3 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 100000 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 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 Body angular rate process noise Body angular acceleration process noise Acceleration process noise Magnet field vector process noise Gyro measurement noise Accel measurement noise Mag measurement noise Moment of inertia matrix diagonal entry (1, 1) kg*m^2 Moment of inertia matrix diagonal entry (2, 2) kg*m^2 Moment of inertia matrix diagonal entry (3, 3) kg*m^2 Moment of inertia enabled in estimator If set to != 0 the moment of inertia will be used in the estimator 0 1 Complimentary filter accelerometer weight 0 1 2 Complimentary filter magnetometer weight 0 1 2 Complimentary filter external heading weight 0 1 Complimentary filter gyroscope bias weight 0 1 2 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. degrees 2 Enable automatic GPS based declination compensation 0 1 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 Enable acceleration compensation based on GPS velocity 1 2 Gyro bias limit 0 2 rad/s 3 Threshold (of RMS) to warn about high vibration levels 0.01 10 2 Empty cell voltage Defines the voltage where a single cell of the battery is considered empty. V Full cell voltage Defines the voltage where a single cell of the battery is considered full. V Voltage drop per cell on 100% load This implicitely defines the internal resistance to maximum current ratio and assumes linearity. 0.0 V Number of cells Defines the number of cells the attached battery consists of. 1 10 S Battery capacity Defines the capacity of the attached battery. mA Scaling factor for battery voltage sensor on PX4IO 1 100000 Scaling factor for battery voltage sensor on FMU v2 Scaling factor for battery current sensor Camera trigger interval This parameter sets the time between two consecutive trigger events 4.0 10000.0 milliseconds Camera trigger polarity This parameter sets the polarity of the trigger (0 = ACTIVE_LOW, 1 = ACTIVE_HIGH ) 0 1 Camera trigger activation time This parameter sets the time the trigger needs to pulled high or low. milliseconds Camera trigger mode 0 disables the trigger, 1 sets it to enabled on command, 2 always on 0 2 Camera trigger pin Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6) 1 123456 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 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 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 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 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 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 enine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 284953 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 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 Datalink loss mode enabled Set to 1 to enable actions triggered when the datalink is lost. 0 1 Datalink loss time threshold After this amount of seconds without datalink the data link lost mode triggers 0 30 second 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 30 second Engine Failure Throttle Threshold Engine failure triggers only above this throttle value 0.0 1.0 Engine Failure Current/Throttle Threshold Engine failure triggers only below this current value 0.0 30.0 ampere 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 second RC loss time threshold After this amount of seconds without RC connection the rc lost flag is set to true 0 35 second Home set horizontal threshold The home position will be set if the estimated positioning accuracy is below the threshold. 2 15 meter Home set vertical threshold The home position will be set if the estimated positioning accuracy is below the threshold. 5 25 meter Autosaving of params If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off. 0 1 RC control input mode The default value of 0 requires a valid RC transmitter setup. Setting this to 1 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 Time-out for auto disarm after landing A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A value of zero means that automatic disarming is disabled. 0 Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint 0.0 seconds Comms hold Lat Latitude of comms hold waypoint -900000000 900000000 degrees * 1e7 Comms hold Lon Longitude of comms hold waypoint -1800000000 1800000000 degrees * 1e7 Comms hold alt Altitude of comms hold waypoint -50 30000 m Airfield hole wait time The amount of time in seconds the system should wait at the airfield home waypoint 0.0 seconds Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly 0 1000 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 0 1 Airfield home Lat Latitude of airfield home waypoint -900000000 900000000 degrees * 1e7 Airfield home Lon Longitude of airfield home waypoint -1800000000 1800000000 degrees * 1e7 Airfield home alt Altitude of airfield home waypoint -50 m Attitude Time Constant This defines the latency between a 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 seconds 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 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 Maximum positive / up pitch rate This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 90.0 deg/s Maximum negative / down pitch rate This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 90.0 deg/s Pitch rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value 0.0 1.0 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 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 Roll Integrator Anti-Windup The portion of the integrator part in the control surface deflection is limited to this value. 