.1
Maximum number of search attempts
Maximum number of times to seach for the landing target if it is lost during the precision landing.
0
100
Search altitude
Altitude above home to which to climb when searching for the landing target.
0.0
100
m
1
0.1
Search timeout
Time allowed to search for the landing target before falling back to normal landing.
0.0
100
s
1
0.1
RC receiver type
Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2,
Serial Configuration for FastRTPS
Configure on which serial port to run FastRTPS.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Serial Configuration for MAVLink + FastRTPS
Configure on which serial port to run MAVLink + FastRTPS.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
RC channel 10 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 10 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 10 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 10 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 10 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 11 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 11 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 11 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 11 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 11 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 12 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 12 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 12 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 12 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 12 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 13 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 13 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 13 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 13 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 13 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 14 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 14 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 14 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 14 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 14 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 15 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 15 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 15 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 15 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 15 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 16 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 16 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 16 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 16 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 16 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 17 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 17 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 17 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 17 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 17 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 18 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 18 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 18 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 18 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 18 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 1 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
us
RC channel 1 maximum
Maximum value for RC channel 1
1500.0
2200.0
us
RC channel 1 minimum
Minimum value for RC channel 1
800.0
1500.0
us
RC channel 1 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 1 trim
Mid point value (same as min for throttle)
800.0
2200.0
us
RC channel 2 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
us
RC channel 2 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 2 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 2 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 2 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 3 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
us
RC channel 3 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 3 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 3 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 3 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 4 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
us
RC channel 4 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 4 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 4 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 4 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 5 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 5 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 5 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 5 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 5 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 6 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 6 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 6 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 6 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 6 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 7 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 7 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 7 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 7 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 7 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 8 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 8 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 8 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 8 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 8 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel 9 dead zone
The +- range of this value around the trim value will be considered as zero.
0.0
100.0
RC channel 9 maximum
Maximum value for this channel.
1500.0
2200.0
us
RC channel 9 minimum
Minimum value for this channel.
800.0
1500.0
us
RC channel 9 reverse
Set to -1 to reverse channel.
-1.0
1.0
Reverse
Normal
RC channel 9 trim
Mid point value (has to be set to the same as min for throttle channel).
800.0
2200.0
us
RC channel count
This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.
0
18
Failsafe channel PWM threshold
Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation.
0
2200
us
Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle
Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. Set to 0 to disable the filter.
0
Hz
Sample rate of the remote control values for the low pass filter on roll, pitch, yaw and throttle
Has an influence on the cutoff frequency precision.
1.0
Hz
AUX1 Passthrough RC channel
Default function: Camera pitch
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
AUX2 Passthrough RC channel
Default function: Camera roll
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
AUX3 Passthrough RC channel
Default function: Camera azimuth / yaw
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
AUX4 Passthrough RC channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
AUX5 Passthrough RC channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
AUX6 Passthrough RC channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
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
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
PARAM1 tuning channel
Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
PARAM2 tuning channel
Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
PARAM3 tuning channel
Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Pitch control channel mapping
The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Roll control channel mapping
The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Throttle control channel mapping
The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Yaw control channel mapping
The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
PWM input channel that provides RSSI
0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Max input value for RSSI reading
Only used if RC_RSSI_PWM_CHAN > 0
0
2000
Min input value for RSSI reading
Only used if RC_RSSI_PWM_CHAN > 0
0
2000
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
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
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
Threshold for selecting acro 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
-1
1
Threshold for the arm switch
0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
-1
1
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
-1
1
Threshold for selecting auto 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
-1
1
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
Threshold for the kill 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
Threshold for selecting loiter 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
-1
1
Threshold for the manual switch
0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
-1
1
Acro switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Arm switch channel
Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Flaps channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Single channel flight mode selection
If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Landing gear switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Emergency Kill switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Loiter switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Manual switch channel mapping
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Mode switch channel mapping
This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Offboard switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Position Control switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Rattitude switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Return switch channel
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Stabilize switch channel mapping
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
VTOL transition switch channel mapping
0
18
Unassigned
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
Channel 9
Channel 10
Channel 11
Channel 12
Channel 13
Channel 14
Channel 15
Channel 16
Channel 17
Channel 18
Threshold for selecting offboard 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
-1
1
Threshold for selecting posctl 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
-1
1
Threshold for selecting rattitude 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
-1
1
Threshold for selecting return to launch 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
-1
1
Threshold for the stabilize switch
0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
-1
1
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
Return mode loiter altitude
Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
2
100
m
1
0.5
Return mode delay
Delay after descend before landing in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
-1
300
s
1
0.5
Minimum distance to trigger rising to a safe altitude
If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first.
