3 1 9 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 Body angular rate process noise examples/attitude_estimator_ekf Body angular acceleration process noise examples/attitude_estimator_ekf Acceleration process noise examples/attitude_estimator_ekf Magnet field vector process noise examples/attitude_estimator_ekf Gyro measurement noise examples/attitude_estimator_ekf Accel measurement noise examples/attitude_estimator_ekf Mag measurement noise examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (1, 1) kg*m^2 examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (2, 2) kg*m^2 examples/attitude_estimator_ekf Moment of inertia matrix diagonal entry (3, 3) kg*m^2 examples/attitude_estimator_ekf Moment of inertia enabled in estimator If set to != 0 the moment of inertia will be used in the estimator examples/attitude_estimator_ekf Complimentary filter accelerometer weight 0 1 2 modules/attitude_estimator_q Complimentary filter magnetometer 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 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 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 Vision None Motion Capture Acceleration compensation based on GPS velocity modules/attitude_estimator_q Gyro bias limit 0 2 rad/s 3 modules/attitude_estimator_q Threshold (of RMS) to warn about high vibration levels 0.01 10 2 modules/attitude_estimator_q Scaling factor for battery voltage sensor on PX4IO 1 100000 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 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 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 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 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 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 External Power Module 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 modules/systemlib 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 modules/systemlib 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 modules/systemlib 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 or landing. 0.05 0.1 norm 2 0.01 modules/systemlib 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. 0.07 0.5 V 2 0.01 modules/systemlib Number of cells Defines the number of cells the attached battery consists of. S modules/systemlib 11S Battery 10S Battery 13S Battery 12S Battery 15S Battery 14S Battery 16S Battery Unconfigured 3S Battery 2S Battery 5S Battery 4S Battery 7S Battery 6S Battery 9S Battery 8S Battery Battery capacity Defines the capacity of the attached battery. -1.0 100000 mA 0 50 modules/systemlib Camera trigger Interface Selects the trigger interface true drivers/camera_trigger GPIO Seagull MAP2 (PWM) Camera trigger interval This parameter sets the time between two consecutive trigger events 4.0 10000.0 ms 1 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 high Active low 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 mode 0 4 true drivers/camera_trigger On individual commands Disable Distance based, always on Time based, always on Distance, mission controlled 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 distance Sets the distance at which to trigger the camera. 0 m 1 1 drivers/camera_trigger 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 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 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 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 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 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 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 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 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 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 Throttle Threshold Engine failure triggers only above this throttle value 0.0 1.0 norm 2 0.01 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 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 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 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 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. 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 Joystick/No RC Checks RC Transmitter Virtual RC by Joystick 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 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 Allow arming without GPS The default allows to arm the vehicle without GPS signal. 0 1 modules/commander Allow arming without GPS Don't allow arming without GPS Battery failsafe mode Action the system takes on low battery. Defaults to off 0 1 modules/commander Return to Land Warning Land at current position 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 Airfield home Lat Latitude of airfield home waypoint -900000000 900000000 deg * 1e7 modules/navigator Airfield home Lon Longitude of airfield home waypoint -1800000000 1800000000 deg * 1e7 modules/navigator Airfield home alt Altitude of airfield home waypoint -50 m 1 0.5 modules/navigator Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint 0.0 3600.0 s 0 1 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 alt Altitude of comms hold waypoint -50 30000 m 1 0.5 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 Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly 0 1000 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 Magnetometer measurement delay relative to IMU measurements 0 300 ms 1 modules/ekf2 Barometer measurement delay relative to IMU measurements 0 300 ms 1 modules/ekf2 GPS measurement delay relative to IMU measurements 0 300 ms 1 modules/ekf2 Optical flow measurement delay relative to IMU measurements Assumes measurement is timestamped at trailing edge of integration period 0 300 ms 1 modules/ekf2 Range finder measurement delay relative to IMU measurements 0 300 ms 1 modules/ekf2 Airspeed measurement delay relative to IMU measurements 0 300 ms 1 modules/ekf2 Vision Position Estimator delay relative to IMU measurements 0 300 ms 1 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) Required EPH to use GPS 2 100 m 1 modules/ekf2 Required EPV to use GPS 2 100 m 1 modules/ekf2 Required speed accuracy to use GPS 0.5 5.0 m/s 2 modules/ekf2 Required satellite count to use GPS 4 12 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 Maximum vertical drift speed to use GPS 0.1 1.5 m/s 2 modules/ekf2 Rate gyro noise for covariance prediction 0.0001 0.1 rad/s 4 modules/ekf2 Accelerometer noise for covariance prediction 0.01 1.0 m/s/s 2 modules/ekf2 Process noise for IMU rate gyro bias prediction 0.0 0.01 rad/s**2 6 modules/ekf2 Process noise for IMU accelerometer bias prediction 0.0 0.01 m/s**3 6 modules/ekf2 Process noise for body magnetic field prediction 0.0 0.1 Gauss/s 6 modules/ekf2 Process noise for earth magnetic field prediction 0.0 0.1 Gauss/s 6 modules/ekf2 Process noise for wind velocity prediction 0.0 1.0 m/s/s 3 modules/ekf2 Measurement noise for gps horizontal velocity 0.01 5.0 m/s 2 modules/ekf2 Measurement noise for gps position 0.01 10.0 m 2 modules/ekf2 Measurement noise for non-aiding position hold 0.5 50.0 m 1 modules/ekf2 Measurement noise for barometric altitude 0.01 15.0 m 2 modules/ekf2 Measurement noise for magnetic heading fusion 0.01 1.0 rad 2 modules/ekf2 Measurement noise for magnetometer 3-axis fusion 0.001 1.0 Gauss 3 modules/ekf2 Measurement noise for airspeed fusion 0.5 5.0 m/s 1 modules/ekf2 Magnetic declination deg 1 modules/ekf2 Gate size for magnetic heading fusion 1.0 SD 1 modules/ekf2 Gate size for magnetometer XYZ component fusion 1.0 SD 1 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 modules/ekf2 use geo_lookup declination save EKF2_MAG_DECL on disarm use declination as an observation 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 modules/ekf2 Magnetic heading Automatic None 3-axis fusion Gate size for barometric height fusion 1.0 SD 1 modules/ekf2 Gate size for GPS horizontal position fusion 1.0 SD 1 modules/ekf2 Gate size for GPS velocity fusion 1.0 SD 1 modules/ekf2 Gate size for TAS fusion 1.0 SD 1 modules/ekf2 Replay mode A value of 1 indicates that the ekf2 module will publish replay messages for logging. 