0.0 1.0 Maximum Roll Rate This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 90.0 deg/s 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 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 Yaw rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value 0.0 1.0 Maximum Yaw Rate This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 90.0 deg/s 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 Pitch rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 Yaw rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 10.0 Minimal speed for yaw coordination For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. m/s Method used for yaw coordination The param value sets the method used to calculate the yaw rate 0: open-loop zero lateral acceleration based on kinematic constraints 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration 0 1 m/s Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. 0.0 40 m/s Trim Airspeed The TECS controller tries to fly at this airspeed. 0.0 40 m/s Maximum Airspeed If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively. 0.0 40 m/s 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 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 Max Manual Roll Max roll for manual control in attitude stabilized mode 0.0 90.0 deg Max Manual Pitch Max pitch for manual control in attitude stabilized mode 0.0 90.0 deg 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. 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. 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. 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. 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. 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. Maximum vertical acceleration This is the maximum vertical acceleration (in metres/second square) 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. 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. 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 arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. 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. 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). 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. Height rate P factor Height rate FF factor Speed rate P factor Loiter time The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination. 0.0 seconds Open loop loiter roll Roll in degrees during the open loop loiter 0.0 30.0 deg Open loop loiter pitch Pitch in degrees during the open loop loiter -30.0 30.0 deg Open loop loiter thrust Thrust value which is set during the open loop loiter 0.0 1.0 Geofence violation action 0 = none, 1 = warning (default), 2 = loiter, 3 = return to launch, 4 = fight termination 0 4 Geofence altitude mode Select which altitude reference should be used 0 = WGS84, 1 = AMSL 0 1 Geofence source Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS 0 1 Geofence counter limit Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered -1 10 Max horizontal distance in meters Set to > 0 to activate a geofence action if horizontal distance to home exceeds this value. Max vertical distance in meters Set to > 0 to activate a geofence action if vertical distance to home exceeds this value. L1 period This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. 1.0 100.0 L1 damping Damping factor for L1 control. 0.6 0.9 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 Throttle max slew rate Maximum slew rate for the commanded throttle 0.0 1.0 Negative pitch limit The minimum negative pitch the controller will output. -60.0 0.0 degrees Positive pitch limit The maximum positive pitch the controller will output. 0.0 60.0 degrees Controller roll limit The maximum roll the controller will output. 35.0 65.0 degrees 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. 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 Throttle limit value before flare This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare. 0.0 1.0 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 zero to disable climbout mode (not recommended). 0.0 150.0 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. 2.0 10.0 Landing slope angle FW_LND_HVIRT Landing flare altitude (relative to landing altitude) meter Landing throttle limit altitude (relative landing altitude) Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude. meter Landing heading hold horizontal distance Enable or disable usage of terrain estimate during landing 0: disabled, 1: enabled Multicopter max climb rate Maximum vertical velocity allowed in the landed state (m/s up and down) m/s Multicopter max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) m/s Multicopter max rotation Maximum allowed around each axis allowed in the landed state (degrees per second) deg/s Multicopter max throttle Maximum actuator output on throttle allowed in the landed state 0.1 0.5 Fixedwing max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) 0.5 10 m/s Fixedwing max climb rate Maximum vertical velocity allowed in the landed state (m/s up and down) 5 20 m/s Airspeed max Maximum airspeed allowed in the landed state (m/s) 4 20 m/s Enable launch detection 0 1 Catapult accelerometer theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. 