Empty cell voltage Defines the voltage where a single cell of the battery is considered empty. 3.4 Full cell voltage Defines the voltage where a single cell of the battery is considered full. 4.2 Voltage drop per cell on 100% load This implicitely defines the internal resistance to maximum current ratio and assumes linearity. 0.07 Number of cells Defines the number of cells the attached battery consists of. 3 Battery capacity Defines the capacity of the attached battery. -1.0 Scaling factor for battery voltage sensor on PX4IO 10000 Scaling factor for battery voltage sensor on FMU v2 0.0082 Scaling factor for battery voltage sensor on AeroCore For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 0.0063 Scaling factor for battery voltage sensor on FMU v1 FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 FMUv1 with PX4IO: 0.00459340659 FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 0.00459340659 Scaling factor for battery current sensor 0.0124 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 0 894281 Circuit breaker for rate controller output Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 0 140253 Circuit breaker for IO safety Setting this parameter to 894281 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 0 22027 Circuit breaker for airspeed sensor Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 0 162128 Circuit breaker for flight termination Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 121212 0 121212 Circuit breaker for engine failure detection Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the enine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 284953 0 284953 Circuit breaker for gps failure detection Setting this parameter to 240024 will disable the gps failure detection. If the aircraft is in gps failure mode the gps failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 240024 0 240024 Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint 120.0 0.0 seconds Comms hold Lat Latitude of comms hold waypoint -266072120 0 degrees * 1e7 Comms hold Lon Longitude of comms hold waypoint 1518453890 0 degrees * 1e7 Comms hold alt Altitude of comms hold waypoint 600.0 0.0 m Aifield hole wait time The amount of time in seconds the system should wait at the airfield home waypoint 120.0 0.0 seconds Number of allowed Datalink timeouts After more than this number of data link timeouts the aircraft returns home directly 2 0 1000 timeouts Skip comms hold wp If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home 0 0 1 Airfield home Lat Latitude of airfield home waypoint -265847810 0 degrees * 1e7 Airfield home Lon Longitude of airfield home waypoint 1518423250 0 degrees * 1e7 Airfield home alt Altitude of airfield home waypoint 600.0 0.0 m Attitude Time Constant This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. 0.5 0.4 1.0 seconds Pitch rate proportional gain This defines how much the elevator input will be commanded depending on the current body angular rate error. 0.05 Pitch rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 0.0 50.0 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 0.0 90.0 deg/s Maximum negative / down pitch rate This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 0.0 90.0 deg/s Pitch rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value 0.2 0.0 1.0 Roll to Pitch feedforward gain This compensates during turns and ensures the nose stays level. 0.0 0.0 2.0 Roll rate proportional Gain This defines how much the aileron input will be commanded depending on the current body angular rate error. 0.05 Roll rate integrator Gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 0.0 100.0 Roll Integrator Anti-Windup The portion of the integrator part in the control surface deflection is limited to this value. 