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 0 28 modules/ekf2 use GPS use optical flow inhibit IMU bias estimation vision position fusion vision yaw fusion 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. modules/ekf2 GPS Barometric pressure Vision Range sensor Measurement noise for range finder fusion 0.01 m 2 modules/ekf2 Gate size for range finder fusion 1.0 SD 1 modules/ekf2 Minimum valid range for the range finder 0.01 m 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 Measurement noise for vision angle observations used when the vision system does not supply error estimates 0.01 rad 2 modules/ekf2 Gate size for vision estimate fusion 1.0 SD 1 modules/ekf2 Minimum valid range for the vision estimate 0.01 m 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 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 Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN 0 255 modules/ekf2 Gate size for optical flow fusion 1.0 SD 1 modules/ekf2 Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX 1.0 rad/s 2 modules/ekf2 Terrain altitude process noise - accounts for instability in vehicle height estimate 0.5 m/s 1 modules/ekf2 Magnitude of terrain gradient 0.0 m/m 2 modules/ekf2 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 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 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 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 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 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 0.0 m/s 1 modules/ekf2 Time constant of the velocity output prediction and smoothing filter 1.0 s 2 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 1-sigma IMU gyro switch-on bias 0.0 0.2 rad/sec 2 modules/ekf2 1-sigma IMU accelerometer switch-on bias 0.0 0.5 m/s/s 2 modules/ekf2 1-sigma tilt angle uncertainty after gravity vector alignment 0.0 0.5 rad 3 modules/ekf2 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 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 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 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 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 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). Setting a value of zero disables the limit. 0.0 90.0 deg/s 1 0.5 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 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 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 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 1 0.5 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 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 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 1 0.5 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 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 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/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 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 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 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 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. 0.0 1000.0 m/s 1 0.5 modules/fw_att_control 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 modules/fw_att_control closed-loop open-loop 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 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 Max Manual Roll Max roll for manual control in attitude stabilized mode 0.0 90.0 deg 1 0.5 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 Scale factor for flaps 0.0 1.0 norm 2 0.01 modules/fw_att_control Scale factor for flaperons 0.0 1.0 norm 2 0.01 modules/fw_att_control Airspeed mode The param value sets the method used to publish the control state airspeed. For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading 0 2 modules/fw_att_control use vehicle ground velocity as airspeed use measured airspeed declare airspeed invalid Manual roll scale Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 1.0 norm 2 0.01 modules/fw_att_control Manual pitch scale Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 norm 2 0.01 modules/fw_att_control Manual yaw scale Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. 0.0 norm 2 0.01 modules/fw_att_control 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 L1 damping Damping factor for L1 control. 0.6 0.9 2 0.05 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 Throttle max slew rate Maximum slew rate for the commanded throttle 0.0 1.0 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 Positive pitch limit The maximum positive pitch the controller will output. 0.0 60.0 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 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 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 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 Landing slope angle 1.0 15.0 deg 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 flare altitude (relative to landing altitude) 0.0 25.0 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 Landing heading hold horizontal distance 0 30.0 m 1 0.5 modules/fw_pos_control_l1 Use terrain estimate during landing 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 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 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 Cruise Airspeed The fixed wing controller tries to fly at this airspeed. 0.0 40 m/s 1 0.5 modules/navigator 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 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 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 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 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 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 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 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 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 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 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 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 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 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 Height rate P factor 0.0 2.0 2 0.05 modules/fw_pos_control_l1 Height rate FF factor 0.0 2.0 2 0.05 modules/fw_pos_control_l1 Speed rate P factor 0.0 2.0 2 0.01 modules/fw_pos_control_l1 Minimum follow target altitude The minimum height in meters relative to home for following a target 8.0 meters modules/navigator 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 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 Enable Disable 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 3600.0 s 0 1 modules/navigator Open loop loiter roll Roll in degrees during the open loop loiter 0.0 30.0 deg 1 0.5 modules/navigator Open loop loiter pitch Pitch in degrees during the open loop loiter -30.0 30.0 deg 1 0.5 modules/navigator Open loop loiter 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 Warning None Return to Land Loiter Geofence altitude mode Select which altitude reference should be