0 Catapult time theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. 0 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 LAUN_THR_PRE, set to 0 to deactivate 0 seconds 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 45 deg Throttle setting while detecting launch The throttle is set to this value while the system is waiting for the take-off. 0 1 Enable local position estimator Enable accelerometer integration for prediction Optical flow xy standard deviation 0.01 1 m Sonar z standard deviation 0.01 1 m Lidar z standard deviation 0.01 1 m Accelerometer xy standard deviation Data sheet sqrt(Noise power) = 150ug/sqrt(Hz) std dev = (150*9.8*1e-6)*sqrt(1000 Hz) m/s^2 Since accels sampled at 1000 Hz. should be 0.0464 0.00001 2 m/s^2 Accelerometer z standard deviation (see Accel x comments) 0.00001 2 m/s^2 Barometric presssure altitude z standard deviation 0.01 3 m GPS xy standard deviation 0.01 5 m GPS z standard deviation 0.01 20 m GPS xy velocity standard deviation 0.01 2 m/s GPS z velocity standard deviation 0.01 2 m/s GPS max eph 1.0 5.0 m Vision xy standard deviation 0.01 1 m Vision z standard deviation 0.01 2 m Circuit breaker to disable vision input Set to the appropriate key (328754) to disable vision input. 0 1 Vicon position standard deviation 0.01 1 m Position propagation process noise power (variance*sampling rate) 0 1 (m/s^2)-s Velocity propagation process noise power (variance*sampling rate) 0 5 (m/s)-s Accel bias propagation process noise power (variance*sampling rate) 0 1 (m/s)-s Fault detection threshold, for chi-squared dist TODO add separate params for 1 dof, 3 dof, and 6 dof beta or false alarm rate in false alarms/hr 3 1000 MAVLink system ID 1 250 MAVLink component ID 1 250 MAVLink Radio ID When non-zero the MAVLink app will attempt to configure the radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. -1 240 MAVLink airframe type 1 Use/Accept HIL GPS message even if not in HIL mode If set to 1 incoming HIL GPS messages are parsed. Forward external setpoint messages If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode Test parameter This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level. -1000 1000 Enables testmode (Identify) of MKBLCTRL Driver Take-off altitude Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to MIS_TAKEOFF_ALT on takeoff, then go to waypoint. meters Enable persistent onboard mission storage When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. 0 1 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 current position. 0 1000 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 Multirotor only. Yaw setpoint mode 0: Set the yaw heading to the yaw value specified for the destination waypoint. 1: Maintain a yaw heading pointing towards the next waypoint. 2: Maintain a yaw heading that always points to the home location. 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). The values are defined in the enum mission_altitude_mode 0 3 Loiter radius (FW only) Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). 25 1000 meter Acceptance Radius Default acceptance radius, overridden by acceptance radius of waypoint if set. 0.05 200.0 meter Set OBC mode for data link loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules 0 1 Set OBC mode for rc loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules 0 1 Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 Roll rate feedforward Improves tracking performance. 0.0 Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 Pitch rate feedforward Improves tracking performance. 0.0 Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 Yaw rate feedforward Improves tracking performance. 0.0 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 Max roll rate Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 360.0 deg/s Max pitch rate Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 360.0 deg/s Max yaw rate Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to mixer saturation. 0.0 360.0 deg/s Max acro roll rate 0.0 360.0 deg/s Max acro pitch rate 0.0 360.0 deg/s Max acro yaw rate 0.0 deg/s 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 Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 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 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 Max yaw rate Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 360.0 deg/s Max acro roll rate 0.0 360.0 deg/s Max acro pitch rate 0.0 360.0 deg/s Max acro yaw rate 0.0 deg/s Max manual roll 0.0 90.0 deg Max manual pitch 0.0 90.0 deg Max manual yaw rate 0.0 deg/s Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. 0.05 1.0 Maximum thrust in auto thrust control Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. 0.0 0.95 Minimum manual thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 1.0 Maximum manual thrust Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended. 0.0 1.0 Proportional gain for vertical position error 0.0 Proportional gain for vertical velocity error 0.0 Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 Differential gain for vertical velocity error 0.0 Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). 