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 modules/attitude_estimator_q Gyro bias limit 0 2 rad/s 3 modules/attitude_estimator_q 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 modules/attitude_estimator_q 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 modules/attitude_estimator_q Automatic GPS based declination compensation modules/attitude_estimator_q Complimentary filter accelerometer weight 0 1 2 modules/attitude_estimator_q Complimentary filter external heading weight 0 1 modules/attitude_estimator_q Complimentary filter gyroscope bias weight 0 1 2 modules/attitude_estimator_q Complimentary filter magnetometer weight Set to 0 to avoid using the magnetometer. 0 1 2 modules/attitude_estimator_q 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 modules/sensors Battery capacity Defines the capacity of the attached battery. -1.0 100000 mAh 0 50 true lib/battery 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 modules/sensors 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 modules/sensors 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 lib/battery 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 lib/battery 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 lib/battery Number of cells Defines the number of cells the attached battery consists of. S true lib/battery 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 lib/battery 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 modules/sensors 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 lib/battery 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 modules/sensors 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 lib/battery 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 lib/battery 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 modules/sensors Camera feedback mode Sets the camera feedback mode. 0 1 modules/camera_feedback Disabled Feedback on trigger Camera trigger activation time This parameter sets the time the trigger needs to pulled high or low. 0.1 3000 ms 1 drivers/camera_trigger Camera trigger distance Sets the distance at which to trigger the camera. 0 m 1 1 drivers/camera_trigger Camera trigger Interface Selects the trigger interface true drivers/camera_trigger 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 drivers/camera_trigger Camera trigger mode 0 4 true drivers/camera_trigger 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 px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. 1 123456 0 true drivers/camera_trigger Camera trigger polarity This parameter sets the polarity of the trigger (0 = active low, 1 = active high ) 0 1 drivers/camera_trigger Active low Active high 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 modules/commander 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 modules/commander Maximum value of EKF gyro delta angle bias estimate that will allow arming 0.0001 0.0017 rad 5 0.0001 modules/commander Maximum EKF height innovation test ratio that will allow arming 0.1 1.0 m 2 0.05 modules/commander Maximum EKF position innovation test ratio that will allow arming 0.1 1.0 m 2 0.05 modules/commander Maximum EKF velocity innovation test ratio that will allow arming 0.1 1.0 m/s 2 0.05 modules/commander Maximum EKF yaw innovation test ratio that will allow arming 0.1 1.0 rad 2 0.05 modules/commander Maximum accelerometer inconsistency between IMU units that will allow arming 0.1 1.0 m/s/s 2 0.05 modules/commander Maximum rate gyro inconsistency between IMU units that will allow arming 0.02 0.3 rad/s 3 0.01 modules/commander Maximum magnetic field inconsistency between units that will allow arming 0.05 0.5 Gauss 2 0.05 modules/commander Require valid mission to arm The default allows to arm the vehicle without a valid mission. modules/commander Arm switch is only a button The default uses the arm switch as real switch. If parameter set button gets handled like stick arming. 0 1 modules/commander Arm switch is a 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. modules/commander 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 be longer by a factor of 5. A value of zero means that automatic disarming is disabled. 0 20 s 0 1 modules/commander Datalink loss time threshold After this amount of seconds without datalink the data link lost mode triggers 5 300 s 1 0.5 modules/commander 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 3 s 1 0.5 modules/commander Engine Failure Current/Throttle Threshold Engine failure triggers only below this current value 0.0 50.0 A/% 2 1 modules/commander Engine Failure Throttle Threshold Engine failure triggers only above this throttle value 0.0 1.0 norm 2 0.01 modules/commander 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 modules/commander 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 modules/commander First flightmode slot (1000-1160) If the main switch channel is in this range the selected flight mode will be applied. modules/commander 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. modules/commander 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. modules/commander 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. modules/commander 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. modules/commander 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. modules/commander 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 modules/commander 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 modules/commander 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 modules/commander 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 modules/commander Battery failsafe mode Action the system takes on low battery. Defaults to off 0 1 modules/commander Warning Return mode Land mode Return mode at critically low level, Land mode at current position if reaching dangerously low levels 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 second 1 modules/commander 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 modules/commander Horizontal position error threshold This is the horizontal position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. m modules/commander 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 modules/commander 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 modules/commander 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 modules/commander 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 modules/commander 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 modules/commander 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 modules/commander Enable RC stick override of auto modes modules/commander 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 modules/commander 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 modules/commander Airfield home alt Altitude of airfield home waypoint -50 m 1 0.5 modules/navigator Airfield home Lat Latitude of airfield home waypoint -900000000 900000000 deg * 1e7 modules/navigator Airfield home Lon Longitude of airfield home waypoint -1800000000 1800000000 deg * 1e7 modules/navigator Airfield home wait time The amount of time in seconds the system should wait at the airfield home waypoint 0.0 3600.0 s 0 1 modules/navigator 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 modules/navigator Comms hold alt Altitude of comms hold waypoint -50 30000 m 1 0.5 modules/navigator Comms hold Lat Latitude of comms hold waypoint -900000000 900000000 deg * 1e7 modules/navigator Comms hold Lon Longitude of comms hold waypoint -1800000000 1800000000 deg * 1e7 modules/navigator 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 modules/navigator Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly 0 1000 modules/navigator 1-sigma IMU accelerometer switch-on bias 0.0 0.5 m/s/s 2 true modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Process noise for IMU accelerometer bias prediction 0.0 0.01 m/s**3 6 modules/ekf2 Accelerometer noise for covariance prediction 0.01 1.0 m/s/s 2 modules/ekf2 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 bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 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 0 127 true modules/ekf2 use GPS use optical flow inhibit IMU bias estimation vision position fusion vision yaw fusion multi-rotor drag fusion rotate external vision 1-sigma tilt angle uncertainty after gravity vector alignment 0.0 0.5 rad 3 true modules/ekf2 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 modules/ekf2 Upper limit on airspeed along individual axes used to correct baro for position error effects 5.0 50.0 m/s 1 modules/ekf2 Airspeed measurement delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Barometer measurement delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Gate size for barometric and GPS height fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for barometric altitude 0.01 15.0 m 2 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Gate size for synthetic sideslip fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Noise for synthetic sideslip fusion 0.1 1.0 m/s 2 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Measurement noise for airspeed fusion 0.5 5.0 m/s 1 modules/ekf2 Measurement noise for vision angle observations used when the vision system does not supply error estimates 0.01 rad 2 modules/ekf2 Measurement noise for vision position observations used when the vision system does not supply error estimates 0.01 m 2 modules/ekf2 Vision Position Estimator delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Gate size for vision estimate fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 X position of VI sensor focal point in body frame m 3 modules/ekf2 Y position of VI sensor focal point in body frame m 3 modules/ekf2 Z position of VI sensor focal point in body frame m 3 modules/ekf2 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. modules/ekf2 1-sigma IMU gyro switch-on bias 0.0 0.2 rad/sec 2 true modules/ekf2 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 can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT 0 511 modules/ekf2 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 modules/ekf2 X position of GPS