used 0 = WGS84, 1 = AMSL 0 1 modules/navigator AMSL WGS84 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 GPS GPOS 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 Multicopter max climb rate Maximum vertical velocity allowed in the landed state (m/s up and down) m/s 1 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 rotation Maximum allowed angular velocity around each axis allowed in the landed state. deg/s 1 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 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 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 Airspeed max Maximum airspeed allowed in the landed state (m/s) 4 20 m/s 1 modules/land_detector Launch detection lib/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 lib/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 lib/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 lib/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 lib/launchdetection Publish AGL as Z modules/local_position_estimator Optical flow z offset from center -1 1 m 3 modules/local_position_estimator Optical flow scale 0.1 10.0 m 3 modules/local_position_estimator Optical flow gyro compensation -1 1 m 3 modules/local_position_estimator Optical flow minimum quality threshold 0 255 0 modules/local_position_estimator Sonar z standard deviation 0.01 1 m 3 modules/local_position_estimator Sonar 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 Lidar z offset from center of vehicle +down -1 1 m 3 modules/local_position_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/srqt(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/srqt(Hz) 4 modules/local_position_estimator Barometric presssure altitude z standard deviation 0.01 3 m 2 modules/local_position_estimator Enables GPS data, also forces alt init with GPS modules/local_position_estimator GPS delay compensaton 0 0.4 sec 2 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 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 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 Vision delay compensaton 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 2 m 3 modules/local_position_estimator Vision correction modules/local_position_estimator Vicon position standard deviation 0.0001 1 m 4 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 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 Accel bias propagation noise density 0 1 (m/s^2)/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 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 Flow gyro high pass filter cut off frequency 0 2 Hz 3 modules/local_position_estimator Local origin latitude for nav w/o GPS -90 90 deg 8 modules/local_position_estimator Local origin longitude for nav w/o GPS -180 180 deg 8 modules/local_position_estimator Cut frequency for state publication 5 1000 Hz 0 modules/local_position_estimator Required velocity xy standard deviation to publish position 0.01 1.0 m/s 3 modules/local_position_estimator Required z standard deviation to publish altitude/ terrain 0.3 5.0 m 1 modules/local_position_estimator Land detector z standard deviation 0.001 10.0 m 3 modules/local_position_estimator MAVLink system ID 1 250 modules/mavlink MAVLink component ID 1 250 modules/mavlink MAVLink protocol version modules/mavlink Always use version 1 Default to 1, switch to 2 if GCS sends version 2 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 airframe type 1 modules/mavlink Use/Accept HIL GPS message even if not in HIL mode If set to 1 incoming HIL GPS messages are parsed. 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 Broadcast heartbeats on local network This allows a ground control station to automatically find the drone on the local network. modules/mavlink Always broadcast Never broadcast 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 modules/mavlink Test mode (Identify) of MKBLCTRL Driver drivers/mkblctrl Low pass filter frequency for Gyro platforms/qurt/fc_addon/mpu_spi MPU9X50_GYRO_LPF_184HZ MPU9X50_GYRO_LPF_250HZ MPU9X50_GYRO_LPF_41HZ MPU9X50_GYRO_LPF_92HZ MPU9X50_GYRO_LPF_10HZ MPU9X50_GYRO_LPF_20HZ MPU9X50_GYRO_LPF_3600HZ_NOLPF MPU9X50_GYRO_LPF_5HZ Low pass filter frequency for Accelerometer platforms/qurt/fc_addon/mpu_spi MPU9X50_ACC_LPF_184HZ MPU9X50_ACC_LPF_460HZ MPU9X50_ACC_LPF_41HZ MPU9X50_ACC_LPF_92HZ MPU9X50_ACC_LPF_10HZ MPU9X50_ACC_LPF_20HZ MPU9X50_ACC_LPF_460HZ_NOLPF MPU9X50_ACC_LPF_5HZ Sample rate in Hz platforms/qurt/fc_addon/mpu_spi MPU9x50_SAMPLE_RATE_200HZ MPU9x50_SAMPLE_RATE_100HZ MPU9x50_SAMPLE_RATE_1000HZ MPU9x50_SAMPLE_RATE_500HZ Take-off altitude This is the minimum altitude the system will take off to. 0 80 m 1 0.5 modules/navigator Minimum Loiter altitude This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. 0 80 m 1 0.5 modules/navigator Persistent onboard mission storage When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. modules/navigator 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 m 1 0.5 modules/navigator 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 First Order Hold Zero Order Hold Multirotor only. Yaw setpoint mode The values are defined in the enum mission_altitude_mode 0 3 modules/navigator Heading towards waypoint Heading as set by waypoint Heading away from home Heading towards home 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 transiton. 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 Max yaw error in degrees needed for waypoint heading acceptance 0 90 deg 1 1 modules/navigator Weather-vane mode landings for missions modules/navigator Weather-vane mode for loiter mode modules/navigator Loiter radius (FW only) Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). 25 1000 m 1 0.5 modules/navigator Acceptance Radius Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance. 0.05 200.0 m 1 0.5 modules/navigator FW Altitude Acceptance Radius Acceptance radius for fixedwing altitude. 0.05 200.0 m 1 0.5 modules/navigator MC Altitude Acceptance Radius Acceptance radius for multicopter altitude. 0.05 200.0 m 1 0.5 modules/navigator Set data link loss failsafe mode The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. modules/navigator Loiter Disabled Land at current position Return to Land Set RC loss failsafe mode The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition. modules/navigator Loiter Disabled Land at current position Return to Land 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 Loiter Land at current position Return to Land 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 Altitude control Position control Return to Land Manual Land at current position 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 0 3 drivers/vmount RC DISABLE MAVLINK_DO_MOUNT MAVLINK_ROI 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 MAVLINK AUX Mavlink System ID (if MNT_MODE_OUT is MAVLINK) drivers/vmount Mavlink Component ID (if MNT_MODE_OUT is MAVLINK) 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 Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode) -1.0 1.0 3 drivers/vmount This enables the mount to be manually controlled when no ROI is set If set to 1, the mount will be controlled by the AUX channels below when no ROI is set. drivers/vmount Auxiliary channel to control roll (in AUX input or manual mode) 0 5 drivers/vmount AUX1 Disable AUX3 AUX2 AUX5 AUX4 Auxiliary channel to control pitch (in AUX input or manual mode) 0 5 drivers/vmount AUX1 Disable AUX3 AUX2 AUX5 AUX4 Auxiliary channel to control yaw (in AUX input or manual mode) 0 5 drivers/vmount AUX1 Disable AUX3 AUX2 AUX5 AUX4 Roll time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. 