0.0 8.0 m/s Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 Proportional gain for horizontal position error 0.0 Proportional gain for horizontal velocity error 0.0 Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 m/s Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. 0.0 90.0 degree Maximum tilt during landing Limits maximum tilt angle on landing. 0.0 90.0 degree Landing descend rate 0.0 m/s Max manual roll 0.0 90.0 degree Max manual pitch 0.0 90.0 degree Max manual yaw rate 0.0 degree / s Deadzone of X,Y sticks where position hold is enabled 0.0 1.0 % Deadzone of Z stick where altitude hold is enabled 0.0 1.0 % Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s Maximum vertical velocity for which position hold is enabled (use 0 to disable check) 0.0 m/s Low pass filter cut freq. for numerical velocity derivative 0.0 Hz Minimum thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 1.0 Maximum thrust Limit max allowed thrust. 0.0 1.0 Proportional gain for vertical position error 0.0 Proportional gain for vertical velocity error 0.0 Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 Differential gain for vertical velocity error 0.0 Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 m/s Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 Proportional gain for horizontal position error 0.0 Proportional gain for horizontal velocity error 0.0 Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 m/s Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. 0.0 90.0 deg Maximum tilt during landing Limits maximum tilt angle on landing. 0.0 90.0 deg Landing descend rate 0.0 m/s Invert direction of aux output channel 1 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of aux output channel 2 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of aux output channel 3 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of aux output channel 4 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of aux output channel 5 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of aux output channel 6 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 1 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 2 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 3 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 4 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 5 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 6 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 7 Set to 1 to invert the channel, 0 for default direction. 0 1 Invert direction of main output channel 8 Set to 1 to invert the channel, 0 for default direction. 0 1 Enable S.BUS out Set to 1 to enable S.BUS version 1 output instead of RSSI. 0 1 Set the minimum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel. 800 1400 microseconds Set the maximum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel. 1600 2200 microseconds Set the disarmed PWM for MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 microseconds Set the minimum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel 800 1400 microseconds Set the maximum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel 1600 2200 microseconds Set the disarmed PWM for AUX outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 microseconds 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 unknown 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 meter 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 meter 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 meter Payload mass A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg 0.001 5.0 kilogram 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 Velocity estimate delay The delay in milliseconds of the velocity estimate from GPS. 0 1000 Position estimate delay The delay in milliseconds of the position estimate from GPS. 0 1000 Height estimate delay The delay in milliseconds of the height estimate from the barometer. 0 1000 Mag estimate delay The delay in milliseconds of the magnetic field estimate from the magnetometer. 0 1000 True airspeeed estimate delay The delay in milliseconds of the airspeed estimate. 0 1000 GPS vs. barometric altitude update weight RE-CHECK this. 0.0 1.0 Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. 0.5 5.0 Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 0.05 5.0 Velocity noise in down (vertical) direction Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 0.2 3.0 Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 0.1 10.0 Position noise in down (vertical) direction Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 0.5 3.0 Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 0.01 1.0 Gyro process noise Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more. 0.001 0.05 Accelerometer process noise Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. 0.05 1.0 Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. 0.00000005 0.00001 Accelerometer bias estimate process noise Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. 0.00001 0.001 Magnetometer earth frame offsets process noise Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. 0.0001 0.01 Magnetometer body frame offsets process noise Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier. 0.0001 0.01 Magnetometer X bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 Magnetometer Y bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 Magnetometer Z bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 0.3 10.0 Z axis weight for barometer Weight (cutoff frequency) for barometer altitude measurements. 