antenna in body frame m 3 modules/ekf2 Y position of GPS antenna in body frame m 3 modules/ekf2 Z position of GPS antenna in body frame m 3 modules/ekf2 Gate size for GPS horizontal position fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for gps position 0.01 10.0 m 2 modules/ekf2 Gate size for GPS velocity fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for gps horizontal velocity 0.01 5.0 m/s 2 modules/ekf2 Process noise for IMU rate gyro bias prediction 0.0 0.01 rad/s**2 6 modules/ekf2 Rate gyro noise for covariance prediction 0.0001 0.1 rad/s 4 modules/ekf2 Gate size for magnetic heading fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for magnetic heading fusion 0.01 1.0 rad 2 modules/ekf2 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 modules/ekf2 Barometric pressure GPS Range sensor Vision X position of IMU in body frame m 3 modules/ekf2 Y position of IMU in body frame m 3 modules/ekf2 Z position of IMU in body frame m 3 modules/ekf2 ID of Magnetometer the learned bias is for true modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Process noise for body magnetic field prediction 0.0 0.1 Gauss/s 6 modules/ekf2 Magnetic declination deg 1 modules/ekf2 Magnetometer measurement delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Process noise for earth magnetic field prediction 0.0 0.1 Gauss/s 6 modules/ekf2 Gate size for magnetometer XYZ component fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for magnetometer 3-axis fusion 0.001 1.0 Gauss 3 modules/ekf2 Type of magnetometer fusion Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable. true modules/ekf2 Automatic Magnetic heading 3-axis fusion 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 0.5 rad/s 2 modules/ekf2 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 modules/ekf2 Minimum valid range for the range finder 0.01 m 2 modules/ekf2 Measurement noise for non-aiding position hold 0.5 50.0 m 1 modules/ekf2 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 modules/ekf2 Optical flow measurement delay relative to IMU measurements Assumes measurement is timestamped at trailing edge of integration period 0 300 ms 1 true modules/ekf2 Gate size for optical flow fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 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 modules/ekf2 Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum 0.05 rad/s 2 modules/ekf2 X position of optical flow focal point in body frame m 3 modules/ekf2 Y position of optical flow focal point in body frame m 3 modules/ekf2 Z position of optical flow focal point in body frame m 3 modules/ekf2 Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN 0 255 modules/ekf2 Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX. Control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of EKF2_OF_RMAX 1.0 rad/s 2 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Pressure position error coefficient for the Y axis. This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight, then this will be a negative number -0.5 0.5 2 modules/ekf2 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 modules/ekf2 Required EPH to use GPS 2 100 m 1 modules/ekf2 Required EPV to use GPS 2 100 m 1 modules/ekf2 Required GDoP to use GPS 1.5 5.0 1 modules/ekf2 Maximum horizontal drift speed to use GPS 0.1 1.0 m/s 2 modules/ekf2 Required satellite count to use GPS 4 12 modules/ekf2 Required speed accuracy to use GPS 0.5 5.0 m/s 2 modules/ekf2 Maximum vertical drift speed to use GPS 0.1 1.5 m/s 2 modules/ekf2 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. modules/ekf2 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 modules/ekf2 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 modules/ekf2 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 modules/ekf2 Range finder measurement delay relative to IMU measurements 0 300 ms 1 true modules/ekf2 Gate size for range finder fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 Measurement noise for range finder fusion 0.01 m 2 modules/ekf2 Range sensor pitch offset -0.75 0.75 rad 3 modules/ekf2 X position of range finder origin in body frame m 3 modules/ekf2 Y position of range finder origin in body frame m 3 modules/ekf2 Z position of range finder origin in body frame m 3 modules/ekf2 Range finder range dependant noise scaler Specifies the increase in range finder noise with range. 0.0 0.2 m/m modules/ekf2 Gate size for TAS fusion Sets the number of standard deviations used by the innovation consistency test. 1.0 SD 1 modules/ekf2 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 modules/ekf2 Time constant of the velocity output prediction and smoothing filter 1.0 s 2 modules/ekf2 Magnitude of terrain gradient 0.0 m/m 2 modules/ekf2 Terrain altitude process noise - accounts for instability in vehicle height estimate 0.5 m/s 1 modules/ekf2 Process noise for wind velocity prediction 0.0 1.0 m/s/s 3 modules/ekf2 Acro body x max rate This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode. 45 720 degrees modules/fw_att_control Acro body y max rate This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode. 45 720 degrees modules/fw_att_control Acro body z max rate This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode. 10 180 degrees modules/fw_att_control Airspeed mode For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading modules/fw_att_control 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. modules/fw_att_control 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 modules/fw_att_control Pitch trim increment at maximum airspeed This increment is added to TRIM_PITCH when airspeed is FW_AIRSP_MAX. -0.25 0.25 2 0.01 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control Roll trim increment at maximum airspeed This increment is added to TRIM_ROLL when airspeed is FW_AIRSP_MAX. -0.25 0.25 2 0.01 modules/fw_att_control 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 modules/fw_att_control Yaw trim increment at maximum airspeed This increment is added to TRIM_YAW when airspeed is FW_AIRSP_MAX. -0.25 0.25 2 0.01 modules/fw_att_control 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 modules/fw_att_control Scale factor for flaperons 0.0 1.0 norm 2 0.01 modules/fw_att_control Scale factor for flaps 0.0 1.0 norm 2 0.01 modules/fw_att_control Max manual pitch Max pitch for manual control in attitude stabilized mode 0.0 90.0 deg 1 0.5 modules/fw_att_control Manual pitch scale Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 norm 2 0.01 modules/fw_att_control Max manual roll Max roll for manual control in attitude stabilized mode 0.0 90.0 deg 1 0.5 modules/fw_att_control Manual roll scale Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 1.0 norm 2 0.01 modules/fw_att_control Manual yaw scale Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 norm 2 0.01 modules/fw_att_control Pitch rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 %/rad/s 2 0.05 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control Threshold for Rattitude mode Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints 0.0 1.0 2 0.01 modules/fw_att_control Roll control to yaw control feedforward gain This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect. 0.0 1 0.01 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control Wheel steering rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 %/rad/s 2 0.05 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. 0.005 1.0 %/rad/s 3 0.005 modules/fw_att_control Enable wheel steering controller modules/fw_att_control 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 modules/fw_att_control Yaw rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 %/rad/s 2 0.05 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_att_control 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 modules/fw_pos_control_l1 L1 damping Damping factor for L1 control. 0.6 0.9 2 0.05 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Landing slope angle 1.0 15.0 deg 1 0.5 modules/fw_pos_control_l1 Landing flare altitude (relative to landing altitude) 0.0 25.0 m 1 0.5 modules/fw_pos_control_l1 Flare, maximum pitch Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 0 45.0 deg 1 0.5 modules/fw_pos_control_l1 Flare, minimum pitch Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 0 15.0 deg 1 0.5 modules/fw_pos_control_l1 Landing heading hold horizontal distance. Set to 0 to disable heading hold 0 30.0 m 1 0.5 modules/fw_pos_control_l1 FW_LND_HVIRT 1.0 15.0 m 1 0.5 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Use terrain estimate during landing modules/fw_pos_control_l1 Positive pitch limit The maximum positive pitch the controller will output. 0.0 60.0 deg 1 0.5 modules/fw_pos_control_l1 Negative pitch limit The minimum negative pitch the controller will output. -60.0 0.0 deg 1 0.5 modules/fw_pos_control_l1 Controller roll limit The maximum roll the controller will output. 35.0 65.0 deg 1 0.5 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Throttle limit value before flare This throttle value will be set as throttle limit at FW_LND_TLALT, before aircraft will flare. 0.0 1.0 norm 2 0.01 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Throttle max slew rate Maximum slew rate for the commanded throttle 0.0 1.0 modules/fw_pos_control_l1 Launch detection modules/fw_pos_control_l1/launchdetection Catapult accelerometer threshold LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection. 0 m/s/s 1 0.5 modules/fw_pos_control_l1/launchdetection 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 modules/fw_pos_control_l1/launchdetection 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 modules/fw_pos_control_l1/launchdetection 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 modules/fw_pos_control_l1/launchdetection 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Cruise Airspeed The fixed wing controller tries to fly at this airspeed. 0.0 40 m/s 1 0.5 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Height rate feed forward 0.0 1.0 2 0.05 modules/fw_pos_control_l1 Height rate proportional factor 0.0 1.0 2 0.05 modules/fw_pos_control_l1 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. 