0.2 0.0 1.0 Maximum Roll Rate This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 0.0 90.0 deg/s Yaw rate proportional gain This defines how much the rudder input will be commanded depending on the current body angular rate error. 0.05 Yaw rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 0.0 50.0 Yaw rate integrator limit The portion of the integrator part in the control surface deflection is limited to this value 0.2 0.0 1.0 Maximum Yaw Rate This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. 0.0 0.0 90.0 deg/s Roll rate feed forward Direct feed forward from rate setpoint to control surface output 0.3 0.0 10.0 Pitch rate feed forward Direct feed forward from rate setpoint to control surface output 0.4 0.0 10.0 Yaw rate feed forward Direct feed forward from rate setpoint to control surface output 0.3 0.0 10.0 Minimal speed for yaw coordination For airspeeds above this value, the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. 1000.0 m/s Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. 13.0 0.0 30.0 m/s Trim Airspeed The TECS controller tries to fly at this airspeed. 20.0 0.0 30.0 m/s Maximum Airspeed If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively. 50.0 0.0 30.0 m/s Roll Setpoint Offset An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe. 0.0 -90.0 90.0 deg Pitch Setpoint Offset An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe. 0.0 -90.0 90.0 deg Max Manual Roll Max roll for manual control in attitude stabilized mode 45.0 0.0 90.0 deg Max Manual Pitch Max pitch for manual control in attitude stabilized mode 45.0 0.0 90.0 deg Minimum descent rate This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX. 2.0 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. 5.0 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. 5.0 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. 8.0 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. 0.5 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. 0.1 Maximum vertical acceleration This is the maximum vertical acceleration (in metres/second square) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions. 7.0 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. 3.0 Complementary filter "omega" parameter for speed This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the arispeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data. 2.0 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. 10.0 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). 1.0 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 Height rate P factor 0.05 Height rate FF factor 0.0 Speed rate P factor 0.05 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. 30.0 0.0 seconds Open loop loiter roll Roll in degrees during the open loop loiter 15.0 0.0 30.0 deg Open loop loiter pitch Pitch in degrees during the open loop loiter 0.0 -30.0 30.0 deg Open loop loiter thrust Thrust value which is set during the open loop loiter 0.7 0.0 1.0 Enable geofence Set to 1 to enable geofence. Defaults to 1 because geofence is only enabled when the geofence.txt file is present. 1 0 1 Geofence altitude mode Select which altitude reference should be used 0 = WGS84, 1 = AMSL 0 0 1 Geofence source Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS 0 0 1 Geofence counter limit Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered -1 -1 10 L1 period This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation. 25.0 1.0 100.0 L1 damping Damping factor for L1 control. 0.75 0.6 0.9 Cruise throttle This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. 0.7 0.0 1.0 Throttle max slew rate Maximum slew rate for the commanded throttle 0.0 0.0 1.0 Negative pitch limit The minimum negative pitch the controller will output. -45.0 -60.0 0.0 degrees Positive pitch limit The maximum positive pitch the controller will output. 45.0 0.0 60.0 degrees Controller roll limit The maximum roll the controller will output. 