0.0 10.0 Z axis weight for GPS Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. 0.0 10.0 Z velocity weight for GPS Weight (cutoff frequency) for GPS altitude velocity measurements. 0.0 10.0 Z axis weight for 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 Z axis weight for lidar Weight (cutoff frequency) for lidar measurements. 0.0 10.0 XY axis weight for GPS position Weight (cutoff frequency) for GPS position measurements. 0.0 10.0 XY axis weight for GPS velocity Weight (cutoff frequency) for GPS velocity measurements. 0.0 10.0 XY axis weight for vision position Weight (cutoff frequency) for vision position measurements. 0.0 10.0 XY axis weight for vision velocity Weight (cutoff frequency) for vision velocity measurements. 0.0 10.0 Weight for mocap system Weight (cutoff frequency) for mocap position measurements. 0.0 10.0 XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. 0.0 30.0 XY axis weight for resetting velocity When velocity sources lost slowly decrease estimated horizontal velocity with this weight. 0.0 10.0 XY axis weight 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 Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. 0.0 0.1 Optical flow scale factor Factor to convert raw optical flow (in pixels) to radians [rad/px]. 0.0 1.0 rad/px Minimal acceptable optical flow quality 0 - lowest quality, 1 - best quality. 0.0 1.0 Weight for lidar filter Lidar filter detects spikes on lidar measurements and used to detect new surface level. 0.0 1.0 Sonar maximal error for new surface If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). 0.0 1.0 m Land detector time Vehicle assumed landed if no altitude changes happened during this time on low throttle. 0.0 10.0 s Land detector altitude dispersion threshold Dispersion threshold for triggering land detector. 0.0 10.0 m Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. 0.0 1.0 GPS delay GPS delay compensation 0.0 1.0 s Flow module offset (center of rotation) in X direction Yaw X flow compensation -1.0 1.0 m Flow module offset (center of rotation) in Y direction Yaw Y flow compensation -1.0 1.0 m Disable vision input Set to the appropriate key (328754) to disable vision input. 0 1 INAV enabled If set to 1, use INAV for position estimation. Else the system uses the combined attitude / position filter framework. 0 1 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 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 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 RC Channel 1 Minimum Minimum value for RC channel 1 800.0 1500.0 us RC Channel 1 Trim Mid point value (same as min for throttle) 800.0 2200.0 us RC Channel 1 Maximum Maximum value for RC channel 1 1500.0 2200.0 us RC Channel 1 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 1 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us RC Channel 2 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 2 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 2 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 2 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 2 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us RC Channel 3 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 3 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 3 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 3 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 3 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us RC Channel 4 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 4 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 4 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 4 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 4 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 us RC Channel 5 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 5 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 5 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 5 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 5 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 6 Minimum Minimum value for this channel. 800.0 1500.0 RC Channel 6 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 6 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 6 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 6 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 7 Minimum Minimum value for this channel. 800.0 1500.0 RC Channel 7 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 7 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 7 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 7 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 8 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 8 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 8 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 8 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 8 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 9 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 9 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 9 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 9 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 9 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 10 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 10 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 10 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 10 