0.0 2.0 2 0.05 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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. 2.0 15.0 m/s 1 0.5 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Speed rate P factor 0.0 2.0 2 0.01 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 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 modules/fw_pos_control_l1 Maximum ground speed 0.0 40 m/s 1 0.5 modules/gnd_pos_control Trim ground speed 0.0 40 m/s 1 0.5 modules/gnd_pos_control Distance to follow target from The distance in meters to follow the target at 1.0 meters modules/navigator 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 modules/navigator 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 modules/navigator Minimum follow target altitude The minimum height in meters relative to home for following a target 8.0 meters modules/navigator Whether to scale throttle by battery power level This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. modules/gnd_att_control Groundspeed speed trim This allows to scale the turning radius depending on the speed. 0.0 norm 2 0.1 modules/gnd_att_control Manual yaw scale Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 norm 2 0.01 modules/gnd_att_control Speed proportional gain This is the derivative gain for the speed closed loop controller 0.00 50.0 %m/s 3 0.005 modules/gnd_pos_control Speed Integral gain This is the integral gain for the speed closed loop controller 0.00 50.0 %m/s 3 0.005 modules/gnd_pos_control 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 modules/gnd_pos_control Speed proportional gain This is the proportional gain for the speed closed loop controller 0.005 50.0 %m/s 3 0.005 modules/gnd_pos_control 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 modules/gnd_pos_control Control mode for speed This allows the user to choose between closed loop gps speed or open loop cruise throttle speed 0 1 modules/gnd_pos_control open loop control close the loop with gps speed Wheel steering rate integrator gain 0.00 30 %/rad 3 0.005 modules/gnd_att_control Wheel steering rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 %/rad/s 2 0.05 modules/gnd_att_control 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 modules/gnd_att_control 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 modules/gnd_att_control Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. 0.005 1.0 %/rad/s 3 0.005 modules/gnd_att_control 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 modules/gnd_att_control 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 modules/gnd_att_control L1 damping Damping factor for L1 control. 0.6 0.9 2 0.05 modules/gnd_pos_control L1 distance This is the waypoint radius 0.0 100.0 m 1 0.1 modules/gnd_pos_control 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 modules/gnd_pos_control 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 modules/gnd_pos_control 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 modules/gnd_pos_control 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 modules/gnd_pos_control 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 modules/gnd_pos_control 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 drivers/gps 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 drivers/gps stationary automotive airborne with <1g acceleration airborne with <2g acceleration airborne with <4g acceleration 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 modules/navigator Fixed pitch angle Pitch in degrees during the open loop loiter -30.0 30.0 deg 1 0.5 modules/navigator Fixed bank angle Roll in degrees during the loiter 0.0 30.0 deg 1 0.5 modules/navigator Thrust Thrust value which is set during the open loop loiter 0.0 1.0 norm 2 0.05 modules/navigator 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 modules/navigator None Warning Hold mode Return mode Terminate Geofence altitude mode Select which altitude reference should be used 0 = WGS84, 1 = AMSL 0 1 modules/navigator 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 modules/navigator 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 modules/navigator 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 modules/navigator 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 modules/navigator GPOS GPS Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call 0 5000 s drivers/telemetry/iridiumsbd Iridium SBD session timeout 0 300 s drivers/telemetry/iridiumsbd 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 drivers/telemetry/iridiumsbd Airspeed max Maximum airspeed allowed in the landed state (m/s) 4 20 m/s 1 modules/land_detector Fixedwing max short-term velocity Maximum velocity integral in flight direction allowed in the landed state (m/s) 2 10 m/s 1 modules/land_detector Fixedwing max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) 0.5 10 m/s 1 modules/land_detector Fixedwing max climb rate Maximum vertical velocity allowed in the landed state (m/s up and down) 5 20 m/s 1 modules/land_detector 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 modules/land_detector 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 modules/land_detector Multicopter free-fall trigger time Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h 0.02 5 s 2 modules/land_detector Multicopter max rotation Maximum allowed angular velocity around each axis allowed in the landed state. deg/s 1 modules/land_detector Multicopter sub-hover throttle scaling The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed. 0.05 0.5 2 modules/land_detector Multicopter max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) m/s 1 modules/land_detector Multicopter max climb rate Maximum vertical velocity allowed in the landed state (m/s up and down) m/s 1 modules/land_detector Total flight time in microseconds Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO. 0 modules/land_detector Total flight time in microseconds Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO. 0 modules/land_detector 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 modules/landing_target_estimator 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 modules/landing_target_estimator 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 modules/landing_target_estimator 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 modules/landing_target_estimator Scale factor for sensor measurements in sensor x axis Landing target x measurements are scaled by this factor before being used 0.01 3 modules/landing_target_estimator Scale factor for sensor measurements in sensor y axis Landing target y measurements are scaled by this factor before being used 0.01 3 modules/landing_target_estimator Initial landing target velocity uncertainty Initial variance of the relative landing target velocity in x and y direction 0.001 (m/s)^2 3 modules/landing_target_estimator Accelerometer xy noise density Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error. 0.00001 2 m/s^2/sqrt(Hz) 4 modules/local_position_estimator Accelerometer z noise density Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) 0.00001 2 m/s^2/sqrt(Hz) 4 modules/local_position_estimator Barometric presssure altitude z standard deviation 0.01 100 m 2 modules/local_position_estimator Max EPH allowed for GPS initialization 1.0 5.0 m 3 modules/local_position_estimator Max EPV allowed for GPS initialization 1.0 5.0 m 3 modules/local_position_estimator Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable 0 1 modules/local_position_estimator Flow gyro high pass filter cut off frequency 0 2 Hz 3 modules/local_position_estimator Optical flow z offset from center -1 1 m 3 modules/local_position_estimator Optical flow minimum quality threshold 0 255 0 modules/local_position_estimator Optical flow rotation (roll/pitch) noise gain 0.1 10.0 m/s / (rad) 3 modules/local_position_estimator Optical flow angular velocity noise gain 0.0 10.0 m/s / (rad/s) 3 modules/local_position_estimator Optical flow scale 0.1 10.0 m 3 modules/local_position_estimator Integer bitmask controlling data fusion Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to 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 modules/local_position_estimator 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 modules/local_position_estimator GPS xy velocity standard deviation. EPV used if greater than this value 0.01 2 m/s 3 modules/local_position_estimator GPS z velocity standard deviation 0.01 2 m/s 3 modules/local_position_estimator Minimum GPS xy standard deviation, uses reported EPH if greater 0.01 5 m 2 modules/local_position_estimator Minimum GPS z standard deviation, uses reported EPV if greater 0.01 200 m 2 modules/local_position_estimator Land detector xy velocity standard deviation 0.01 10.0 m/s 3 modules/local_position_estimator Land detector z standard deviation 0.001 10.0 m 3 modules/local_position_estimator Local origin latitude for nav w/o GPS -90 90 deg 8 modules/local_position_estimator Lidar z offset from center of vehicle +down -1 1 m 3 modules/local_position_estimator Lidar z standard deviation 0.01 1 m 3 modules/local_position_estimator Local origin longitude for nav w/o GPS -180 180 deg 8 modules/local_position_estimator Minimum landing target standard covariance, uses reported covariance if greater 0.0 10 m^2 2 modules/local_position_estimator Accel bias propagation noise density 0 1 (m/s^2)/s/sqrt(Hz) 8 modules/local_position_estimator Position propagation noise density Increase to trust measurements more. Decrease to trust model more. 0 1 m/s/sqrt(Hz) 8 modules/local_position_estimator Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) 0 1 (m/s)/(sqrt(hz)) 3 modules/local_position_estimator Velocity propagation noise density Increase to trust measurements more. Decrease to trust model more. 0 1 (m/s)/s/sqrt(Hz) 8 modules/local_position_estimator Sonar z offset from center of vehicle +down -1 1 m 3 modules/local_position_estimator Sonar z standard deviation 0.01 1 m 3 modules/local_position_estimator Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement 0 100 % 3 modules/local_position_estimator Vicon position standard deviation 0.0001 1 m 4 modules/local_position_estimator Vision delay