0.5
20
m
1
0.5
RTL altitude
Altitude to fly back in RTL in meters
0
150
m
1
0.5
Return type
Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.
Return home via direct path
Return to a planned mission landing, if available, via direct path, else return to home via direct path
Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path
Min. airspeed scaling factor for takeoff.
Pitch up will be commanded when the following airspeed is reached:
FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
0.0
2.0
norm
2
0.01
Specifies which heading should be held during runnway takeoff
0: airframe heading, 1: heading towards takeoff waypoint
0
1
Airframe
Waypoint
Max pitch during takeoff.
Fixed-wing settings are used if set to 0. Note that there is also a minimum
pitch of 10 degrees during takeoff, so this must be larger if set
0.0
60.0
deg
1
0.5
Max roll during climbout.
Roll is limited during climbout to ensure enough lift and prevents aggressive
navigation before we're on a safe height
0.0
60.0
deg
1
0.5
Max throttle during runway takeoff.
(Can be used to test taxi on runway)
0.0
1.0
norm
2
0.01
Altitude AGL at which we have enough ground clearance to allow some roll.
Until RWTO_NAV_ALT is reached the plane is held level and only
rudder is used to keep the heading (see RWTO_HDG). This should be below
FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0
0.0
100.0
m
1
1
Pitch setpoint during taxi / before takeoff airspeed is reached.
A taildragger with stearable wheel might need to pitch up
a little to keep it's wheel on the ground before airspeed
to takeoff is reached
0.0
20.0
deg
1
0.5
Runway takeoff with landing gear
Maximum number of log directories to keep
If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.
0
1000
true
Mission Log
If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).
true
Disabled
All mission messages
Geotagging messages
Logging Mode
Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.
true
disabled
when armed until disarm (default)
from boot until disarm
from boot until shutdown
Logging topic profile (integer bitmask)
This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis and estimator replay, while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data) 7 : Topics for computer vision and collision avoidance
0
255
true
Default set (general log analysis)
Estimator replay (EKF2)
Thermal calibration
System identification
High rate
Debug
Sensor comparison
Computer Vision and Avoidance
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
Log UUID
If set to 1, add an ID to the log, which uniquely identifies the vehicle
Simulator Battery drain interval
1
86400
s
1
Accelerometer 0 enabled
ID of the Accelerometer that the calibration is for
Accelerometer X-axis offset
Accelerometer X-axis scaling factor
Accelerometer Y-axis offset
Accelerometer Y-axis scaling factor
Accelerometer Z-axis offset
Accelerometer Z-axis scaling factor
Accelerometer 1 enabled
ID of the Accelerometer that the calibration is for
Accelerometer X-axis offset
Accelerometer X-axis scaling factor
Accelerometer Y-axis offset
Accelerometer Y-axis scaling factor
Accelerometer Z-axis offset
Accelerometer Z-axis scaling factor
Accelerometer 2 enabled
ID of the Accelerometer that the calibration is for
Accelerometer X-axis offset
Accelerometer X-axis scaling factor
Accelerometer Y-axis offset
Accelerometer Y-axis scaling factor
Accelerometer Z-axis offset
Accelerometer Z-axis scaling factor
Primary accel ID
Primary baro ID
Gyro 0 enabled