0.15 0.25 s 2 0.01 modules/mc_att_control Pitch time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. 0.15 0.25 s 2 0.01 modules/mc_att_control Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 8 2 0.1 modules/mc_att_control Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 0.5 3 0.01 modules/mc_att_control Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 3 0.01 modules/mc_att_control Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 0.01 4 0.0005 modules/mc_att_control Roll rate feedforward Improves tracking performance. 0.0 4 modules/mc_att_control Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 10 1/s 2 0.0005 modules/mc_att_control Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 0.6 3 0.01 modules/mc_att_control Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 3 0.01 modules/mc_att_control Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 4 0.0005 modules/mc_att_control Pitch rate feedforward Improves tracking performance. 0.0 4 modules/mc_att_control Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 5 1/s 2 0.1 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 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 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 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 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 1 5 modules/mc_att_control 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 1 5 modules/mc_att_control Max yaw rate A value of significantly over 120 degrees per second can already lead to mixer saturation. 0.0 360.0 deg/s 1 5 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. A value of significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches. 0.0 120.0 deg/s 1 5 modules/mc_att_control Max acro roll rate 0.0 1000.0 deg/s 1 5 modules/mc_att_control Max acro pitch rate 0.0 1000.0 deg/s 1 5 modules/mc_att_control Max acro yaw rate 0.0 1000.0 deg/s 1 5 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 Threshold for 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 Slope for 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 - slope*(abs(throttle)-breakpoint)) 0.0 2.0 2 0.1 modules/mc_att_control Max manual roll 0.0 90.0 deg examples/mc_pos_control_multiplatform Max manual pitch 0.0 90.0 deg examples/mc_pos_control_multiplatform Max manual yaw rate 0.0 deg/s examples/mc_pos_control_multiplatform Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 examples/mc_att_control_multiplatform Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 examples/mc_att_control_multiplatform Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 examples/mc_att_control_multiplatform Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 examples/mc_att_control_multiplatform Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s examples/mc_att_control_multiplatform Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 examples/mc_att_control_multiplatform Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 examples/mc_att_control_multiplatform Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 examples/mc_att_control_multiplatform Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 0.0 1/s examples/mc_att_control_multiplatform Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 examples/mc_att_control_multiplatform Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 examples/mc_att_control_multiplatform Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 examples/mc_att_control_multiplatform Yaw feed forward Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 examples/mc_att_control_multiplatform Max yaw rate Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 360.0 deg/s examples/mc_att_control_multiplatform Max acro roll rate 0.0 360.0 deg/s examples/mc_att_control_multiplatform Max acro pitch rate 0.0 360.0 deg/s examples/mc_att_control_multiplatform Max acro yaw rate 0.0 deg/s examples/mc_att_control_multiplatform 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 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 ALTCTL throttle curve breakpoint Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz. 0.0 0.2 norm 2 0.05 modules/mc_pos_control ALTCTL throttle curve breakpoint height Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz. 0.0 0.2 2 modules/mc_pos_control 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 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. 0.0 1.0 norm 2 0.01 modules/mc_pos_control 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 norm 2 0.01 modules/mc_pos_control Proportional gain for vertical position error 0.0 1.5 2 modules/mc_pos_control Proportional gain for vertical velocity error 0.1 0.4 2 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 Differential gain for vertical velocity error 0.0 0.1 3 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 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 Transitional support, do not change / use 0.5 4.0 m/s modules/mc_pos_control 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 2 modules/mc_pos_control Proportional gain for horizontal position error 0.0 2.0 2 modules/mc_pos_control Proportional gain for horizontal velocity error 0.06 0.15 2 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 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 Nominal horizontal velocity 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 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 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 2 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 Landing descend rate 0.2 m/s 1 modules/mc_pos_control Takeoff climb rate 1 5 m/s 2 modules/mc_pos_control Max manual roll 0.0 90.0 deg 1 modules/mc_pos_control Max manual pitch 0.0 90.0 deg 1 modules/mc_pos_control Max manual yaw rate 0.0 400 deg/s 1 modules/mc_pos_control Deadzone of X,Y 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 Low pass filter cut freq. for numerical velocity derivative 0.0 10 Hz 2 modules/mc_pos_control Maximum horizonal acceleration in velocity controlled modes 2.0 15.0 m/s/s 2 1 modules/mc_pos_control Altitude control mode, note mode 1 only tested with LPE 0 1 modules/mc_pos_control Terrain following Altitude following Minimum thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 1.0 examples/mc_pos_control_multiplatform Maximum thrust Limit max allowed thrust. 0.0 1.0 examples/mc_pos_control_multiplatform Proportional gain for vertical position error 0.0 examples/mc_pos_control_multiplatform Proportional gain for vertical velocity error 0.0 examples/mc_pos_control_multiplatform Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 examples/mc_pos_control_multiplatform Differential gain for vertical velocity error 0.0 examples/mc_pos_control_multiplatform Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 m/s examples/mc_pos_control_multiplatform Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 examples/mc_pos_control_multiplatform Proportional gain for horizontal position error 0.0 examples/mc_pos_control_multiplatform Proportional gain for horizontal velocity error 0.0 examples/mc_pos_control_multiplatform Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.0 examples/mc_pos_control_multiplatform Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.0 examples/mc_pos_control_multiplatform Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 0.0 m/s examples/mc_pos_control_multiplatform Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.0 1.0 examples/mc_pos_control_multiplatform Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. 0.0 90.0 deg examples/mc_pos_control_multiplatform Maximum tilt during landing Limits maximum tilt angle on landing. 