compensaton Set to zero to enable automatic compensation from measurement timestamps 0 0.1 sec 2 modules/local_position_estimator Vision xy standard deviation 0.01 1 m 3 modules/local_position_estimator Vision z standard deviation 0.01 100 m 3 modules/local_position_estimator Required velocity xy standard deviation to publish position 0.01 1.0 m/s 3 modules/local_position_estimator Cut frequency for state publication 5 1000 Hz 0 modules/local_position_estimator Required z standard deviation to publish altitude/ terrain 0.3 5.0 m 1 modules/local_position_estimator Broadcast heartbeats on local network This allows a ground control station to automatically find the drone on the local network. modules/mavlink Never broadcast Always broadcast MAVLink component ID 1 250 true modules/mavlink Forward external setpoint messages If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode modules/mavlink MAVLink protocol version modules/mavlink 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 modules/mavlink MAVLink system ID 1 250 true modules/mavlink MAVLink airframe type 1 27 modules/mavlink 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. modules/mavlink Test mode (Identify) of MKBLCTRL Driver drivers/mkblctrl Low pass filter frequency for Accelerometer platforms/qurt/fc_addon/mpu_spi 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 platforms/qurt/fc_addon/mpu_spi 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 platforms/qurt/fc_addon/mpu_spi 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. modules/commander 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. modules/commander Position mode Altitude mode Manual Return mode Land mode Hold mode 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. modules/commander 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. Action after TAKEOFF has been accepted The mode transition after TAKEOFF has completed successfully. modules/commander 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 modules/navigator 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 modules/navigator 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 modules/navigator 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 modules/navigator 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 mode as specified by MIS_YAWMODE. If disabled, the vehicle will yaw towards the ROI. 0 1 modules/navigator Disable Enable Take-off altitude This is the minimum altitude the system will take off to. 0 80 m 1 0.5 modules/navigator Multirotor only. Yaw setpoint mode The values are defined in the enum mission_altitude_mode 0 3 modules/navigator Heading as set by waypoint Heading towards waypoint Heading towards home Heading away from home Max yaw error in degrees needed for waypoint heading acceptance 0 90 deg 1 1 modules/navigator 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 modules/navigator Acceptance Radius Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance. 0.05 200.0 m 1 0.5 modules/navigator Set data link loss failsafe mode The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. modules/navigator Disabled Hold mode Return mode Land mode Data Link Auto Recovery (CASA Outback Challenge rules) Terminate Lockdown Force VTOL mode takeoff and land modules/navigator FW Altitude Acceptance Radius Acceptance radius for fixedwing altitude. 0.05 200.0 m 1 0.5 modules/navigator Loiter radius (FW only) Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only). 25 1000 m 1 0.5 modules/navigator MC Altitude Acceptance Radius Acceptance radius for multicopter altitude. 0.05 200.0 m 1 0.5 modules/navigator Set RC loss failsafe mode The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. modules/navigator 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 modules/navigator Set traffic avoidance mode Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders modules/navigator Disabled Warn only Return mode Land mode Weather-vane mode landings for missions modules/vtol_att_control Weather-vane mode for loiter modules/vtol_att_control Enable weather-vane mode takeoff for missions modules/vtol_att_control Stabilize the mount (set to true for servo gimbal, false for passthrough). Does not affect MAVLINK_ROI input drivers/vmount Auxiliary channel to control pitch (in AUX input or manual mode) 0 5 drivers/vmount Disable AUX1 AUX2 AUX3 AUX4 AUX5 Auxiliary channel to control roll (in AUX input or manual mode) 0 5 drivers/vmount Disable AUX1 AUX2 AUX3 AUX4 AUX5 Auxiliary channel to control yaw (in AUX input or manual mode) 0 5 drivers/vmount Disable AUX1 AUX2 AUX3 AUX4 AUX5 Mavlink Component ID of the mount If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID. drivers/vmount Mavlink System ID of the mount If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID. drivers/vmount 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 drivers/vmount 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 drivers/vmount AUX MAVLINK Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode) -1.0 1.0 3 drivers/vmount Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode) -1.0 1.0 3 drivers/vmount Offset for pitch channel output in degrees -360.0 360.0 1 drivers/vmount Offset for roll channel output in degrees -360.0 360.0 1 drivers/vmount Offset for yaw channel output in degrees -360.0 360.0 1 drivers/vmount Range of pitch channel output in degrees (only in AUX output mode) 1.0 720.0 1 drivers/vmount Range of roll channel output in degrees (only in AUX output mode) 1.0 720.0 1 drivers/vmount Range of yaw channel output in degrees (only in AUX output mode) 1.0 720.0 1 drivers/vmount 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 modules/mc_att_control 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 modules/mc_att_control Max acro pitch rate default: 2 turns per second 0.0 1800.0 deg/s 1 5 modules/mc_att_control Max acro roll rate default: 2 turns per second 0.0 1800.0 deg/s 1 5 modules/mc_att_control 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 modules/mc_att_control 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 modules/mc_att_control Max acro yaw rate default 1.5 turns per second 0.0 1800.0 deg/s 1 5 modules/mc_att_control 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. modules/mc_att_control Battery power level scaler This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. modules/mc_att_control 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 modules/mc_att_control Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 4 0.0005 modules/mc_att_control Pitch rate feedforward Improves tracking performance. 0.0 4 modules/mc_att_control Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 3 0.01 modules/mc_att_control 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 modules/mc_att_control Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 0.6 3 0.01 modules/mc_att_control Pitch 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 modules/mc_att_control Pitch rate integrator limit Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. 0.0 2 0.01 modules/mc_att_control Threshold for Rattitude mode Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints 0.0 1.0 2 0.01 modules/mc_att_control Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 0.01 4 0.0005 modules/mc_att_control Roll rate feedforward Improves tracking performance. 0.0 4 modules/mc_att_control Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 3 0.01 modules/mc_att_control 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 modules/mc_att_control Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 0.5 3 0.01 modules/mc_att_control Roll 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 modules/mc_att_control Roll rate integrator limit Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. 0.0 2 0.01 modules/mc_att_control 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 modules/mc_att_control 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 modules/mc_att_control TPA P Breakpoint Throttle PID Attenuation (TPA) Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain 0.0 1.0 2 0.1 modules/mc_att_control 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 modules/mc_att_control 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 modules/mc_att_control 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 modules/mc_att_control Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 2 0.01 modules/mc_att_control Yaw rate feedforward Improves tracking performance. 0.0 4 0.01 modules/mc_att_control 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 modules/mc_att_control Max yaw rate 0.0 1800.0 deg/s 1 5 modules/mc_att_control 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 modules/mc_att_control Max yaw rate in auto mode Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 360.0 deg/s 1 5 modules/mc_att_control Yaw feed forward Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 2 0.01 modules/mc_att_control Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 5 1/s 2 0.1 modules/mc_att_control Yaw rate integrator limit Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. 