ID of the Gyro that the calibration is for
Gyro X-axis offset
Gyro X-axis scaling factor
Gyro Y-axis offset
Gyro Y-axis scaling factor
Gyro Z-axis offset
Gyro Z-axis scaling factor
Gyro 1 enabled
ID of the Gyro that the calibration is for
Gyro X-axis offset
Gyro X-axis scaling factor
Gyro Y-axis offset
Gyro Y-axis scaling factor
Gyro Z-axis offset
Gyro Z-axis scaling factor
Gyro 2 enabled
ID of the Gyro that the calibration is for
Gyro X-axis offset
Gyro X-axis scaling factor
Gyro Y-axis offset
Gyro Y-axis scaling factor
Gyro Z-axis offset
Gyro Z-axis scaling factor
Primary gyro ID
Mag 0 enabled
ID of Magnetometer the calibration is for
Rotation of magnetometer 0 relative to airframe
An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
30
true
Internal mag
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Roll 180°
Roll 180°, Yaw 45°
Roll 180°, Yaw 90°
Roll 180°, Yaw 135°
Pitch 180°
Roll 180°, Yaw 225°
Roll 180°, Yaw 270°
Roll 180°, Yaw 315°
Roll 90°
Roll 90°, Yaw 45°
Roll 90°, Yaw 90°
Roll 90°, Yaw 135°
Roll 270°
Roll 270°, Yaw 45°
Roll 270°, Yaw 90°
Roll 270°, Yaw 135°
Pitch 90°
Pitch 270°
Magnetometer X-axis offset
Magnetometer X-axis scaling factor
Magnetometer Y-axis offset
Magnetometer Y-axis scaling factor
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
Mag 1 enabled
ID of Magnetometer the calibration is for
Rotation of magnetometer 1 relative to airframe
An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
30
true
Internal mag
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Roll 180°
Roll 180°, Yaw 45°
Roll 180°, Yaw 90°
Roll 180°, Yaw 135°
Pitch 180°
Roll 180°, Yaw 225°
Roll 180°, Yaw 270°
Roll 180°, Yaw 315°
Roll 90°
Roll 90°, Yaw 45°
Roll 90°, Yaw 90°
Roll 90°, Yaw 135°
Roll 270°
Roll 270°, Yaw 45°
Roll 270°, Yaw 90°
Roll 270°, Yaw 135°
Pitch 90°
Pitch 270°
Magnetometer X-axis offset
Magnetometer X-axis scaling factor
Magnetometer Y-axis offset
Magnetometer Y-axis scaling factor
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
Mag 2 enabled
ID of Magnetometer the calibration is for
Rotation of magnetometer 2 relative to airframe
An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
30
true
Internal mag
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Roll 180°
Roll 180°, Yaw 45°
Roll 180°, Yaw 90°
Roll 180°, Yaw 135°
Pitch 180°
Roll 180°, Yaw 225°
Roll 180°, Yaw 270°
Roll 180°, Yaw 315°
Roll 90°
Roll 90°, Yaw 45°
Roll 90°, Yaw 90°
Roll 90°, Yaw 135°
Roll 270°
Roll 270°, Yaw 45°
Roll 270°, Yaw 90°
Roll 270°, Yaw 135°
Pitch 90°
Pitch 270°
Magnetometer X-axis offset
Magnetometer X-axis scaling factor
Magnetometer Y-axis offset
Magnetometer Y-axis scaling factor
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
Mag 3 enabled
ID of Magnetometer the calibration is for
Rotation of magnetometer 2 relative to airframe
An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
30
true
Internal mag
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Roll 180°
Roll 180°, Yaw 45°
Roll 180°, Yaw 90°
Roll 180°, Yaw 135°
Pitch 180°
Roll 180°, Yaw 225°
Roll 180°, Yaw 270°
Roll 180°, Yaw 315°
Roll 90°
Roll 90°, Yaw 45°
Roll 90°, Yaw 90°
Roll 90°, Yaw 135°
Roll 270°
Roll 270°, Yaw 45°
Roll 270°, Yaw 90°
Roll 270°, Yaw 135°
Pitch 90°
Pitch 270°
Magnetometer X-axis offset
Magnetometer X-axis scaling factor
Magnetometer Y-axis offset
Magnetometer Y-axis scaling factor
Magnetometer Z-axis offset
Magnetometer Z-axis scaling factor
Primary mag ID
Differential pressure sensor analog scaling
Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.