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 10 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 11 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 11 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 11 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 11 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 11 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 12 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 12 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 12 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 12 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 12 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 13 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 13 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 13 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 13 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 13 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 14 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 14 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 14 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 14 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 14 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 15 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 15 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 15 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 15 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 15 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 16 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 16 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 16 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 16 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 16 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 17 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 17 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 17 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 17 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 17 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 RC Channel 18 Minimum Minimum value for this channel. 800.0 1500.0 us RC Channel 18 Trim Mid point value (has to be set to the same as min for throttle channel). 800.0 2200.0 us RC Channel 18 Maximum Maximum value for this channel. 1500.0 2200.0 us RC Channel 18 Reverse Set to -1 to reverse channel. -1.0 1.0 RC Channel 18 dead zone The +- range of this value around the trim value will be considered as zero. 0.0 100.0 Enable relay control of relay 1 mapped to the Spektrum receiver power supply 0 1 DSM binding trigger -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind 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 RC mode switch threshold automaic distribution This parameter is used by Ground Station software to specify whether the threshold values for flight mode switches were automatically calculated. 0 indicates that the threshold values were set by the user. Any other value indicates that the threshold value where automatically set by the ground station software. It is only meant for ground station use. 0 1 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 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 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 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 Auxiliary switch 1 channel mapping Default function: Camera pitch 0 18 Auxiliary switch 2 channel mapping Default function: Camera roll 0 18 Auxiliary switch 3 channel mapping Default function: Camera azimuth / yaw 0 18 Channel which changes a parameter 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 Channel which changes a parameter 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 Channel which changes a parameter 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 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 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 Max input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 Min input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 Loiter Time The amount of time in seconds the system should loiter at current position before termination Set to -1 to make the system skip loitering -1.0 seconds 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 Return switch channel mapping 0 18 Rattitude switch channel mapping 0 18 Posctl switch channel mapping 0 18 Loiter switch channel mapping 0 18 Acro switch channel mapping 0 18 Offboard switch channel mapping 0 18 Flaps channel mapping 0 18 Threshold for selecting assist mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting auto mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting rattitude mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting posctl mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting return to launch mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting loiter mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for selecting acro mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -1 1 Threshold for 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 RTL altitude Altitude to fly back in RTL in meters 0 150 meters RTL 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 meters RTL delay Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at NAV_LAND_ALT. -1 300 seconds 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). -1 100 Enable extended logging mode A value of -1 indicates the commandline 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 Use timestamps only if GPS 3D fix is available A value of 1 constrains the log folder creation to only use the time stamp if a 3D GPS lock is present. 