0.0 90.0 deg examples/mc_pos_control_multiplatform Landing descend rate 0.0 m/s examples/mc_pos_control_multiplatform Set the minimum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for industry default or 900 to increase servo travel. 800 1400 us true modules/sensors Set the maximum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for industry default or 2100 to increase servo travel. 1600 2200 us true modules/sensors Set the disarmed PWM for MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 us true modules/sensors Set the minimum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 1000 for default or 900 to increase servo travel 800 1400 us true modules/sensors Set the maximum PWM for the MAIN outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. Set to 2000 for default or 2100 to increase servo travel 1600 2200 us true modules/sensors Set the disarmed PWM for AUX outputs IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE THE SYSTEM TO PUT CHANGES INTO EFFECT. This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed. 0 2200 us true modules/sensors 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) modules/sensors Invert direction of aux output channel 1 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of aux output channel 2 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of aux output channel 3 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of aux output channel 4 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of aux output channel 5 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of aux output channel 6 Set to 1 to invert the channel, 0 for default direction. true drivers/px4fmu Invert direction of main output channel 1 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 2 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 3 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 4 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 5 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 6 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 7 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io Invert direction of main output channel 8 Set to 1 to invert the channel, 0 for default direction. true drivers/px4io S.BUS out Set to 1 to enable S.BUS version 1 output instead of RSSI. drivers/px4io 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 modules/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 modules/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 modules/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 modules/bottle_drop Payload mass A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg 0.001 5.0 kg modules/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 modules/bottle_drop Velocity estimate delay The delay in milliseconds of the velocity estimate from GPS. 0 1000 ms examples/ekf_att_pos_estimator Position estimate delay The delay in milliseconds of the position estimate from GPS. 0 1000 ms examples/ekf_att_pos_estimator Height estimate delay The delay in milliseconds of the height estimate from the barometer. 0 1000 ms examples/ekf_att_pos_estimator Mag estimate delay The delay in milliseconds of the magnetic field estimate from the magnetometer. 0 1000 ms examples/ekf_att_pos_estimator True airspeeed estimate delay The delay in milliseconds of the airspeed estimate. 0 1000 ms examples/ekf_att_pos_estimator GPS vs. barometric altitude update weight RE-CHECK this. 0.0 1.0 examples/ekf_att_pos_estimator Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. 0.5 5.0 examples/ekf_att_pos_estimator Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 0.05 5.0 examples/ekf_att_pos_estimator Velocity noise in down (vertical) direction Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 0.2 3.0 examples/ekf_att_pos_estimator Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 0.1 10.0 examples/ekf_att_pos_estimator Position noise in down (vertical) direction Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 0.5 3.0 examples/ekf_att_pos_estimator Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 0.01 1.0 examples/ekf_att_pos_estimator Gyro process noise Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more. 0.001 0.05 examples/ekf_att_pos_estimator Accelerometer process noise Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. 0.05 1.0 examples/ekf_att_pos_estimator Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. 0.00000005 0.00001 examples/ekf_att_pos_estimator Accelerometer bias estimate process noise Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier. 0.00001 0.001 examples/ekf_att_pos_estimator Magnetometer earth frame offsets process noise Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. 0.0001 0.01 examples/ekf_att_pos_estimator Magnetometer body frame offsets process noise Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier. 0.0001 0.01 examples/ekf_att_pos_estimator Magnetometer X bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 examples/ekf_att_pos_estimator Magnetometer Y bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 examples/ekf_att_pos_estimator Magnetometer Z bias The magnetometer bias. This bias is learnt by the filter over time and persists between boots. -0.6 0.6 examples/ekf_att_pos_estimator Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 0.3 10.0 examples/ekf_att_pos_estimator 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 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 Z axis weight for lidar Weight (cutoff frequency) for lidar 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 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 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 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 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 Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. 0.0 0.1 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 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 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 altitude dispersion threshold Dispersion threshold for triggering land detector. 0.0 10.0 m 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 GPS delay GPS delay compensation 0.0 1.0 s modules/position_estimator_inav 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 Mo-cap Set to 0 if using fake GPS modules/position_estimator_inav Mo-cap disabled Mo-cap enabled 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 Disable vision input Set to the appropriate key (328754) to disable vision input. 