Differential pressure sensor offset
The offset (zero-reading) in Pascal
Maximum height above ground when reliant on optical flow
This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.
1.0
25.0
m
1
0.1
Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor.
Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and
control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground
is less than 50% of this value
1.0
rad/s
2
Minimum height above ground when reliant on optical flow
This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
0.0
1.0
m
1
0.1
Airspeed sensor compensation model for the SDP3x
Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
Model with Pitot
Model without Pitot (1.5 mm tubes)
Tube Pressure Drop
Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation
0.1
100
millimeter
Airspeed sensor tube length
See the CAL_AIR_CMODEL explanation on how this parameter should be set.
0.01
2.00
meter
Bitfield selecting mag sides for calibration
DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32
34
63
Two side calibration
Three side calibration
Six side calibration
Driver level cutoff frequency for accel
The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
0
1000
Hz
true
Driver level cutoff frequency for gyro
The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
0
1000
Hz
true
QNH for barometer
500
1500
hPa
Board rotation
This parameter defines the rotation of the FMU board relative to the platform.
true
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Roll 180°
Roll 180°, Yaw 45°
Roll 180°, Yaw 90°
Roll 180°, Yaw 135°
Pitch 180°
Roll 180°, Yaw 225°
Roll 180°, Yaw 270°
Roll 180°, Yaw 315°
Roll 90°
Roll 90°, Yaw 45°
Roll 90°, Yaw 90°
Roll 90°, Yaw 135°
Roll 270°
Roll 270°, Yaw 45°
Roll 270°, Yaw 90°
Roll 270°, Yaw 135°
Pitch 90°
Pitch 270°
Roll 270°, Yaw 270°
Roll 180°, Pitch 270°
Pitch 90°, Yaw 180
Pitch 90°, Roll 90°
Yaw 293°, Pitch 68°, Roll 90° (Solo)
Pitch 90°, Roll 270°
Pitch 9°, Yaw 180°
Pitch 45°
Pitch 315°
Board rotation X (Roll) offset
This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.
deg
Board rotation Y (Pitch) offset
This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.
deg
Board rotation Z (YAW) offset
This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.
deg
Serial Configuration for Lanbao PSK-CM8JL65-CC5
Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
SMBUS Smart battery driver (BQ40Z50)
true
Lidar-Lite (LL40LS)
0
2
true
Disabled
PWM
I2C
Maxbotix Sonar (mb12xx)
true
PGA460 Ultrasonic driver (PGA460)
true
Lightware Laser Rangefinder hardware model
true
SF02
SF10/a
SF10/b
SF10/c
SF11/c
Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)
0
5
true
Disabled
SF10/a
SF10/b
SF10/c
SF11/c
SF/LW20
Thermal control of sensor temperature
Thermal control unavailable
Thermal control off
TeraRanger Rangefinder (i2c)
0
3
true
Disabled
Autodetect
TROne
TREvo60m
TREvo600Hz
PX4Flow board rotation
This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
true
No rotation
Yaw 45°
Yaw 90°
Yaw 135°
Yaw 180°
Yaw 225°
Yaw 270°
Yaw 315°
Target IMU temperature
0
85.0
C
3
IMU heater controller integrator gain value
0
1.0
microseconds/C
3
IMU heater controller proportional gain value
0
2.0
microseconds/C
3
Serial Configuration for LeddarOne Rangefinder
Configure on which serial port to run LeddarOne Rangefinder.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Serial Configuration for Lightware Laser Rangefinder
Configure on which serial port to run Lightware Laser Rangefinder.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Target IMU device ID to regulate temperature
Serial Configuration for Benewake TFmini Rangefinder
Configure on which serial port to run Benewake TFmini Rangefinder.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Serial Configuration for uLanding Radar
Configure on which serial port to run uLanding Radar.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Baudrate for the GPS 1 Serial Port
Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the GPS 2 Serial Port
Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the TELEM 1 Serial Port
Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the TELEM 2 Serial Port
Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the TELEM 3 Serial Port
Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the TELEM/SERIAL 4 Serial Port
Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Baudrate for the UART 6 Serial Port
Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
true
Auto
50 8N1
75 8N1
110 8N1
134 8N1
150 8N1
200 8N1
300 8N1
600 8N1
1200 8N1
1800 8N1
2400 8N1
4800 8N1
9600 8N1
19200 8N1
38400 8N1
57600 8N1
115200 8N1
230400 8N1
460800 8N1
500000 8N1
921600 8N1
1000000 8N1
1500000 8N1
2000000 8N1
3000000 8N1
Vehicle inertia about X axis
The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg*m*m
3
0.005
Vehicle cross term inertia xy
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.