0.0 2 0.01 modules/mc_att_control Maximum vertical acceleration in velocity controlled modes down 2.0 15.0 m/s/s 2 1 modules/mc_pos_control Acceleration for auto and for manual 2.0 15.0 m/s/s 2 1 modules/mc_pos_control Horizontal acceleration in manual modes when optical flow ground speed limit is removed. If full stick is being applied and the EKF starts using GPS whilst using optical flow, 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 modules/mc_pos_control Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode 2.0 15.0 m/s/s 2 1 modules/mc_pos_control Maximum vertical acceleration in velocity controlled modes upward 2.0 15.0 m/s/s 2 1 modules/mc_pos_control Altitude control mode, note mode 1 only tested with LPE 0 1 modules/mc_pos_control Altitude following Terrain following 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 modules/mc_pos_control Slow horizontal manual deceleration for manual mode 0.5 10.0 m/s/s 2 1 modules/mc_pos_control Flag to test flight tasks instead of legacy functionality Temporary Parameter during the transition to flight tasks 0 1 modules/mc_pos_control Legacy Functionality Test flight tasks Deadzone of sticks where position hold is enabled 0.0 1.0 2 modules/mc_pos_control Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 3.0 m/s 2 modules/mc_pos_control Maximum vertical velocity for which position hold is enabled (use 0 to disable check) 0.0 3.0 m/s 2 modules/mc_pos_control Maximum jerk in manual controlled mode for BRAKING to zero. If this value is below MPC_JERK_MIN, the acceleration limit in xy and z is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the user demands brake (=zero stick input). Otherwise the acceleration limit increases from current acceleration limit towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.0 15.0 m/s/s/s 2 1 modules/mc_pos_control Minimum jerk in manual controlled mode for BRAKING to zero 0.5 10.0 m/s/s/s 2 1 modules/mc_pos_control 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 modules/mc_pos_control 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 modules/mc_pos_control Landing descend rate 0.6 m/s 1 modules/mc_pos_control Maximum manual thrust Limit max allowed thrust for Manual mode. 0.0 1.0 norm 2 0.01 modules/mc_pos_control 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 modules/mc_pos_control Maximal tilt angle in manual or altitude mode 0.0 90.0 deg 1 modules/mc_pos_control Max manual yaw rate 0.0 400 deg/s 1 modules/mc_pos_control 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 ALTCTL mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. 0.2 0.8 norm 2 0.01 modules/mc_pos_control Maximum thrust in auto thrust control Limit max allowed thrust 0.0 1.0 norm 2 0.01 modules/mc_pos_control 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 modules/mc_pos_control Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. 0.0 90.0 deg 1 modules/mc_pos_control Maximum tilt during landing Limits maximum tilt angle on landing. 0.0 90.0 deg 1 modules/mc_pos_control 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. 0.1 1 modules/mc_pos_control Takeoff climb rate 1 5 m/s 2 modules/mc_pos_control Low pass filter cut freq. for numerical velocity derivative 0.0 10 Hz 2 modules/mc_pos_control Maximum 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 modules/mc_pos_control 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 modules/mc_pos_control Manual control stick exponential curve sensitivity attenuation with small velocity setpoints The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve 0 1 2 modules/mc_pos_control Proportional gain for horizontal position error 0.0 2.0 2 modules/mc_pos_control 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 modules/mc_pos_control Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 0.1 3 modules/mc_pos_control 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 modules/mc_pos_control Proportional gain for horizontal velocity error 0.06 0.15 2 modules/mc_pos_control 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 modules/mc_pos_control Proportional gain for vertical position error 0.0 1.5 2 modules/mc_pos_control Differential gain for vertical velocity error 0.0 0.1 3 modules/mc_pos_control Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.01 0.1 3 modules/mc_pos_control Maximum vertical descent velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). 0.5 4.0 m/s modules/mc_pos_control Maximum vertical ascent velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). 0.5 8.0 m/s 1 modules/mc_pos_control Proportional gain for vertical velocity error 0.1 0.4 2 modules/mc_pos_control 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) drivers/px4fmu Set the disarmed PWM for the AUX 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 modules/sensors Set the disarmed PWM for the AUX 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 modules/sensors Set the disarmed PWM for the AUX 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 modules/sensors Set the disarmed PWM for the AUX 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 modules/sensors Set the disarmed PWM for the AUX 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 modules/sensors Set the disarmed PWM for the AUX 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 modules/sensors 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 modules/sensors Set the maximum PWM for the auxiliary outputs Set to 2000 for default or 2100 to increase servo travel 1600 2200 us true modules/sensors Set the minimum PWM for the auxiliary outputs Set to 1000 for default or 900 to increase servo travel 800 1400 us true modules/sensors Invert direction of aux output channel 1 Enable to invert the channel. drivers/px4fmu Invert direction of aux output channel 2 Enable to invert the channel. drivers/px4fmu Invert direction of aux output channel 3 Enable to invert the channel. drivers/px4fmu Invert direction of aux output channel 4 Enable to invert the channel. drivers/px4fmu Invert direction of aux output channel 5 Enable to invert the channel. drivers/px4fmu Invert direction of aux output channel 6 Enable to invert the channel. drivers/px4fmu Trim value for FMU PWM output channel 1 Set to normalized offset -0.2 0.2 2 drivers/px4fmu Trim value for FMU PWM output channel 2 Set to normalized offset -0.2 0.2 2 drivers/px4fmu Trim value for FMU PWM output channel 3 Set to normalized offset -0.2 0.2 2 drivers/px4fmu Trim value for FMU PWM output channel 4 Set to normalized offset -0.2 0.2 2 drivers/px4fmu Trim value for FMU PWM output channel 5 Set to normalized offset -0.2 0.2 2 drivers/px4fmu Trim value for FMU PWM output channel 6 Set to normalized offset -0.2 0.2 2 drivers/px4fmu 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors Invert direction of main output channel 1 Enable to invert the channel. drivers/px4io Invert direction of main output channel 2 Enable to invert the channel. drivers/px4io Invert direction of main output channel 3 Enable to invert the channel. drivers/px4io Invert direction of main output channel 4 Enable to invert the channel. drivers/px4io Invert direction of main output channel 5 Enable to invert the channel. drivers/px4io Invert direction of main output channel 6 Enable to invert the channel. drivers/px4io Invert direction of main output channel 7 Enable to invert the channel. drivers/px4io Invert direction of main output channel 8 Enable to invert the channel. drivers/px4io Trim value for main output channel 1 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 2 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 3 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 4 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 5 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 6 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 7 Set to normalized offset -0.2 0.2 2 drivers/px4io Trim value for main output channel 8 Set to normalized offset -0.2 0.2 2 drivers/px4io Set the maximum PWM for the main outputs Set to 2000 for industry default or 2100 to increase servo travel. 1600 2200 us true modules/sensors Set the minimum PWM for the main outputs Set to 1000 for industry default or 900 to increase servo travel. 800 1400 us true modules/sensors 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 modules/sensors S.BUS out Set to 1 to enable S.BUS version 1 output instead of RSSI. drivers/px4io 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 drivers/px4fmu 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 examples/bottle_drop 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 examples/bottle_drop Payload mass A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg 0.001 5.0 kg examples/bottle_drop 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 examples/bottle_drop 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 examples/bottle_drop 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 examples/bottle_drop Disable vision input Set to the appropriate key (328754) to disable vision input. 0 328754 true modules/position_estimator_inav GPS delay GPS delay compensation 0.0 1.0 s modules/position_estimator_inav Mo-cap Set to 0 if using fake GPS modules/position_estimator_inav Mo-cap enabled Mo-cap disabled Flow module offset (center of rotation) in X direction Yaw X flow compensation -1.0 1.0 m modules/position_estimator_inav Flow module offset (center of rotation) in Y direction Yaw Y flow compensation -1.0 1.0 m modules/position_estimator_inav Optical flow scale factor Factor to scale optical flow 0.0 10.0 modules/position_estimator_inav Minimal acceptable optical flow quality 0 - lowest quality, 1 - best quality. 0.0 1.0 modules/position_estimator_inav Land detector altitude dispersion threshold Dispersion threshold for triggering land detector. 0.0 10.0 m modules/position_estimator_inav Land detector time Vehicle assumed landed if no altitude changes happened during this time on low throttle. 0.0 10.0 s modules/position_estimator_inav Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. 0.0 1.0 modules/position_estimator_inav 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 modules/position_estimator_inav LIDAR for altitude estimation modules/position_estimator_inav LIDAR calibration offset LIDAR calibration offset. Value will be added to the measured distance -20 20 m modules/position_estimator_inav Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. 0.0 0.1 modules/position_estimator_inav 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 modules/position_estimator_inav Weight for mocap system Weight (cutoff frequency) for mocap position measurements. 0.0 10.0 modules/position_estimator_inav XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. 0.0 10.0 modules/position_estimator_inav XY axis weight for GPS position Weight (cutoff frequency) for GPS position measurements. 0.0 10.0 modules/position_estimator_inav XY axis weight for GPS velocity Weight (cutoff frequency) for GPS velocity measurements. 0.0 10.0 modules/position_estimator_inav XY axis weight for resetting velocity When velocity sources lost slowly decrease estimated horizontal velocity with this weight. 0.0 10.0 modules/position_estimator_inav XY axis weight for vision position Weight (cutoff frequency) for vision position measurements. 