0 1 ID of the board this parameter set was calibrated on ID of the Gyro that the calibration is for Gyro X-axis offset -10.0 10.0 Gyro Y-axis offset -10.0 10.0 Gyro Z-axis offset -5.0 5.0 Gyro X-axis scaling factor -1.5 1.5 Gyro Y-axis scaling factor -1.5 1.5 Gyro Z-axis scaling factor -1.5 1.5 ID of Magnetometer the calibration is for Rotation of magnetometer 0 relative to airframe An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 Magnetometer X-axis offset -500.0 500.0 Magnetometer Y-axis offset -500.0 500.0 Magnetometer Z-axis offset -500.0 500.0 Magnetometer X-axis scaling factor Magnetometer Y-axis scaling factor Magnetometer Z-axis scaling factor ID of the Accelerometer that the calibration is for Accelerometer X-axis offset Accelerometer Y-axis offset Accelerometer Z-axis offset Accelerometer X-axis scaling factor Accelerometer Y-axis scaling factor Accelerometer Z-axis scaling factor ID of the Gyro that the calibration is for Gyro X-axis offset -10.0 10.0 Gyro Y-axis offset -10.0 10.0 Gyro Z-axis offset -5.0 5.0 Gyro X-axis scaling factor -1.5 1.5 Gyro Y-axis scaling factor -1.5 1.5 Gyro Z-axis scaling factor -1.5 1.5 ID of Magnetometer the calibration is for Rotation of magnetometer 1 relative to airframe An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 Magnetometer X-axis offset -500.0 500.0 Magnetometer Y-axis offset -500.0 500.0 Magnetometer Z-axis offset -500.0 500.0 Magnetometer X-axis scaling factor Magnetometer Y-axis scaling factor Magnetometer Z-axis scaling factor ID of the Accelerometer that the calibration is for Accelerometer X-axis offset Accelerometer Y-axis offset Accelerometer Z-axis offset Accelerometer X-axis scaling factor Accelerometer Y-axis scaling factor Accelerometer Z-axis scaling factor ID of the Gyro that the calibration is for Gyro X-axis offset -10.0 10.0 Gyro Y-axis offset -10.0 10.0 Gyro Z-axis offset -5.0 5.0 Gyro X-axis scaling factor -1.5 1.5 Gyro Y-axis scaling factor -1.5 1.5 Gyro Z-axis scaling factor -1.5 1.5 ID of Magnetometer the calibration is for Rotation of magnetometer 2 relative to airframe An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. -1 30 Magnetometer X-axis offset -500.0 500.0 Magnetometer Y-axis offset -500.0 500.0 Magnetometer Z-axis offset -500.0 500.0 Magnetometer X-axis scaling factor Magnetometer Y-axis scaling factor Magnetometer Z-axis scaling factor ID of the Accelerometer that the calibration is for Accelerometer X-axis offset Accelerometer Y-axis offset Accelerometer Z-axis offset Accelerometer X-axis scaling factor Accelerometer Y-axis scaling factor Accelerometer Z-axis scaling factor Primary accel ID Primary gyro ID Primary mag ID Primary baro ID Differential pressure sensor offset The offset (zero-reading) in Pascal 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. QNH for barometer 500 1500 hPa Board rotation This parameter defines the rotation of the FMU board relative to the platform. Possible values are: 0 = No rotation 1 = Yaw 45° 2 = Yaw 90° 3 = Yaw 135° 4 = Yaw 180° 5 = Yaw 225° 6 = Yaw 270° 7 = Yaw 315° 8 = Roll 180° 9 = Roll 180°, Yaw 45° 10 = Roll 180°, Yaw 90° 11 = Roll 180°, Yaw 135° 12 = Pitch 180° 13 = Roll 180°, Yaw 225° 14 = Roll 180°, Yaw 270° 15 = Roll 180°, Yaw 315° 16 = Roll 90° 17 = Roll 90°, Yaw 45° 18 = Roll 90°, Yaw 90° 19 = Roll 90°, Yaw 135° 20 = Roll 270° 21 = Roll 270°, Yaw 45° 22 = Roll 270°, Yaw 90° 23 = Roll 270°, Yaw 135° 24 = Pitch 90° 25 = Pitch 270° PX4Flow board rotation This parameter defines the rotation of the PX4FLOW board relative to the platform. Zero rotation is defined as Y on flow board pointing towards front of vehicle Possible values are: 0 = No rotation 1 = Yaw 45° 2 = Yaw 90° 3 = Yaw 135° 4 = Yaw 180° 5 = Yaw 225° 6 = Yaw 270° 7 = Yaw 315° 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. degrees 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. degrees 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. degrees External magnetometer rotation This parameter defines the rotation of the external magnetometer relative to the platform (not relative to the FMU). See SENS_BOARD_ROT for possible values. Set usage of external magnetometer * Set to 0 (default) to auto-detect (will try to get the external as primary) * Set to 1 to force the external magnetometer as primary * Set to 2 to force the internal magnetometer as primary 0 2 Enable Lidar-Lite (LL40LS) pwm driver 0 1 Interval of one subscriber in the example in ms Float Demonstration Parameter in the Example Auto-start script index CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. 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 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 Set restart type Set by px4io to indicate type of restart 0 2 Companion computer interface CHANGING THIS VALUE REQUIRES A RESTART. Configures the baud rate of the companion computer interface. Set to zero to disable, set to these values to enable (NO OTHER VALUES SUPPORTED!) 921600: enables onboard mode at 921600 baud, 8N1. 57600: enables onboard mode at 57600 baud, 8N1. 157600: enables OSD mode at 57600 baud, 8N1. 