45.0 0.0 degrees Throttle limit max This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. 1.0 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 Throttle limit value before flare This throttle value will be set as throttle limit at FW_LND_TLALT, before arcraft will flare. 1.0 Climbout Altitude difference If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to zero to disable climbout mode (not recommended). 25.0 Maximum climb rate This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced. 5.0 Landing slope angle 5.0 FW_LND_HVIRT 10.0 Landing flare altitude (relative to landing altitude) 8.0 meter Landing throttle limit altitude (relative landing altitude) Default of -1.0f lets the system default to applying throttle limiting at 2/3 of the flare altitude. -1.0 meter Landing heading hold horizontal distance 15.0 Enable or disable usage of terrain estimate during landing 0: disabled, 1: enabled 0 Enable launch detection 0 0 1 Catapult accelerometer theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. 30.0 0 Catapult time theshold LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. 0.05 0 Motor delay Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate 0.0 0 seconds Maximum pitch before the throttle is powered up (during motor delay phase) This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep). 30.0 0 45 deg Throttle setting while detecting launch The throttle is set to this value while the system is waiting for the take-off. 0.0 0 1 MAVLink system ID 1 MAVLink component ID 50 MAVLink type MAV_TYPE_FIXED_WING Use/Accept HIL GPS message (even if not in HIL mode) If set to 1 incomming HIL GPS messages are parsed 0 Forward external setpoint messages If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard control mode 1 Take-off altitude Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to MIS_TAKEOFF_ALT on takeoff, then go to waypoint. 10.0 meters Enable persistent onboard mission storage When enabled, missions that have been uploaded by the GCS are stored and reloaded after reboot persistently. 1 0 1 Maximal horizontal distance from home to first waypoint Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the current position. 500 0 1000 Altitude setpoint mode 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode 0 0 1 Loiter radius (FW only) Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). 50.0 0.0 meters Acceptance Radius Default acceptance radius, overridden by acceptance radius of waypoint if set. 25.0 1.0 meters Set OBC mode for data link loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules 0 0 Set OBC mode for rc loss If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules 0 0 Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 6.0 0.0 Roll rate P gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.1 0.0 Roll rate I gain Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 0.0 Roll rate D gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.002 0.0 Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 6.0 0.0 1/s Pitch rate P gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.1 0.0 Pitch rate I gain Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 0.0 Pitch rate D gain Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.002 0.0 Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. 2.0 0.0 1/s Yaw rate P gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.3 0.0 Yaw rate I gain Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. 0.0 0.0 Yaw rate D gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 0.0 Yaw feed forward Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.5 0.0 1.0 Max yaw rate Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 120.0 0.0 360.0 deg/s Max manual roll 35.0 0.0 90.0 deg Max manual pitch 35.0 0.0 90.0 deg Max manual yaw rate 120.0 0.0 deg/s Max acro roll rate 90.0 0.0 360.0 deg/s Max acro pitch rate 90.0 0.0 360.0 deg/s Max acro yaw rate 120.0 0.0 deg/s Minimum thrust Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.1 0.0 1.0 Maximum thrust Limit max allowed thrust. 