0.0 10.0 modules/position_estimator_inav XY axis weight for vision velocity Weight (cutoff frequency) for vision velocity measurements. 0.0 10.0 modules/position_estimator_inav Z axis weight for barometer Weight (cutoff frequency) for barometer altitude measurements. 0.0 10.0 modules/position_estimator_inav 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 modules/position_estimator_inav Z velocity weight for GPS Weight (cutoff frequency) for GPS altitude velocity measurements. 0.0 10.0 modules/position_estimator_inav Z axis weight for lidar Weight (cutoff frequency) for lidar measurements. 0.0 10.0 modules/position_estimator_inav 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 modules/position_estimator_inav Landing Target Timeout Time after which the landing target is considered lost without any new measurements. 0.0 50 s 1 0.5 modules/navigator 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 modules/navigator Horizontal acceptance radius Start descending if closer above landing target than this. 0.0 10 m 2 0.1 modules/navigator 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 modules/navigator Search altitude Altitude above home to which to climb when searching for the landing target. 0.0 100 m 1 0.1 modules/navigator Search timeout Time allowed to search for the landing target before falling back to normal landing. 0.0 100 s 1 0.1 modules/navigator RC receiver type Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2, platforms/qurt/fc_addon/rc_receiver RC channel 10 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 10 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 10 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 10 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 11 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 11 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 11 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 11 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 12 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 12 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 12 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 12 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 13 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 13 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 13 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 13 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 14 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 14 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 14 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 14 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 15 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 15 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 15 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 15 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 16 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 16 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 16 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 16 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 17 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 17 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 17 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 17 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 18 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 18 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 18 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 18 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 1 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us modules/sensors RC channel 1 maximum Maximum value for RC channel 1 1500.0 2200.0 us modules/sensors RC channel 1 minimum Minimum value for RC channel 1 800.0 1500.0 us modules/sensors RC channel 1 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors Reverse Normal RC channel 1 trim Mid point value (same as min for throttle) 800.0 2200.0 us modules/sensors RC channel 2 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us modules/sensors RC channel 2 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 2 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 2 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 3 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us modules/sensors RC channel 3 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 3 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 3 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 4 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us modules/sensors RC channel 4 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 4 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 4 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 5 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 5 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 5 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 5 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 6 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 6 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 6 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 6 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 7 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 7 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 7 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 7 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 8 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 8 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 8 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 8 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors RC channel 9 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 modules/sensors RC channel 9 maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC channel 9 minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors RC channel 9 reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors Cutoff frequency for the low pass filter on roll, pitch, yaw and throttle Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics. Set to 0 to disable the filter. 0 Hz modules/sensors Sample rate of the remote control values for the low pass filter on roll, pitch, yaw and throttle Has an influence on the cutoff frequency precision. 1.0 Hz modules/sensors AUX1 Passthrough RC channel Default function: Camera pitch 0 18 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 drivers/px4io 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 drivers/px4io Min input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 drivers/px4io Pitch trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander Roll trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander Yaw trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander 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 modules/sensors Threshold for the arm switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors Threshold for 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 modules/sensors 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 modules/sensors Threshold for the landing gear switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors 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 modules/sensors 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 modules/sensors Threshold for the manual switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors Acro switch channel 0 18 modules/sensors 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 0 18 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 Kill switch channel 0 18 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors Threshold for the stabilize switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors Threshold for the VTOL transition switch 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 modules/sensors 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 modules/navigator 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 modules/navigator 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 modules/navigator RTL altitude Altitude to fly back in RTL in meters 0 150 m 1 0.5 modules/navigator RTL land location Land at the home location or planned mission landing modules/navigator Home Position Planned Landing (Mission) 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 modules/fw_pos_control_l1/runway_takeoff Specifies which heading should be held during runnway takeoff 0: airframe heading, 1: heading towards takeoff waypoint 0 1 modules/fw_pos_control_l1/runway_takeoff 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 modules/fw_pos_control_l1/runway_takeoff 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 modules/fw_pos_control_l1/runway_takeoff Max throttle during runway takeoff. (Can be used to test taxi on runway) 0.0 1.0 norm 2 0.01 modules/fw_pos_control_l1/runway_takeoff 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 modules/fw_pos_control_l1/runway_takeoff 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 modules/fw_pos_control_l1/runway_takeoff Runway takeoff with landing gear modules/fw_pos_control_l1/runway_takeoff 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. 0 1000 true modules/logger Extended logging mode A value of -1 indicates the command line argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming). -1 1 modules/sdlog2 Command Line Disable Enable Use timestamps only if GPS 3D fix is available Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present. modules/sdlog2 Logging Mode Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1). 0 2 true modules/logger when armed until disarm (default) from boot until disarm from boot until shutdown Give logging app higher thread priority to avoid data loss. This is used for gathering replay logs for the ekf2 module A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. 