kg*m*m
3
0.005
Vehicle cross term inertia xz
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.
kg*m*m
3
0.005
Vehicle inertia about Y axis
The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg*m*m
3
0.005
Vehicle cross term inertia yz
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.
kg*m*m
3
0.005
Vehicle inertia about Z axis
The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg*m*m
3
0.005
First order drag coefficient
Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]
0.0
N/(m/s)
2
0.05
First order angular damper coefficient
Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.
0.0
Nm/(rad/s)
3
0.005
Initial AMSL ground altitude
This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. 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.
-420.0
8848.0
m
2
0.01
Initial geodetic latitude
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.
-850000000
850000000
1e-7 deg
Initial geodetic longitude
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.
-1800000000
1800000000
1e-7 deg
North magnetic field at the initial location
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.
-1.0
1.0
Gauss
2
0.001
East magnetic field at the initial location
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.
-1.0
1.0
Gauss
2
0.001
Down magnetic field at the initial location
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.
-1.0
1.0
Gauss
2
0.001
Pitch arm length
This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.
0.0
m
2
0.05
Roll arm length
This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.
0.0
m
2
0.05
Vehicle mass
This value can be measured by weighting the quad on a scale.
0.0
kg
2
0.1
Max propeller torque
This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.
0.0
Nm
3
0.05
Max propeller thrust force
This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.
0.0
N
2
0.5
ESC UART baud rate
Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products.
ESC model
See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values.
ESC_200QX
ESC_350QX
ESC_210QC
Motor 1 Mapping
Motor 2 Mapping
Motor 3 Mapping
Motor 4 Mapping
RGB Led brightness limit
Set to 0 to disable, 1 for minimum brightness up to 31 (max)
0
31
RGB Led brightness limit
Set to 0 to disable, 1 for minimum brightness up to 15 (max)
0
15
Automatically configure default values
Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.
Keep parameters
Reset parameters
Reload airframe parameters
Auto-start script index
CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.
0
99999
true
Bootloader update
If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card
true
Enable auto start of accelerometer thermal calibration at the next power up
0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration)
0
1
Enable auto start of barometer thermal calibration at the next power up
0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration)
0
1
Enable auto start of rate gyro thermal calibration at the next power up
0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration)
0
1
Required temperature rise during thermal calibration
A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
10
deg C
Maximum starting temperature for thermal calibration
Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
deg C
Minimum starting temperature for thermal calibration
Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
deg C
TELEM2 as companion computer link (deprecated)
This parameter is deprecated and will be removed after 1.9.0. Use the generic serial configuration parameters instead (e.g. MAV_0_CONFIG, MAV_0_MODE, etc.).
0
6460800
true
Disabled
FrSky Telemetry
Crazyflie (Syslink)
Companion Link (57600 baud, 8N1)
OSD (57600 baud, 8N1)
Command Receiver (57600 baud, 8N1)
Normal Telemetry (19200 baud, 8N1)
Normal Telemetry (38400 baud, 8N1)
Normal Telemetry (57600 baud, 8N1)
Minimal Telemetry (19200 baud, 8N1)
Minimal Telemetry (38400 baud, 8N1)
Minimal Telemetry (57600 baud, 8N1)
Companion Link (921600 baud, 8N1)
Companion Link (1500000 baud, 8N1)
ESP8266 (921600 baud, 8N1)
Normal Telemetry (115200 baud, 8N1)
Iridium Telemetry (115200 baud, 8N1)
Minimal Telemetry (115200 baud, 8N1)
RTPS Client (460800 baud)
Run the FMU as a task to reduce latency
If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate.
true
Control if the vehicle has a barometer
Disable this if the board has no barometer, such as some of the the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.
true
Control if the vehicle has a magnetometer
Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.
true
Enable HITL/SIH mode on next boot
While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally.
true
HITL and SIH disabled
HITL enabled
SIH enabled
Set multicopter estimator group
Set the group of estimators used for multicopters and VTOLs
1
2
true
local_position_estimator, attitude_estimator_q (unsupported)
ekf2 (recommended)
Parameter version
This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters from the airframe configuration are reloaded.