1.0 0.0 1.0 Proportional gain for vertical position error 1.0 0.0 Proportional gain for vertical velocity error 0.1 0.0 Integral gain for vertical velocity error Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.02 0.0 Differential gain for vertical velocity error 0.0 0.0 Maximum vertical velocity Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). 5.0 0.0 m/s Vertical velocity feed forward Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.5 0.0 1.0 Proportional gain for horizontal position error 1.0 0.0 Proportional gain for horizontal velocity error 0.1 0.0 Integral gain for horizontal velocity error Non-zero value allows to resist wind. 0.02 0.0 Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.01 0.0 Maximum horizontal velocity Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 5.0 0.0 m/s Horizontal velocity feed forward Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. 0.5 0.0 1.0 Maximum tilt angle in air Limits maximum tilt in AUTO and POSCTRL modes during flight. 45.0 0.0 90.0 deg Maximum tilt during landing Limits maximum tilt angle on landing. 15.0 0.0 90.0 deg Landing descend rate 1.0 0.0 m/s Ground drag property This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude. 0.03 0.001 0.1 unknown Plane turn radius The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop. 120.0 30.0 500.0 meter Drop precision If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy. 30.0 1.0 80.0 meter Payload drag coefficient of the dropped object The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http://en.wikipedia.org/wiki/Drag_coefficient 0.1 0.08 1.5 meter Payload mass A typical small toy ball: 0.025 kg OBC water bottle: 0.6 kg 0.6 0.001 5.0 kilogram Payload front surface area A typical small toy ball: (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 OBC water bottle: (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 0.00311724531 0.001 0.5 m^2 Velocity estimate delay The delay in milliseconds of the velocity estimate from GPS. 230 0 1000 Position estimate delay The delay in milliseconds of the position estimate from GPS. 210 0 1000 Height estimate delay The delay in milliseconds of the height estimate from the barometer. 350 0 1000 Mag estimate delay The delay in milliseconds of the magnetic field estimate from the magnetometer. 30 0 1000 True airspeeed estimate delay The delay in milliseconds of the airspeed estimate. 210 0 1000 GPS vs. barometric altitude update weight RE-CHECK this. 0.9 0.0 1.0 Airspeed measurement noise Increasing this value will make the filter trust this sensor less and trust other sensors more. 1.4 0.5 5.0 Velocity measurement noise in north-east (horizontal) direction Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 0.3 0.05 5.0 Velocity noise in down (vertical) direction Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 0.5 0.05 5.0 Position noise in north-east (horizontal) direction Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 0.5 0.1 10.0 Position noise in down (vertical) direction Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 0.5 0.1 10.0 Magnetometer measurement noise Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 0.05 0.1 10.0 Gyro process noise Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. This noise controls how much the filter trusts the gyro measurements. Increasing it makes the filter trust the gyro less and other sensors more. 0.015 0.001 0.05 Accelerometer process noise Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. Increasing this value makes the filter trust the accelerometer less and other sensors more. 0.25 0.05 1.0 Gyro bias estimate process noise Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier. 1e-07 0.0000001 0.00001 Accelerometer bias estimate process noise Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. Increasing this value makes the bias estimation faster and noisier. 