0 3 modules/sdlog2 Low priority Default priority Medium priority Max priority Logging Topic Profile This is an integer bitmask controlling 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 in the following positions to enable: 0 : Set to true to use the default set (used for general log analysis) 1 : Set to true to enable full rate estimator (EKF2) replay topics 2 : Set to true to enable topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Set to true to enable topics for system identification (high rate actuator control and IMU data) 4 : Set to true to enable full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Set to true to enable debugging topics (debug_*.msg topics, for custom code) 6 : Set to true to enable topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data) 0 127 true modules/logger default set (log analysis) estimator replay (EKF2) thermal calibration system identification high rate debug sensor comparison Logging rate A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming). -1 250 Hz modules/sdlog2 UTC offset (unit: min) the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets -1000 1000 min modules/logger Log UUID If set to 1, add an ID to the log, which uniquely identifies the vehicle modules/logger Simulator Battery drain interval 1 86400 s 1 modules/simulator Simulator UDP port modules/simulator Accelerometer 0 enabled modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer Z-axis scaling factor modules/sensors Accelerometer 1 enabled modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer Z-axis scaling factor modules/sensors Accelerometer 2 enabled modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer Z-axis scaling factor modules/sensors Primary accel ID modules/sensors 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. modules/sensors 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 modules/sensors Airspeed sensor tube length See the CAL_AIR_CMODEL explanation on how this parameter should be set. 0.01 2.00 meter modules/sensors Primary baro ID modules/sensors Gyro 0 enabled modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset modules/sensors Gyro X-axis scaling factor modules/sensors Gyro Y-axis offset modules/sensors Gyro Y-axis scaling factor modules/sensors Gyro Z-axis offset modules/sensors Gyro Z-axis scaling factor modules/sensors Gyro 1 enabled modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset modules/sensors Gyro X-axis scaling factor modules/sensors Gyro Y-axis offset modules/sensors Gyro Y-axis scaling factor modules/sensors Gyro Z-axis offset modules/sensors Gyro Z-axis scaling factor modules/sensors Gyro 2 enabled modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset modules/sensors Gyro X-axis scaling factor modules/sensors Gyro Y-axis offset modules/sensors Gyro Y-axis scaling factor modules/sensors Gyro Z-axis offset modules/sensors Gyro Z-axis scaling factor modules/sensors Primary gyro ID modules/sensors Mag 0 enabled modules/sensors ID of Magnetometer the calibration is for modules/sensors 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 modules/sensors 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 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis offset modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis offset modules/sensors Magnetometer Z-axis scaling factor modules/sensors Mag 1 enabled modules/sensors ID of Magnetometer the calibration is for modules/sensors 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 modules/sensors 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 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis offset modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis offset modules/sensors Magnetometer Z-axis scaling factor modules/sensors Mag 2 enabled modules/sensors ID of Magnetometer the calibration is for modules/sensors 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 modules/sensors 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 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis offset modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis offset modules/sensors Magnetometer Z-axis scaling factor modules/sensors Mag 3 enabled modules/sensors ID of Magnetometer the calibration is for modules/sensors 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 modules/sensors 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 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis offset modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis offset modules/sensors Magnetometer Z-axis scaling factor modules/sensors Primary mag ID modules/sensors 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. modules/sensors Differential pressure sensor offset The offset (zero-reading) in Pascal modules/sensors Optical Flow minimum focus distance This parameter defines the minimum distance from ground required for the optical flow sensor to operate reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus. * modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors QNH for barometer 500 1500 hPa modules/sensors Board rotation This parameter defines the rotation of the FMU board relative to the platform. true modules/sensors 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 modules/sensors 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 modules/sensors 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 modules/sensors LeddarOne rangefinder true drivers/distance_sensor/leddar_one Lidar-Lite (LL40LS) 0 2 true drivers/distance_sensor/ll40ls Disabled PWM I2C Maxbotix Sonar (mb12xx) true drivers/distance_sensor/mb12xx Lightware laser rangefinder (serial) 0 4 true drivers/distance_sensor/sf0x Disabled SF02 SF10/a SF10/b SF10/c SF11/c Lightware SF1xx/SF20/LW20 laser rangefinder (i2c) 0 5 true drivers/distance_sensor/sf1xx Disabled SF10/a SF10/b SF10/c SF11/c SF/LW20 Benewake TFmini laser rangefinder true drivers/distance_sensor/tfmini Thermal control of sensor temperature modules/sensors Thermal control unavailable Thermal control off TeraRanger Rangefinder (i2c) 0 3 true drivers/distance_sensor/teraranger 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 modules/sensors No rotation Yaw 45° Yaw 90° Yaw 135° Yaw 180° Yaw 225° Yaw 270° Yaw 315° ESC UART baud rate Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products. platforms/qurt/fc_addon/uart_esc ESC model See esc_model_t enum definition in uart_esc_dev.h for all supported ESC model enum values. platforms/qurt/fc_addon/uart_esc ESC_200QX ESC_350QX ESC_210QC Motor 1 Mapping platforms/qurt/fc_addon/uart_esc Motor 2 Mapping platforms/qurt/fc_addon/uart_esc Motor 3 Mapping platforms/qurt/fc_addon/uart_esc Motor 4 Mapping platforms/qurt/fc_addon/uart_esc Interval of one subscriber in the example in ms ms examples/subscriber Float Demonstration Parameter in the Example examples/subscriber Operating address of the NRF51 (most significant byte) modules/syslink Operating address of the NRF51 (least significant 4 bytes) modules/syslink Operating channel of the NRF51 0 125 modules/syslink Operating datarate of the NRF51 0 2 modules/syslink RGB Led brightness limit Set to 0 to disable, 1 for minimum brightness up to 15 (max) 0 15 drivers/rgbled 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. 0 1 modules/systemlib Keep parameters Reset parameters Auto-start script index CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. 0 99999 true modules/systemlib Enable auto start of accelerometer thermal calibration at the next power up 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) 0 1 modules/systemlib Enable auto start of barometer thermal calibration at the next power up 0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the the temperature calibration starts. default (0, no calibration) 0 1 modules/systemlib 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 modules/systemlib Required temperature rise during thermal calibration A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit. 10 deg C modules/systemlib Maximum starting temperature for thermal calibration Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX. deg C modules/systemlib Minimum starting temperature for thermal calibration Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN. deg C modules/systemlib TELEM2 as companion computer link CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the TELEM2 connector as companion computer interface. 0 1921600 true modules/systemlib 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) Iridium Telemetry (19200 baud, 8N1) Minimal Telemetry (19200 baud, 8N1) Minimal Telemetry (38400 baud, 8N1) Minimal Telemetry (57600 baud, 8N1) Companion Link (921600 baud, 8N1) ESP8266 (921600 baud, 8N1) Normal 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 drivers/px4fmu 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 modules/systemlib 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 modules/systemlib Enable HITL mode on next boot While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors. true modules/systemlib SD logger 0 1 true modules/systemlib sdlog2 (legacy) logger (default) Set multicopter estimator group Set the group of estimators used for multicopters and VTOLs 1 2 true modules/systemlib local_position_estimator, attitude_estimator_q ekf2 Parameter version This monotonically increasing number encodes the parameter compatibility set. whenever it increases parameters might not be backwards compatible and ground control stations should suggest a fresh configuration. 