0 921600 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 Enable UAVCAN Allowed values: 0 - UAVCAN disabled. 1 - Enabled support for UAVCAN actuators and sensors. 2 - Enabled support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update. 0 3 UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 UAVCAN CAN bus bitrate 20000 1000000 Target throttle value for pusher/puller motor during the transition to fw mode 0.0 1.0 Position of tilt servo in mc mode Position of tilt servo in mc mode 0.0 1 Position of tilt servo in transition mode Position of tilt servo in transition mode 0.0 1 Position of tilt servo in fw mode Position of tilt servo in fw mode 0.0 1 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 2 The channel number of motors that must be turned off in fixed wing mode 0 123456 VTOL number of engines 0 Idle speed of VTOL when in multicopter mode 900 Minimum airspeed in multicopter mode This is the minimum speed of the air flowing over the control surfaces. 0.0 Maximum airspeed in multicopter mode This is the maximum speed of the air flowing over the control surfaces. 0.0 Trim airspeed when in multicopter mode This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. 0.0 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. 0 1 Fixed wing pitch trim This parameter allows to adjust the neutral elevon position in fixed wing mode. -1 1 Motor max power Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map. 1 Propeller efficiency parameter Influences propeller efficiency at different power settings. Should be tuned beforehand. 0.0 0.9 Total airspeed estimate low-pass filter gain Gain for tuning the low-pass filter for the total airspeed estimate 0.0 0.99 VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) 0 2 Lock elevons in multicopter mode If set to 1 the elevons are locked in multicopter mode 0 1 Duration of a front transition Time in seconds used for a transition 0.0 5 Duration of a back transition Time in seconds used for a back transition 0.0 5 Transition blending airspeed Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable. 0.0 20.0 Transition airspeed Airspeed at which we can switch to fw mode 1.0 20 mTECS enabled Set to 1 to enable mTECS 0 1 Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint 0.0 10.0 Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint 0.0 10.0 Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint 0.0 10.0 Total Energy Rate Control Offset (Cruise throttle sp) 0.0 10.0 Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint 0.0 10.0 Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint 0.0 10.0 Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint 0.0 10.0 Total Energy Distribution Offset (Cruise pitch sp) 0.0 10.0 Minimal Throttle Setpoint 0.0 1.0 Maximal Throttle Setpoint 0.0 1.0 Minimal Pitch Setpoint in Degrees -90.0 90.0 deg Maximal Pitch Setpoint in Degrees -90.0 90.0 deg Lowpass (cutoff freq.) for altitude Lowpass (cutoff freq.) for the flight path angle P gain for the altitude control Maps the altitude error to the flight path angle setpoint 0.0 10.0 D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint 0.0 10.0 Lowpass for FPA error derivative calculation (see MT_FPA_D) Minimal flight path angle setpoint -90.0 90.0 deg Maximal flight path angle setpoint -90.0 90.0 deg Lowpass (cutoff freq.) for airspeed Airspeed derivative calculation lowpass P gain for the airspeed control Maps the airspeed error to the acceleration setpoint 0.0 10.0 D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint 0.0 10.0 Lowpass for ACC error derivative calculation (see MT_ACC_D) Minimal acceleration (air) m/s^2 Maximal acceleration (air) m/s^2 Minimal throttle during takeoff 0.0 1.0 Maximal throttle during takeoff 0.0 1.0 Minimal pitch during takeoff -90.0 90.0 deg Maximal pitch during takeoff -90.0 90.0 deg Minimal throttle in underspeed mode 0.0 1.0 Maximal throttle in underspeed mode 0.0 1.0 Minimal pitch in underspeed mode -90.0 90.0 deg Maximal pitch in underspeed mode -90.0 90.0 deg Minimal throttle in landing mode (only last phase of landing) 0.0 1.0 Maximal throttle in landing mode (only last phase of landing) 0.0 1.0 Minimal pitch in landing mode -90.0 90.0 deg Maximal pitch in landing mode -90.0 90.0 deg Integrator Limit for Total Energy Rate Control 0.0 10.0 Integrator Limit for Energy Distribution Rate Control 0.0 10.0 RGB Led brightness limit Set to 0 to disable, 1 for minimum brightness up to 15 (max) 0 15 EXFW_HDNG_P EXFW_ROLL_P EXFW_PITCH_P RV_YAW_P TEST_MIN TEST_MAX TEST_TRIM TEST_HP TEST_LP TEST_P TEST_I TEST_I_MAX TEST_D TEST_D_LP TEST_MEAN TEST_DEV FWB_P_LP FWB_Q_LP FWB_R_LP FWB_R_HP FWB_P2AIL FWB_Q2ELV FWB_R2RDR FWB_PSI2PHI FWB_PHI2P FWB_PHI_LIM_MAX FWB_V2THE_P FWB_V2THE_I FWB_V2THE_D FWB_V2THE_D_LP FWB_V2THE_I_MAX FWB_THE_MIN FWB_THE_MAX FWB_THE2Q_P FWB_THE2Q_I FWB_THE2Q_D FWB_THE2Q_D_LP FWB_THE2Q_I_MAX FWB_H2THR_P FWB_H2THR_I FWB_H2THR_D FWB_H2THR_D_LP FWB_H2THR_I_MAX FWB_XT2YAW_MAX FWB_XT2YAW FWB_V_MIN FWB_V_CMD FWB_V_MAX FWB_CR_MAX FWB_CR2THR_P FWB_CR2THR_I FWB_CR2THR_D FWB_CR2THR_D_LP FWB_CR2THR_I_MAX FWB_TRIM_THR FWB_TRIM_V Flare, minimum pitch Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached Flare, maximum pitch Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached SEG_TH2V_P SEG_TH2V_I SEG_TH2V_I_MAX SEG_Q2V 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