0.00005 0.00001 0.001 Magnetometer earth frame offsets process noise Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. Increasing this value makes the magnetometer earth bias estimate converge faster but also noisier. 0.0003 0.0001 0.01 Magnetometer body frame offsets process noise Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. Increasing this value makes the magnetometer body bias estimate converge faster but also noisier. 0.0003 0.0001 0.01 Threshold for filter initialization If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize. 5.0 0.3 10.0 Z axis weight for barometer Weight (cutoff frequency) for barometer altitude measurements. 0.5 0.0 10.0 Z axis weight for GPS Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. 0.005 0.0 10.0 Z axis weight for vision Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. 0.5 0.0 10.0 Z axis weight for sonar Weight (cutoff frequency) for sonar measurements. 3.0 0.0 10.0 XY axis weight for GPS position Weight (cutoff frequency) for GPS position measurements. 1.0 0.0 10.0 XY axis weight for GPS velocity Weight (cutoff frequency) for GPS velocity measurements. 2.0 0.0 10.0 XY axis weight for vision position Weight (cutoff frequency) for vision position measurements. 5.0 0.0 10.0 XY axis weight for vision velocity Weight (cutoff frequency) for vision velocity measurements. 0.0 0.0 10.0 XY axis weight for optical flow Weight (cutoff frequency) for optical flow (velocity) measurements. 5.0 0.0 10.0 XY axis weight for resetting velocity When velocity sources lost slowly decrease estimated horizontal velocity with this weight. 0.5 0.0 10.0 XY axis weight factor for GPS when optical flow available When optical flow data available, multiply GPS weights (for position and velocity) by this factor. 0.1 0.0 1.0 Accelerometer bias estimation weight Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. 0.05 0.0 0.1 Optical flow scale factor Factor to convert raw optical flow (in pixels) to radians [rad/px]. 0.15 0.0 1.0 rad/px Minimal acceptable optical flow quality 0 - lowest quality, 1 - best quality. 0.5 0.0 1.0 Weight for sonar filter Sonar filter detects spikes on sonar measurements and used to detect new surface level. 0.05 0.0 1.0 Sonar maximal error for new surface If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). 0.5 0.0 1.0 m Land detector time Vehicle assumed landed if no altitude changes happened during this time on low throttle. 3.0 0.0 10.0 s Land detector altitude dispersion threshold Dispersion threshold for triggering land detector. 0.7 0.0 10.0 m Land detector throttle threshold Value should be lower than minimal hovering thrust. Half of it is good choice. 0.2 0.0 1.0 GPS delay GPS delay compensation 0.2 0.0 1.0 s Disable vision input Set to the appropriate key (328754) to disable vision input. 0 0 1 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 120.0 -1.0 seconds Loiter radius after RTL (FW only) Default value of loiter radius after RTL (fixedwing only). 50.0 0.0 meters RTL altitude Altitude to fly back in RTL in meters 100 0 1 meters RTL loiter altitude Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed. 20 0 100 meters RTL delay Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at NAV_LAND_ALT. -1.0 -1.0 seconds RC Channel 1 Minimum Minimum value for RC channel 1 1000.0 800.0 1500.0 RC Channel 1 Trim Mid point value (same as min for throttle) 1500.0 800.0 2200.0 RC Channel 1 Maximum Maximum value for RC channel 1 2000.0 1500.0 2200.0 RC Channel 1 Reverse Set to -1 to reverse channel. 