0 modules/systemlib Set restart type Set by px4io to indicate type of restart 0 2 modules/systemlib Data survives resets Data survives in-flight resets only Data does not survive reset Enable stack checking modules/systemlib 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 drivers/px4io TEST_1 systemcmds/tests TEST_2 systemcmds/tests TEST_3 systemcmds/tests TEST_D lib/controllib/controllib_test TEST_DEV lib/controllib/controllib_test TEST_D_LP lib/controllib/controllib_test TEST_HP lib/controllib/controllib_test TEST_I lib/controllib/controllib_test TEST_I_MAX lib/controllib/controllib_test TEST_LP lib/controllib/controllib_test TEST_MAX lib/controllib/controllib_test TEST_MEAN lib/controllib/controllib_test TEST_MIN lib/controllib/controllib_test TEST_P lib/controllib/controllib_test TEST_PARAMS systemcmds/tests TEST_RC2_X systemcmds/tests TEST_RC_X systemcmds/tests TEST_TRIM lib/controllib/controllib_test ID of Accelerometer that the calibration is for modules/sensors Accelerometer scale factor - X axis modules/sensors Accelerometer scale factor - Y axis modules/sensors Accelerometer scale factor - Z axis modules/sensors Accelerometer calibration maximum temperature modules/sensors Accelerometer calibration minimum temperature modules/sensors Accelerometer calibration reference temperature modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors ID of Accelerometer that the calibration is for modules/sensors Accelerometer scale factor - X axis modules/sensors Accelerometer scale factor - Y axis modules/sensors Accelerometer scale factor - Z axis modules/sensors Accelerometer calibration maximum temperature modules/sensors Accelerometer calibration minimum temperature modules/sensors Accelerometer calibration reference temperature modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors ID of Accelerometer that the calibration is for modules/sensors Accelerometer scale factor - X axis modules/sensors Accelerometer scale factor - Y axis modules/sensors Accelerometer scale factor - Z axis modules/sensors Accelerometer calibration maximum temperature modules/sensors Accelerometer calibration minimum temperature modules/sensors Accelerometer calibration reference temperature modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^0 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^1 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^2 polynomial coefficient - Z axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - X axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Y axis modules/sensors Accelerometer offset temperature ^3 polynomial coefficient - Z axis modules/sensors Thermal compensation for accelerometer sensors 0 1 modules/sensors ID of Barometer that the calibration is for modules/sensors Barometer scale factor - X axis modules/sensors Barometer calibration maximum temperature modules/sensors Barometer calibration minimum temperature modules/sensors Barometer calibration reference temperature modules/sensors Barometer offset temperature ^0 polynomial coefficient modules/sensors Barometer offset temperature ^1 polynomial coefficients modules/sensors Barometer offset temperature ^2 polynomial coefficient modules/sensors Barometer offset temperature ^3 polynomial coefficient modules/sensors Barometer offset temperature ^4 polynomial coefficient modules/sensors Barometer offset temperature ^5 polynomial coefficient modules/sensors ID of Barometer that the calibration is for modules/sensors Barometer scale factor - X axis modules/sensors Barometer calibration maximum temperature modules/sensors Barometer calibration minimum temperature modules/sensors Barometer calibration reference temperature modules/sensors Barometer offset temperature ^0 polynomial coefficient modules/sensors Barometer offset temperature ^1 polynomial coefficients modules/sensors Barometer offset temperature ^2 polynomial coefficient modules/sensors Barometer offset temperature ^3 polynomial coefficient modules/sensors Barometer offset temperature ^4 polynomial coefficient modules/sensors Barometer offset temperature ^5 polynomial coefficient modules/sensors ID of Barometer that the calibration is for modules/sensors Barometer scale factor - X axis modules/sensors Barometer calibration maximum temperature modules/sensors Barometer calibration minimum temperature modules/sensors Barometer calibration reference temperature modules/sensors Barometer offset temperature ^0 polynomial coefficient modules/sensors Barometer offset temperature ^1 polynomial coefficients modules/sensors Barometer offset temperature ^2 polynomial coefficient modules/sensors Barometer offset temperature ^3 polynomial coefficient modules/sensors Barometer offset temperature ^4 polynomial coefficient modules/sensors Barometer offset temperature ^5 polynomial coefficient modules/sensors Thermal compensation for barometric pressure sensors 0 1 modules/sensors ID of Gyro that the calibration is for modules/sensors Gyro scale factor - X axis modules/sensors Gyro scale factor - Y axis modules/sensors Gyro scale factor - Z axis modules/sensors Gyro calibration maximum temperature modules/sensors Gyro calibration minimum temperature modules/sensors Gyro calibration reference temperature modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors ID of Gyro that the calibration is for modules/sensors Gyro scale factor - X axis modules/sensors Gyro scale factor - Y axis modules/sensors Gyro scale factor - Z axis modules/sensors Gyro calibration maximum temperature modules/sensors Gyro calibration minimum temperature modules/sensors Gyro calibration reference temperature modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors ID of Gyro that the calibration is for modules/sensors Gyro scale factor - X axis modules/sensors Gyro scale factor - Y axis modules/sensors Gyro scale factor - Z axis modules/sensors Gyro calibration maximum temperature modules/sensors Gyro calibration minimum temperature modules/sensors Gyro calibration reference temperature modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors Thermal compensation for rate gyro sensors 0 1 modules/sensors UAVCAN CAN bus bitrate 20000 1000000 modules/uavcannode UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 modules/uavcannode UAVCAN CAN bus bitrate 20000 1000000 modules/uavcanesc UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 modules/uavcanesc UAVCAN CAN bus bitrate 20000 1000000 bit/s true modules/uavcan 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 modules/uavcan 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 modules/uavcan UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 true modules/uavcan 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 modules/vtol_att_control Transition airspeed Airspeed at which we can switch to fw mode 0.00 30.00 m/s 2 1 modules/vtol_att_control 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 modules/vtol_att_control 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 modules/vtol_att_control 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 modules/vtol_att_control Duration of a back transition Time in seconds used for a back transition 0.00 20.00 s 2 1 modules/vtol_att_control Back transition MC motor ramp up time This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage. 0.0 20.0 s modules/vtol_att_control 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 modules/vtol_att_control Maximum allowed down-pitch the controller is able to demand. This prevents large, negative lift values being created when facing strong winds. The vehicle will use the pusher motor to accelerate forward if necessary 0.0 45.0 modules/vtol_att_control Lock elevons in multicopter mode If set to 1 the elevons are locked in multicopter mode modules/vtol_att_control Fixed wing thrust scale for hover forward flight Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. 0.0 2.0 modules/vtol_att_control 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 modules/vtol_att_control Differential thrust in forwards flight Set to 1 to enable differential thrust in fixed-wing flight. 0 1 0 modules/vtol_att_control Differential thrust scaling factor This factor specifies how the yaw input gets mapped to differential thrust in forwards flight. 0.0 1.0 2 0.1 modules/vtol_att_control 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 modules/vtol_att_control The channel number of motors that must be turned off in fixed wing mode 0 12345678 0 1 modules/vtol_att_control 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. modules/vtol_att_control 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 modules/vtol_att_control 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 modules/vtol_att_control Duration of a front transition Time in seconds used for a transition 0.00 20.00 s 2 1 modules/vtol_att_control Target throttle value for the transition to fixed wing flight. standard vtol: pusher tailsitter, tiltrotor: main throttle 0.0 1.0 3 0.01 modules/vtol_att_control Airspeed less front transition time (open loop) The duration of the front transition when there is no airspeed feedback available. 1.0 30.0 seconds modules/vtol_att_control Idle speed of VTOL when in multicopter mode 900 2000 us 0 1 modules/vtol_att_control VTOL number of engines 0 8 0 1 modules/vtol_att_control 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 modules/vtol_att_control Position of tilt servo in fw mode 0.0 1.0 3 0.01 modules/vtol_att_control Position of tilt servo in mc mode 0.0 1.0 3 0.01 modules/vtol_att_control Position of tilt servo in transition mode 0.0 1.0 3 0.01 modules/vtol_att_control Front transition minimum time Minimum time in seconds for front transition. 0.0 20.0 s modules/vtol_att_control Duration of front transition phase 2 Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. 0.1 5.0 s 3 0.01 modules/vtol_att_control Front transition timeout Time in seconds after which transition will be cancelled. Disabled if set to 0. 0.00 30.00 s 2 1 modules/vtol_att_control VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) 0 2 0 modules/vtol_att_control Tailsitter Tiltrotor Standard Weather-vane yaw rate scale The desired yawrate from the controller will be scaled in order to avoid yaw fighting against the wind. 0.0 1.0 3 0.01 modules/vtol_att_control Gate size for true sideslip fusion Sets the number of standard deviations used by the innovation consistency test. 1 5 SD modules/wind_estimator Wind estimator sideslip measurement noise 0 1 rad modules/wind_estimator Wind estimator true airspeed scale process noise 0 0.1 modules/wind_estimator Gate size for true airspeed fusion Sets the number of standard deviations used by the innovation consistency test. 1 5 SD modules/wind_estimator Wind estimator true airspeed measurement noise 0 4 m/s modules/wind_estimator Wind estimator wind process noise 0 1 m/s/s modules/wind_estimator EXFW_HDNG_P examples/fixedwing_control EXFW_PITCH_P examples/fixedwing_control EXFW_ROLL_P examples/fixedwing_control RV_YAW_P examples/rover_steering_control SEG_Q2V examples/segway SEG_TH2V_I examples/segway SEG_TH2V_I_MAX examples/segway SEG_TH2V_P examples/segway