0
Set restart type
Set by px4io to indicate type of restart
0
2
Data survives resets
Data survives in-flight resets only
Data does not survive reset
Enable stack checking
Set usage of IO board
Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
0
1
true
Serial Configuration for FrSky Telemetry
Configure on which serial port to run FrSky Telemetry.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
Serial Configuration for HoTT Telemetry
Configure on which serial port to run HoTT Telemetry.
true
Disabled
UART 6
TELEM 1
TELEM 2
TELEM 3
TELEM/SERIAL 4
GPS 1
GPS 2
TEST_1
TEST_2
TEST_3
TEST_D
TEST_DEV
TEST_D_LP
TEST_HP
TEST_I
TEST_I_MAX
TEST_LP
TEST_MAX
TEST_MEAN
TEST_MIN
TEST_P
TEST_PARAMS
TEST_RC2_X
TEST_RC_X
TEST_TRIM
ID of Accelerometer that the calibration is for
Accelerometer scale factor - X axis
Accelerometer scale factor - Y axis
Accelerometer scale factor - Z axis
Accelerometer calibration maximum temperature
Accelerometer calibration minimum temperature
Accelerometer calibration reference temperature
Accelerometer offset temperature ^0 polynomial coefficient - X axis
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
Accelerometer offset temperature ^1 polynomial coefficient - X axis
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
Accelerometer offset temperature ^2 polynomial coefficient - X axis
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
Accelerometer offset temperature ^3 polynomial coefficient - X axis
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
ID of Accelerometer that the calibration is for
Accelerometer scale factor - X axis
Accelerometer scale factor - Y axis
Accelerometer scale factor - Z axis
Accelerometer calibration maximum temperature
Accelerometer calibration minimum temperature
Accelerometer calibration reference temperature
Accelerometer offset temperature ^0 polynomial coefficient - X axis
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
Accelerometer offset temperature ^1 polynomial coefficient - X axis
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
Accelerometer offset temperature ^2 polynomial coefficient - X axis
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
Accelerometer offset temperature ^3 polynomial coefficient - X axis
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
ID of Accelerometer that the calibration is for
Accelerometer scale factor - X axis
Accelerometer scale factor - Y axis
Accelerometer scale factor - Z axis
Accelerometer calibration maximum temperature
Accelerometer calibration minimum temperature
Accelerometer calibration reference temperature
Accelerometer offset temperature ^0 polynomial coefficient - X axis
Accelerometer offset temperature ^0 polynomial coefficient - Y axis
Accelerometer offset temperature ^0 polynomial coefficient - Z axis
Accelerometer offset temperature ^1 polynomial coefficient - X axis
Accelerometer offset temperature ^1 polynomial coefficient - Y axis
Accelerometer offset temperature ^1 polynomial coefficient - Z axis
Accelerometer offset temperature ^2 polynomial coefficient - X axis
Accelerometer offset temperature ^2 polynomial coefficient - Y axis
Accelerometer offset temperature ^2 polynomial coefficient - Z axis
Accelerometer offset temperature ^3 polynomial coefficient - X axis
Accelerometer offset temperature ^3 polynomial coefficient - Y axis
Accelerometer offset temperature ^3 polynomial coefficient - Z axis
Thermal compensation for accelerometer sensors
0
1
ID of Barometer that the calibration is for
Barometer scale factor - X axis
Barometer calibration maximum temperature
Barometer calibration minimum temperature
Barometer calibration reference temperature
Barometer offset temperature ^0 polynomial coefficient
Barometer offset temperature ^1 polynomial coefficients
Barometer offset temperature ^2 polynomial coefficient
Barometer offset temperature ^3 polynomial coefficient
Barometer offset temperature ^4 polynomial coefficient
Barometer offset temperature ^5 polynomial coefficient
ID of Barometer that the calibration is for
Barometer scale factor - X axis
Barometer calibration maximum temperature