0 328754 true modules/position_estimator_inav RC receiver type Acceptable values: - RC_RECEIVER_SPEKTRUM = 1, - RC_RECEIVER_LEMONRX = 2, platforms/qurt/fc_addon/rc_receiver RC Channel 1 Minimum Minimum value for RC channel 1 800.0 1500.0 us modules/sensors RC Channel 1 Trim Mid point value (same as min for throttle) 800.0 2200.0 us modules/sensors RC Channel 1 Maximum Maximum value for RC channel 1 1500.0 2200.0 us modules/sensors RC Channel 1 Reverse Set to -1 to reverse channel. -1.0 1.0 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 2 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 2 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 2 Reverse Set to -1 to reverse channel. -1.0 1.0 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 3 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 3 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 3 Reverse Set to -1 to reverse channel. -1.0 1.0 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 4 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 4 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 4 Reverse Set to -1 to reverse channel. -1.0 1.0 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 5 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 5 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 5 Reverse Set to -1 to reverse channel. -1.0 1.0 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 6 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 6 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 6 Reverse Set to -1 to reverse channel. -1.0 1.0 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 7 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 7 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 7 Reverse Set to -1 to reverse channel. -1.0 1.0 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 8 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 8 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 8 Reverse Set to -1 to reverse channel. -1.0 1.0 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 9 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 9 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 9 Reverse Set to -1 to reverse channel. -1.0 1.0 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 10 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 10 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 10 Reverse Set to -1 to reverse channel. -1.0 1.0 modules/sensors 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 11 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 11 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 11 Reverse Set to -1 to reverse channel. -1.0 1.0 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 12 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 12 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 12 Reverse Set to -1 to reverse channel. -1.0 1.0 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 13 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 13 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 13 Reverse Set to -1 to reverse channel. -1.0 1.0 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 14 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 14 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 14 Reverse Set to -1 to reverse channel. -1.0 1.0 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 15 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 15 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 15 Reverse Set to -1 to reverse channel. -1.0 1.0 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 16 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 16 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 16 Reverse Set to -1 to reverse channel. -1.0 1.0 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 17 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 17 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 17 Reverse Set to -1 to reverse channel. -1.0 1.0 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 18 Minimum Minimum value for this channel. 800.0 1500.0 us modules/sensors 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 18 Maximum Maximum value for this channel. 1500.0 2200.0 us modules/sensors RC Channel 18 Reverse Set to -1 to reverse channel. -1.0 1.0 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 Relay control of relay 1 mapped to the Spektrum receiver power supply 0 1 modules/sensors Relay controls DSM power Disabled DSM binding trigger -1 1 modules/sensors Start DSMX bind Start DSM2 bind Inactive 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 RC mode switch threshold automatic 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. modules/sensors 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 AUX1 Passthrough RC Channel Default function: Camera pitch 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 AUX2 Passthrough RC Channel Default function: Camera roll 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 AUX3 Passthrough RC Channel Default function: Camera azimuth / yaw 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 AUX4 Passthrough RC Channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 AUX5 Passthrough RC Channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 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 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Max input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 modules/sensors Min input value for RSSI reading Only used if RC_RSSI_PWM_CHAN > 0 0 2000 modules/sensors Roll trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander Pitch trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander Yaw trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. -0.25 0.25 2 0.01 modules/commander 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 s 1 0.1 modules/navigator 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 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 Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Return switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Rattitude switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Position Control switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Loiter switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Acro switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Offboard switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Kill switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Flaps channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 VTOL transition switch channel mapping 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Landing gear switch channel 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 Threshold for selecting assist mode 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th -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 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 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 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 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 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 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 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 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 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 RTL altitude Altitude to fly back in RTL in meters 0 150 m 1 0.5 modules/navigator 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 m 1 0.5 modules/navigator RTL delay Delay after descend before landing in RTL 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 Runway takeoff with landing gear lib/runway_takeoff Specifies which heading should be held during runnway takeoff 0: airframe heading, 1: heading towards takeoff waypoint 0 1 lib/runway_takeoff Waypoint Airframe 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 lib/runway_takeoff Max throttle during runway takeoff. (Can be used to test taxi on runway) 0.0 1.0 norm 2 0.01 lib/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 lib/runway_takeoff 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 lib/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 lib/runway_takeoff 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 lib/runway_takeoff 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 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 Enable Disable Command Line 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 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 Default priority Low priority Max priority Medium priority 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 ID of the board this parameter set was calibrated on modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset -10.0 10.0 modules/sensors Gyro Y-axis offset -10.0 10.0 modules/sensors Gyro Z-axis offset -5.0 5.0 modules/sensors Gyro X-axis scaling factor -1.5 1.5 modules/sensors Gyro Y-axis scaling factor -1.5 1.5 modules/sensors Gyro Z-axis scaling factor -1.5 1.5 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 modules/sensors Pitch 90° Pitch 270° Roll 270° Roll 270°, Yaw 45° Roll 270°, Yaw 90° Roll 270°, Yaw 135° Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° Roll 180°, Yaw 45° Roll 180° Roll 180°, Yaw 135° Roll 180°, Yaw 90° Roll 180°, Yaw 225° Pitch 180° Roll 180°, Yaw 315° Roll 180°, Yaw 270° Roll 90°, Yaw 45° Roll 90° Roll 90°, Yaw 135° Roll 90°, Yaw 90° Internal mag Magnetometer X-axis offset -500.0 500.0 modules/sensors Magnetometer Y-axis offset -500.0 500.0 modules/sensors Magnetometer Z-axis offset -500.0 500.0 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis scaling factor modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis scaling factor modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset -10.0 10.0 modules/sensors Gyro Y-axis offset -10.0 10.0 modules/sensors Gyro Z-axis offset -5.0 5.0 modules/sensors Gyro X-axis scaling factor -1.5 1.5 modules/sensors Gyro Y-axis scaling factor -1.5 1.5 modules/sensors Gyro Z-axis scaling factor -1.5 1.5 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 modules/sensors Pitch 90° Pitch 270° Roll 270° Roll 270°, Yaw 45° Roll 270°, Yaw 90° Roll 270°, Yaw 135° Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° Roll 180°, Yaw 45° Roll 180° Roll 180°, Yaw 135° Roll 180°, Yaw 90° Roll 180°, Yaw 225° Pitch 180° Roll 180°, Yaw 315° Roll 180°, Yaw 270° Roll 90°, Yaw 45° Roll 90° Roll 90°, Yaw 135° Roll 90°, Yaw 90° Internal mag Magnetometer X-axis offset -500.0 500.0 modules/sensors Magnetometer Y-axis offset -500.0 500.0 modules/sensors Magnetometer Z-axis offset -500.0 500.0 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis scaling factor modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis scaling factor modules/sensors ID of the Gyro that the calibration is for modules/sensors Gyro X-axis offset -10.0 10.0 modules/sensors Gyro Y-axis offset -10.0 10.0 modules/sensors Gyro Z-axis offset -5.0 5.0 modules/sensors Gyro X-axis scaling factor -1.5 1.5 modules/sensors Gyro Y-axis scaling factor -1.5 1.5 modules/sensors Gyro Z-axis scaling factor -1.5 1.5 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 modules/sensors Pitch 90° Pitch 270° Roll 270° Roll 270°, Yaw 45° Roll 270°, Yaw 90° Roll 270°, Yaw 135° Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° Roll 180°, Yaw 45° Roll 180° Roll 180°, Yaw 135° Roll 180°, Yaw 90° Roll 180°, Yaw 225° Pitch 180° Roll 180°, Yaw 315° Roll 180°, Yaw 270° Roll 90°, Yaw 45° Roll 90° Roll 90°, Yaw 135° Roll 90°, Yaw 90° Internal mag Magnetometer X-axis offset -500.0 500.0 modules/sensors Magnetometer Y-axis offset -500.0 500.0 modules/sensors Magnetometer Z-axis offset -500.0 500.0 modules/sensors Magnetometer X-axis scaling factor modules/sensors Magnetometer Y-axis scaling factor modules/sensors Magnetometer Z-axis scaling factor modules/sensors ID of the Accelerometer that the calibration is for modules/sensors Accelerometer X-axis offset modules/sensors Accelerometer Y-axis offset modules/sensors Accelerometer Z-axis offset modules/sensors Accelerometer X-axis scaling factor modules/sensors Accelerometer Y-axis scaling factor modules/sensors Accelerometer Z-axis scaling factor modules/sensors Primary accel ID modules/sensors Primary gyro ID modules/sensors Primary mag ID 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 Six side calibration Three side calibration Primary baro ID modules/sensors Differential pressure sensor offset The offset (zero-reading) in Pascal 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 QNH for barometer 500 1500 hPa modules/sensors Board rotation This parameter defines the rotation of the FMU board relative to the platform. modules/sensors Pitch 90° Pitch 270° Roll 270° Roll 270°, Yaw 45° Roll 270°, Yaw 90° Roll 270°, Yaw 135° Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° Roll 180°, Yaw 45° Roll 180° Roll 180°, Yaw 135° Roll 180°, Yaw 90° Roll 180°, Yaw 225° Pitch 180° Roll 180°, Yaw 315° Roll 180°, Yaw 270° Roll 90°, Yaw 45° Roll 90° Roll 90°, Yaw 135° Roll 90°, Yaw 90° 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 true modules/sensors Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° 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 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 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 External magnetometer rotation modules/sensors Pitch 90° Pitch 270° Roll 270° Roll 270°, Yaw 45° Roll 270°, Yaw 90° Roll 270°, Yaw 135° Yaw 45° No rotation Yaw 135° Yaw 90° Yaw 225° Yaw 180° Yaw 315° Yaw 270° Roll 180°, Yaw 45° Roll 180° Roll 180°, Yaw 135° Roll 180°, Yaw 90° Roll 180°, Yaw 225° Pitch 180° Roll 180°, Yaw 315° Roll 180°, Yaw 270° Roll 90°, Yaw 45° Roll 90° Roll 90°, Yaw 135° Roll 90°, Yaw 90° Select primary magnetometer 0 2 modules/sensors External is primary Mag Auto-select Mag Internal is primary Mag Lidar-Lite (LL40LS) PWM true modules/sensors Lightware SF0x laser rangefinder true modules/sensors Maxbotix Soanr (mb12xx) true modules/sensors TeraRanger One (trone) true modules/sensors Lightware SF1xx laser rangefinder 0 4 true modules/sensors SF10/a Disabled SF10/c SF10/b SF11/c 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_350QX ESC_200QX ESC_210QC ESC UART baud rate Default rate is 250Kbps, whic is used in off-the-shelf QRP ESC products. platforms/qurt/fc_addon/uart_esc 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 channel of the NRF51 0 125 modules/syslink Operating datarate of the NRF51 0 2 modules/syslink Operating address of the NRF51 (most significant byte) modules/syslink Operating address of the NRF51 (least significant 4 bytes) modules/syslink 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 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 Reset parameters Keep parameters 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 modules/systemlib Set restart type Set by px4io to indicate type of restart 0 2 modules/systemlib Data survives in-flight resets only Data survives resets Data does not survive reset Set multicopter estimator group Set the group of estimators used for multicopters and vtols 0 2 true modules/systemlib local_position_estimator, attitude_estimator_q position_estimator_inav, attitude_estimator_q ekf2 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 FrSky Telemetry Crazyflie (Syslink) Normal Telemetry (57600 baud, 8N1) Command Receiver (57600 baud, 8N1) OSD (57600 baud, 8N1) Normal Telemetry (38400 baud, 8N1) Disabled ESP8266 (921600 baud, 8N1) Companion Link (57600 baud, 8N1) Companion Link (921600 baud, 8N1) Normal Telemetry (19200 baud, 8N1) 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 SD logger 0 1 true modules/systemlib new logger sdlog2 (default) RGB Led brightness limit Set to 0 to disable, 1 for minimum brightness up to 15 (max) 0 15 drivers/rgbled TEST_MIN modules/controllib_test TEST_MAX modules/controllib_test TEST_TRIM modules/controllib_test TEST_HP modules/controllib_test TEST_LP modules/controllib_test TEST_P modules/controllib_test TEST_I modules/controllib_test TEST_I_MAX modules/controllib_test TEST_D modules/controllib_test TEST_D_LP modules/controllib_test TEST_MEAN modules/controllib_test TEST_DEV modules/controllib_test TEST_PARAMS systemcmds/tests UAVCAN mode 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 modules/uavcan Enabled Disabled Motors/Update Dynamic ID/Update UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 125 modules/uavcan UAVCAN CAN bus bitrate 20000 1000000 bit/s modules/uavcan UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints 0 1 modules/uavcan VTOL number of engines 0 8 0 1 modules/vtol_att_control Idle speed of VTOL when in multicopter mode 900 2000 us 0 1 modules/vtol_att_control Minimum airspeed in multicopter mode This is the minimum speed of the air flowing over the control surfaces. 