1.0 -1.0 1.0 RC Channel 1 dead zone The +- range of this value around the trim value will be considered as zero. 10.0 0.0 100.0 RC Channel 2 Minimum Minimum value for RC channel 2 1000.0 800.0 1500.0 RC Channel 2 Trim Mid point value (same as min for throttle) 1500.0 800.0 2200.0 RC Channel 2 Maximum Maximum value for RC channel 2 2000.0 1500.0 2200.0 RC Channel 2 Reverse Set to -1 to reverse channel. 1.0 -1.0 1.0 RC Channel 2 dead zone The +- range of this value around the trim value will be considered as zero. 10.0 0.0 100.0 DSM binding trigger -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind -1 Roll control channel mapping The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned. 1 0 18 Pitch control channel mapping The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned. 2 0 18 Throttle control channel mapping The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned. 3 0 18 Yaw control channel mapping The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned. 4 0 18 Mode switch channel mapping This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned. 0 0 18 Return switch channel mapping 0 0 18 Posctl switch channel mapping 0 0 18 Loiter switch channel mapping 0 0 18 Acro switch channel mapping 0 0 18 Offboard switch channel mapping 0 0 18 Flaps channel mapping 0 0 18 Auxiliary switch 1 channel mapping Default function: Camera pitch 0 0 18 Auxiliary switch 2 channel mapping Default function: Camera roll 0 0 18 Auxiliary switch 3 channel mapping Default function: Camera azimuth / yaw 0 0 18 Failsafe channel PWM threshold 0 800 2200 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 -1 1 Enable extended logging mode A value of -1 indicates the commandline argument should be obeyed. A value of 0 disables extended logging mode, a value of 1 enables it. This parameter is only read out before logging starts (which commonly is before arming). -1 -1 1 Gyro X-axis offset 0.0 -10.0 10.0 Gyro Y-axis offset 0.0 -10.0 10.0 Gyro Z-axis offset 0.0 -5.0 5.0 Gyro X-axis scaling factor 1.0 -1.5 1.5 Gyro Y-axis scaling factor 1.0 -1.5 1.5 Gyro Z-axis scaling factor 1.0 -1.5 1.5 Magnetometer X-axis offset 0.0 -500.0 500.0 Magnetometer Y-axis offset 0.0 -500.0 500.0 Magnetometer Z-axis offset 0.0 -500.0 500.0 Magnetometer X-axis scaling factor 1.0 Magnetometer Y-axis scaling factor 1.0 Magnetometer Z-axis scaling factor 1.0 Accelerometer X-axis offset 0.0 Accelerometer Y-axis offset 0.0 Accelerometer Z-axis offset 0.0 Accelerometer X-axis scaling factor 1.0 Accelerometer Y-axis scaling factor 1.0 Accelerometer Z-axis scaling factor 1.0 Differential pressure sensor offset The offset (zero-reading) in Pascal 0.0 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. 0 QNH for barometer 1013.25 500 1500 hPa Board rotation This parameter defines the rotation of the FMU board relative to the platform. Possible values are: 0 = No rotation 1 = Yaw 45° 2 = Yaw 90° 3 = Yaw 135° 4 = Yaw 180° 5 = Yaw 225° 6 = Yaw 270° 7 = Yaw 315° 8 = Roll 180° 9 = Roll 180°, Yaw 45° 10 = Roll 180°, Yaw 90° 11 = Roll 180°, Yaw 135° 12 = Pitch 180° 13 = Roll 180°, Yaw 225° 14 = Roll 180°, Yaw 270° 15 = Roll 180°, Yaw 315° 16 = Roll 90° 17 = Roll 90°, Yaw 45° 18 = Roll 90°, Yaw 90° 19 = Roll 90°, Yaw 135° 20 = Roll 270° 21 = Roll 270°, Yaw 45° 22 = Roll 270°, Yaw 90° 23 = Roll 270°, Yaw 135° 24 = Pitch 90° 25 = Pitch 270° 0 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. 0.0 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. 0.0 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. 0.0 External magnetometer rotation This parameter defines the rotation of the external magnetometer relative to the platform (not relative to the FMU). See SENS_BOARD_ROT for possible values. 0 Set usage of external magnetometer * Set to 0 (default) to auto-detect (will try to get the external as primary) * Set to 1 to force the external magnetometer as primary * Set to 2 to force the internal magnetometer as primary 0 0 2 Auto-start script index Defines the auto-start script used to bootstrap the system. 