Barometer calibration minimum temperature
Barometer calibration reference temperature
Barometer offset temperature ^0 polynomial coefficient
Barometer offset temperature ^1 polynomial coefficients
Barometer offset temperature ^2 polynomial coefficient
Barometer offset temperature ^3 polynomial coefficient
Barometer offset temperature ^4 polynomial coefficient
Barometer offset temperature ^5 polynomial coefficient
ID of Barometer that the calibration is for
Barometer scale factor - X axis
Barometer calibration maximum temperature
Barometer calibration minimum temperature
Barometer calibration reference temperature
Barometer offset temperature ^0 polynomial coefficient
Barometer offset temperature ^1 polynomial coefficients
Barometer offset temperature ^2 polynomial coefficient
Barometer offset temperature ^3 polynomial coefficient
Barometer offset temperature ^4 polynomial coefficient
Barometer offset temperature ^5 polynomial coefficient
Thermal compensation for barometric pressure sensors
0
1
ID of Gyro that the calibration is for
Gyro scale factor - X axis
Gyro scale factor - Y axis
Gyro scale factor - Z axis
Gyro calibration maximum temperature
Gyro calibration minimum temperature
Gyro calibration reference temperature
Gyro rate offset temperature ^0 polynomial coefficient - X axis
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
Gyro rate offset temperature ^1 polynomial coefficient - X axis
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
Gyro rate offset temperature ^2 polynomial coefficient - X axis
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
Gyro rate offset temperature ^3 polynomial coefficient - X axis
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
ID of Gyro that the calibration is for
Gyro scale factor - X axis
Gyro scale factor - Y axis
Gyro scale factor - Z axis
Gyro calibration maximum temperature
Gyro calibration minimum temperature
Gyro calibration reference temperature
Gyro rate offset temperature ^0 polynomial coefficient - X axis
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
Gyro rate offset temperature ^1 polynomial coefficient - X axis
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
Gyro rate offset temperature ^2 polynomial coefficient - X axis
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
Gyro rate offset temperature ^3 polynomial coefficient - X axis
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
ID of Gyro that the calibration is for
Gyro scale factor - X axis
Gyro scale factor - Y axis
Gyro scale factor - Z axis
Gyro calibration maximum temperature
Gyro calibration minimum temperature
Gyro calibration reference temperature
Gyro rate offset temperature ^0 polynomial coefficient - X axis
Gyro rate offset temperature ^0 polynomial coefficient - Y axis
Gyro rate offset temperature ^0 polynomial coefficient - Z axis
Gyro rate offset temperature ^1 polynomial coefficient - X axis
Gyro rate offset temperature ^1 polynomial coefficient - Y axis
Gyro rate offset temperature ^1 polynomial coefficient - Z axis
Gyro rate offset temperature ^2 polynomial coefficient - X axis
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
Gyro rate offset temperature ^2 polynomial coefficient - Z axis
Gyro rate offset temperature ^3 polynomial coefficient - X axis
Gyro rate offset temperature ^3 polynomial coefficient - Y axis
Gyro rate offset temperature ^3 polynomial coefficient - Z axis
Thermal compensation for rate gyro sensors
0
1
UAVCAN CAN bus bitrate
20000
1000000
UAVCAN Node ID
Read the specs at http://uavcan.org to learn more about Node ID.
1
125
UAVCAN CAN bus bitrate
20000
1000000
UAVCAN Node ID
Read the specs at http://uavcan.org to learn more about Node ID.
1
125
UAVCAN CAN bus bitrate
20000
1000000
bit/s
true
UAVCAN mode
0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
0
3
true
Disabled
Sensors Manual Config
Sensors Automatic Config
Sensors and Actuators (ESCs) Automatic Config
UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints
true
UAVCAN Node ID
Read the specs at http://uavcan.org to learn more about Node ID.