0.0 30.0 m/s 2 0.5 modules/vtol_att_control Maximum airspeed in multicopter mode This is the maximum speed of the air flowing over the control surfaces. 0.0 30.0 m/s 2 0.5 modules/vtol_att_control 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 30.0 m/s 2 0.5 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 Fixed wing pitch trim This parameter allows to adjust the neutral elevon position in fixed wing mode. -1.0 1.0 2 0.01 modules/vtol_att_control Motor max power Indicates the maximum power the motor is able to produce. Used to calculate propeller efficiency map. 1 10000 W 0 1 modules/vtol_att_control Propeller efficiency parameter Influences propeller efficiency at different power settings. Should be tuned beforehand. 0.0 1.0 3 0.01 modules/vtol_att_control Total airspeed estimate low-pass filter gain Gain for tuning the low-pass filter for the total airspeed estimate 0.0 1.0 3 0.01 modules/vtol_att_control VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) 0 2 0 modules/vtol_att_control Tiltrotor Tailsitter Standard Lock elevons in multicopter mode If set to 1 the elevons are locked in multicopter mode modules/vtol_att_control Duration of a front transition Time in seconds used for a transition 0.00 10.00 s 2 1 modules/vtol_att_control Duration of a back transition Time in seconds used for a back transition 0.00 10.00 s 2 1 modules/vtol_att_control 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 Optimal recovery strategy for pitch-weak tailsitters modules/vtol_att_control 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 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 Front transition minimum time Minimum time in seconds for front transition. 0.0 10.0 s modules/vtol_att_control Force VTOL mode takeoff and land 0 1 modules/vtol_att_control QuadChute Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL 0.0 200.0 modules/vtol_att_control Position of tilt servo in mc mode 0.0 1.0 3 0.01 modules/vtol_att_control Position of tilt servo in transition mode 0.0 1.0 3 0.01 modules/vtol_att_control Position of tilt servo in fw mode 0.0 1.0 3 0.01 modules/vtol_att_control Duration of front transition phase 2 Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode. 0.1 5.0 s 3 0.01 modules/vtol_att_control The channel number of motors that must be turned off in fixed wing mode 0 12345678 0 1 modules/vtol_att_control Target throttle value for pusher/puller motor during the transition to fw mode 0.0 1.0 3 0.01 modules/vtol_att_control Maximum allowed down-pitch the controller is able to demand. This prevents large, negative lift values being created when facing strong winds. The vehicle will use the pusher motor to accelerate forward if necessary 0.0 45.0 modules/vtol_att_control Fixed wing thrust scale for hover forward flight Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy. 0.0 2.0 modules/vtol_att_control mTECS enabled modules/fw_pos_control_l1/mtecs Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Total Energy Rate Control Offset (Cruise throttle sp) 0.0 10.0 modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Total Energy Distribution Offset (Cruise pitch sp) 0.0 10.0 modules/fw_pos_control_l1/mtecs Minimal Throttle Setpoint 0.0 1.0 modules/fw_pos_control_l1/mtecs Maximal Throttle Setpoint 0.0 1.0 modules/fw_pos_control_l1/mtecs Minimal Pitch Setpoint in Degrees -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Maximal Pitch Setpoint in Degrees -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for altitude Hz modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for the flight path angle Hz modules/fw_pos_control_l1/mtecs P gain for the altitude control Maps the altitude error to the flight path angle setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Lowpass for FPA error derivative calculation (see MT_FPA_D) modules/fw_pos_control_l1/mtecs Minimal flight path angle setpoint -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Maximal flight path angle setpoint -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Lowpass (cutoff freq.) for airspeed modules/fw_pos_control_l1/mtecs Airspeed derivative calculation lowpass modules/fw_pos_control_l1/mtecs P gain for the airspeed control Maps the airspeed error to the acceleration setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint 0.0 10.0 modules/fw_pos_control_l1/mtecs Lowpass for ACC error derivative calculation (see MT_ACC_D) modules/fw_pos_control_l1/mtecs Minimal acceleration (air) m/s/s modules/fw_pos_control_l1/mtecs Maximal acceleration (air) m/s/s modules/fw_pos_control_l1/mtecs Minimal throttle during takeoff 0.0 1.0 modules/fw_pos_control_l1/mtecs Maximal throttle during takeoff 0.0 1.0 modules/fw_pos_control_l1/mtecs Minimal pitch during takeoff -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Maximal pitch during takeoff -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Minimal throttle in underspeed mode 0.0 1.0 modules/fw_pos_control_l1/mtecs Maximal throttle in underspeed mode 0.0 1.0 modules/fw_pos_control_l1/mtecs Minimal pitch in underspeed mode -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Maximal pitch in underspeed mode -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Minimal throttle in landing mode (only last phase of landing) 0.0 1.0 modules/fw_pos_control_l1/mtecs Maximal throttle in landing mode (only last phase of landing) 0.0 1.0 modules/fw_pos_control_l1/mtecs Minimal pitch in landing mode -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Maximal pitch in landing mode -90.0 90.0 deg modules/fw_pos_control_l1/mtecs Integrator Limit for Total Energy Rate Control 0.0 10.0 modules/fw_pos_control_l1/mtecs Integrator Limit for Energy Distribution Rate Control 0.0 10.0 modules/fw_pos_control_l1/mtecs SEG_TH2V_P modules/segway SEG_TH2V_I modules/segway SEG_TH2V_I_MAX modules/segway SEG_Q2V modules/segway Failsafe channel mapping The RC mapping index indicates which channel is used for failsafe If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific rc channel to use 0 18 modules/sensors Channel 11 Channel 10 Channel 13 Channel 12 Channel 15 Channel 14 Channel 17 Channel 16 Channel 18 Channel 1 Unassigned Channel 3 Channel 2 Channel 5 Channel 4 Channel 7 Channel 6 Channel 9 Channel 8 First flightmode slot (1000-1160) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized Second flightmode slot (1160-1320) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized Third flightmode slot (1320-1480) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized Fourth flightmode slot (1480-1640) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized Fifth flightmode slot (1640-1800) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized Sixth flightmode slot (1800-2000) If the main switch channel is in this range the selected flight mode will be applied. modules/commander Land Takeoff Follow Me Altitude Manual Mission Position Unassigned Hold Offboard Acro Rattitude Return Stabilized EXFW_HDNG_P examples/fixedwing_control EXFW_ROLL_P examples/fixedwing_control EXFW_PITCH_P examples/fixedwing_control RV_YAW_P examples/rover_steering_control