0 Automatically configure default values Set to 1 to set platform-specific parameters to their default values on next system startup. 0 0 1 Set usage of IO board Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up. 1 0 1 Set restart type Set by px4io to indicate type of restart 2 0 2 Enable UAVCAN Enables support for UAVCAN-interfaced actuators and sensors. 0 0 1 UAVCAN Node ID Read the specs at http://uavcan.org to learn more about Node ID. 1 1 125 UAVCAN CAN bus bitrate 1000000 20000 1000000 Body angular rate process noise 1e-4 Body angular acceleration process noise 0.08 Acceleration process noise 0.009 Magnet field vector process noise 0.005 Gyro measurement noise 0.0008 Accel measurement noise 10000.0 Mag measurement noise 100.0 Moment of inertia matrix diagonal entry (1, 1) 0.0018 kg*m^2 Moment of inertia matrix diagonal entry (2, 2) 0.0018 kg*m^2 Moment of inertia matrix diagonal entry (3, 3) 0.0037 kg*m^2 Moment of inertia enabled in estimator If set to != 0 the moment of inertia will be used in the estimator 0 0 1 Datalink loss mode enabled Set to 1 to enable actions triggered when the datalink is lost. 0 0 1 After this amount of seconds without datalink the data link lost mode triggers 10 0 30 second 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 0 30 second Engine failure triggers only above this throttle value 0.5 0.0 1.0 Engine failure triggers only below this current/throttle value 5.0 0.0 7.0 Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time 10.0 0.0 7.0 second After this amount of seconds without RC connection the rc lost flag is set to true 0.5 0 35 seconds mTECS enabled Set to 1 to enable mTECS 0 0 1 Total Energy Rate Control Feedforward Maps the total energy rate setpoint to the throttle setpoint 0.7 0.0 10.0 Total Energy Rate Control P Maps the total energy rate error to the throttle setpoint 0.1 0.0 10.0 Total Energy Rate Control I Maps the integrated total energy rate to the throttle setpoint 0.25 0.0 10.0 Total Energy Rate Control Offset (Cruise throttle sp) 0.7 0.0 10.0 Energy Distribution Rate Control Feedforward Maps the energy distribution rate setpoint to the pitch setpoint 0.4 0.0 10.0 Energy Distribution Rate Control P Maps the energy distribution rate error to the pitch setpoint 0.03 0.0 10.0 Energy Distribution Rate Control I Maps the integrated energy distribution rate error to the pitch setpoint 0.03 0.0 10.0 Total Energy Distribution Offset (Cruise pitch sp) 0.0 0.0 10.0 Minimal Throttle Setpoint 0.0 0.0 1.0 Maximal Throttle Setpoint 1.0 0.0 1.0 Minimal Pitch Setpoint in Degrees -45.0 -90.0 90.0 deg Maximal Pitch Setpoint in Degrees 20.0 -90.0 90.0 deg Lowpass (cutoff freq.) for altitude 1.0 Lowpass (cutoff freq.) for the flight path angle 1.0 P gain for the altitude control Maps the altitude error to the flight path angle setpoint 0.3 0.0 10.0 D gain for the altitude control Maps the change of altitude error to the flight path angle setpoint 0.0 0.0 10.0 Lowpass for FPA error derivative calculation (see MT_FPA_D) 1.0 Minimal flight path angle setpoint -20.0 -90.0 90.0 deg Maximal flight path angle setpoint 30.0 -90.0 90.0 deg Lowpass (cutoff freq.) for airspeed 0.5 Airspeed derivative calculation lowpass 0.5 P gain for the airspeed control Maps the airspeed error to the acceleration setpoint 0.3 0.0 10.0 D gain for the airspeed control Maps the change of airspeed error to the acceleration setpoint 0.0 0.0 10.0 Lowpass for ACC error derivative calculation (see MT_ACC_D) 0.5 Minimal acceleration (air) -40.0 m/s^2 Maximal acceleration (air) 40.0 m/s^2 Minimal throttle during takeoff 1.0 0.0 1.0 Maximal throttle during takeoff 1.0 0.0 1.0 Minimal pitch during takeoff 0.0 -90.0 90.0 deg Maximal pitch during takeoff 45.0 -90.0 90.0 deg Minimal