1
125
true
Temporary parameter for the upgrade to v1.9, this is reminder to check the direction of
fixed-wing roll control surfaces on custom VTOLs platforms
This parameter is present in v1.9 to enable smooth transition, it will be removed in v1.10. In firmware versions before v1.9, the VTOL attitude controller generated reversed fixed wing roll commands. As a consequence, all VTOL mixers had to reverse roll mixing. The VTOL roll commands in fixed wing mode were fixed in v1.9! - Standard VTOL platforms should be unaffected and this parameter can be ignored. - Custom VTOL platforms may crash if no action is taken, please check the direction of deflection of roll control surfaces before flight. Fix the roll mixer if necessary. Set to 1 to disable VTOL actuator outputs and display an info message (default). Set to 0 AFTER CAREFULLY CHECKING the direction of deflection of roll control surfaces.
0
1
0
Transition blending airspeed
Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
0.00
30.00
m/s
2
1
Transition airspeed
Airspeed at which we can switch to fw mode
0.00
30.00
m/s
2
1
Approximate deceleration during back transition
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.
0.00
20.00
m/s/s
2
1
Delay in seconds before applying back transition throttle
Set this to a value greater than 0 to give the motor time to spin down
unit s
0
10
2
1
Output on airbrakes channel during back transition
Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel
Airbrakes need to be enables for your selected model/mixer
0
1
2
0.01
Duration of a back transition
Time in seconds used for a back transition
0.00
20.00
s
2
1
Back transition MC motor ramp up time
This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
0.0
20.0
s
Target throttle value for the transition to hover flight.
standard vtol: pusher
tailsitter, tiltrotor: main throttle
Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking
-1
1
2
0.01
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
Lock elevons in multicopter mode
If set to 1 the elevons are locked in multicopter mode
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
Adaptive QuadChute
Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL.
0.0
200.0
Differential thrust in forwards flight
Set to 1 to enable differential thrust in fixed-wing flight.
0
1
0
Differential thrust scaling factor
This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
0.0
1.0
2
0.1
QuadChute Altitude
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
0.0
200.0
The channel number of motors that must be turned off in fixed wing mode
0
12345678
0
1
Permanent stabilization in fw mode
If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.
QuadChute Max Pitch
Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL
0
180
QuadChute Max Roll
Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL
0
180
Duration of a front transition
Time in seconds used for a transition
0.00
20.00
s
2
1
Target throttle value for the transition to fixed wing flight.
standard vtol: pusher
tailsitter, tiltrotor: main throttle
0.0
1.0
3
0.01
Airspeed less front transition time (open loop)
The duration of the front transition when there is no airspeed feedback available.
1.0
30.0
seconds
Idle speed of VTOL when in multicopter mode
900
2000
us
0
1
VTOL number of engines
0
8
0
1
Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR
20
2
0.01
Position of tilt servo in fw mode
0.0
1.0
3
0.01
Position of tilt servo in mc mode
0.0
1.0
3
0.01
Position of tilt servo in transition mode
0.0
1.0
3
0.01
Front transition minimum time
Minimum time in seconds for front transition.
0.0
20.0
s
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
Front transition timeout
Time in seconds after which transition will be cancelled. Disabled if set to 0.
0.00
30.00
s
2
1
VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
0
2
0
true
Tailsitter
Tiltrotor
Standard
Weather-vane roll angle to yawrate
The desired gain to convert roll sp into yaw rate sp.
0.0
3.0
1/s
3
0.01
Gate size for true sideslip fusion
Sets the number of standard deviations used by the innovation consistency test.
1
5
SD
Wind estimator sideslip measurement noise
0
1
rad
Enable Wind estimator
true
Wind estimator true airspeed scale process noise
0
0.1
Gate size for true airspeed fusion
Sets the number of standard deviations used by the innovation consistency test.
1
5
SD
Wind estimator true airspeed measurement noise
0
4
m/s
Wind estimator wind process noise
0
1
m/s/s
EXFW_HDNG_P
EXFW_PITCH_P
EXFW_ROLL_P
RV_YAW_P
SEG_Q2V
SEG_TH2V_I
SEG_TH2V_I_MAX
SEG_TH2V_P