throttle in underspeed mode 1.0 0.0 1.0 Maximal throttle in underspeed mode 1.0 0.0 1.0 Minimal pitch in underspeed mode -45.0 -90.0 90.0 deg Maximal pitch in underspeed mode 0.0 -90.0 90.0 deg Minimal throttle in landing mode (only last phase of landing) 0.0 0.0 1.0 Maximal throttle in landing mode (only last phase of landing) 0.0 0.0 1.0 Minimal pitch in landing mode -5.0 -90.0 90.0 deg Maximal pitch in landing mode 15.0 -90.0 90.0 deg Integrator Limit for Total Energy Rate Control 10.0 0.0 10.0 Integrator Limit for Energy Distribution Rate Control 10.0 0.0 10.0 EXFW_HDNG_P 0.1 EXFW_ROLL_P 0.2 EXFW_PITCH_P 0.2 FPE_LO_THRUST 0.4 FPE_SONAR_LP_U 0.5 FPE_SONAR_LP_L 0.2 FPE_DEBUG 0 FSC_S_P 0.1 FSC_L_PITCH 0.4 FSC_L_ROLL 0.4 ATT_MAG_DECL 0.0 ATT_ACC_COMP 2 SO3_COMP_KP 1.0 SO3_COMP_KI 0.05 SO3_ROLL_OFFS 0.0 SO3_PITCH_OFFS 0.0 SO3_YAW_OFFS 0.0 TRIM_ROLL 0.0 TRIM_PITCH 0.0 TRIM_YAW 0.0 TEST_MIN -1.0 TEST_MAX 1.0 TEST_TRIM 0.5 TEST_HP 10.0 TEST_LP 10.0 TEST_P 0.2 TEST_I 0.1 TEST_I_MAX 1.0 TEST_D 0.01 TEST_D_LP 10.0 TEST_MEAN 1.0 TEST_DEV 2.0 FWB_P_LP 300.0 FWB_Q_LP 300.0 FWB_R_LP 300.0 FWB_R_HP 1.0 FWB_P2AIL 0.3 FWB_Q2ELV 0.1 FWB_R2RDR 0.1 FWB_PSI2PHI 0.5 FWB_PHI2P 1.0 FWB_PHI_LIM_MAX 0.3 FWB_V2THE_P 1.0 FWB_V2THE_I 0.0 FWB_V2THE_D 0.0 FWB_V2THE_D_LP 0.0 FWB_V2THE_I_MAX 0.0 FWB_THE_MIN -0.5 FWB_THE_MAX 0.5 FWB_THE2Q_P 1.0 FWB_THE2Q_I 0.0 FWB_THE2Q_D 0.0 FWB_THE2Q_D_LP 0.0 FWB_THE2Q_I_MAX 0.0 FWB_H2THR_P 0.01 FWB_H2THR_I 0.0 FWB_H2THR_D 0.0 FWB_H2THR_D_LP 0.0 FWB_H2THR_I_MAX 0.0 FWB_XT2YAW_MAX 1.57 FWB_XT2YAW 0.005 FWB_V_MIN 10.0 FWB_V_CMD 12.0 FWB_V_MAX 16.0 FWB_CR_MAX 1.0 FWB_CR2THR_P 0.01 FWB_CR2THR_I 0.0 FWB_CR2THR_D 0.0 FWB_CR2THR_D_LP 0.0 FWB_CR2THR_I_MAX 0.0 FWB_TRIM_THR 0.8 FWB_TRIM_V 12.0 Flare, minimum pitch Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 2.5 Flare, maximum pitch Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_TLALT is reached 15.0 SEG_TH2V_P 10.0 SEG_TH2V_I 0.0 SEG_TH2V_I_MAX 0.0 SEG_Q2V 1.0 RC3_MIN 1000 RC3_TRIM 1500 RC3_MAX 2000 RC3_REV 1.0 RC3_DZ 10.0 RC4_MIN 1000 RC4_TRIM 1500 RC4_MAX 2000 RC4_REV 1.0 RC4_DZ 10.0 RC5_MIN 1000 RC5_TRIM 1500 RC5_MAX 2000 RC5_REV 1.0 RC5_DZ 10.0 RC6_MIN 1000 RC6_TRIM 1500 RC6_MAX 2000 RC6_REV 1.0 RC6_DZ 10.0 RC7_MIN 1000 RC7_TRIM 1500 RC7_MAX 2000 RC7_REV 1.0 RC7_DZ 10.0 RC8_MIN 1000 RC8_TRIM 1500 RC8_MAX 2000 RC8_REV 1.0 RC8_DZ 10.0 RC9_MIN 1000 RC9_TRIM 1500 RC9_MAX 2000 RC9_REV 1.0 RC9_DZ 0.0 RC10_MIN 1000 RC10_TRIM 1500 RC10_MAX 2000 RC10_REV 1.0 RC10_DZ 0.0 RC11_MIN 1000 RC11_TRIM 1500 RC11_MAX 2000 RC11_REV 1.0 RC11_DZ 0.0 RC12_MIN 1000 RC12_TRIM 1500 RC12_MAX 2000 RC12_REV 1.0 RC12_DZ 0.0 RC13_MIN 1000 RC13_TRIM 1500 RC13_MAX 2000 RC13_REV 1.0 RC13_DZ 0.0 RC14_MIN 1000 RC14_TRIM 1500 RC14_MAX 2000 RC14_REV 1.0 RC14_DZ 0.0 RC15_MIN 1000 RC15_TRIM 1500 RC15_MAX 2000 RC15_REV 1.0 RC15_DZ 0.0 RC16_MIN 1000 RC16_TRIM 1500 RC16_MAX 2000 RC16_REV 1.0 RC16_DZ 0.0 RC17_MIN 1000 RC17_TRIM 1500 RC17_MAX 2000 RC17_REV 1.0 RC17_DZ 0.0 RC18_MIN 1000 RC18_TRIM 1500 RC18_MAX 2000 RC18_REV 1.0 RC18_DZ 0.0 RC_RL1_DSM_VCC 0 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 0 18 Threshold for selecting assist mode min:-1 max:+1 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 0.25 Threshold for selecting auto mode min:-1 max:+1 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 0.75 Threshold for selecting posctl mode min:-1 max:+1 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 0.5 Threshold for selecting return to launch mode min:-1 max:+1 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 0.5 Threshold for selecting loiter mode min:-1 max:+1 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 0.5 Threshold for selecting acro mode min:-1 max:+1 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 0.5 Threshold for selecting offboard mode min:-1 max:+1 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 0.5