From 2ca2cfeed38410853181dc77039a72cf0ae4e5c3 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Wed, 17 Feb 2021 14:24:41 +0000 Subject: [PATCH] Update PX4 Firmware metadata Wed Feb 17 14:24:41 UTC 2021 --- .../PX4/PX4ParameterFactMetaData.xml | 299 +++++++++++++-------- 1 file changed, 184 insertions(+), 115 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 6f13df2..b619d20 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -996,7 +996,7 @@ Set to 2 to use heading from motion capture 121212 true - + Circuit breaker for IO safety Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK 0 @@ -3035,8 +3035,8 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi 0.005 - Pitch setpoint offset - An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe. + Pitch setpoint offset (pitch at level flight) + An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe. -90.0 90.0 deg @@ -3120,15 +3120,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi 3 0.005 - - Roll setpoint offset - An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe. - -90.0 - 90.0 - deg - 1 - 0.5 - Maximum roll rate This limits the maximum roll rate the controller will output (in degrees per second). @@ -3454,6 +3445,14 @@ Set to 0 to disable heading hold 0.0 1.0 + + Minimum pitch during takeoff + -5.0 + 30.0 + deg + 1 + 0.5 + @@ -4258,14 +4257,14 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 0 255 - fuse GPS, requires GPS for alt. init - fuse optical flow - fuse vision position - fuse landing target - fuse land detector - pub agl as lpos down - flow gyro compensation - fuse baro + fuse GPS, requires GPS for alt. init + fuse optical flow + fuse vision position + fuse landing target + fuse land detector + pub agl as lpos down + flow gyro compensation + fuse baro @@ -4705,11 +4704,6 @@ Used to calculate increased terrain random walk nosie due to movementIf set to 1 incoming HIL GPS messages are parsed. - - - Test mode (Identify) of MKBLCTRL Driver - - Flag to enable obstacle avoidance @@ -8915,24 +8909,31 @@ default 1.5 turns per second 2 0.05 - + L1 distance - This is the waypoint radius - 0.0 - 100.0 + This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy). + 1.0 + 50.0 m 1 0.1 - + L1 period - This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation. - 0.0 + This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation. + 0.5 50.0 m 1 0.5 + + Max manual yaw rate + 0.0 + 400 + deg/s + 1 + Maximum turn angle for Ackerman steering. At a control output of 0, the steering wheels are at 0 radians. @@ -9023,15 +9024,6 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians2 0.01 - - Idle throttle - This is the minimum throttle while on the ground, it should be 0 for a rover - 0.0 - 0.4 - norm - 2 - 0.01 - Throttle limit max This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough @@ -9050,8 +9042,9 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians2 0.01 - + Distance from front axle to rear axle + A value of 0.31 is typical for 1/10 RC cars. 0.0 m 3 @@ -9292,22 +9285,22 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Accelerometer X-axis offset - + Accelerometer X-axis scaling factor - + Accelerometer Y-axis offset - + Accelerometer Y-axis scaling factor - + Accelerometer Z-axis offset - + Accelerometer Z-axis scaling factor @@ -9376,22 +9369,22 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Accelerometer X-axis offset - + Accelerometer X-axis scaling factor - + Accelerometer Y-axis offset - + Accelerometer Y-axis scaling factor - + Accelerometer Z-axis offset - + Accelerometer Z-axis scaling factor @@ -9460,22 +9453,22 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Accelerometer X-axis offset - + Accelerometer X-axis scaling factor - + Accelerometer Y-axis offset - + Accelerometer Y-axis scaling factor - + Accelerometer Z-axis offset - + Accelerometer Z-axis scaling factor @@ -9544,22 +9537,22 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Accelerometer X-axis offset - + Accelerometer X-axis scaling factor - + Accelerometer Y-axis offset - + Accelerometer Y-axis scaling factor - + Accelerometer Z-axis offset - + Accelerometer Z-axis scaling factor @@ -9628,13 +9621,13 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Gyro X-axis offset - + Gyro Y-axis offset - + Gyro Z-axis offset @@ -9703,13 +9696,13 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Gyro X-axis offset - + Gyro Y-axis offset - + Gyro Z-axis offset @@ -9778,13 +9771,13 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Gyro X-axis offset - + Gyro Y-axis offset - + Gyro Z-axis offset @@ -9853,13 +9846,13 @@ Particularly useful for testing different low-battery behaviour Roll 90°, Pitch 315° - + Gyro X-axis offset - + Gyro Y-axis offset - + Gyro Z-axis offset @@ -9935,13 +9928,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer X-axis off diagonal factor - + Magnetometer X-axis offset - + Magnetometer X-axis scaling factor @@ -9951,13 +9944,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Y-axis off diagonal factor - + Magnetometer Y-axis offset - + Magnetometer Y-axis scaling factor @@ -9967,13 +9960,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Z-axis off diagonal factor - + Magnetometer Z-axis offset - + Magnetometer Z-axis scaling factor @@ -10049,13 +10042,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer X-axis off diagonal factor - + Magnetometer X-axis offset - + Magnetometer X-axis scaling factor @@ -10065,13 +10058,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Y-axis off diagonal factor - + Magnetometer Y-axis offset - + Magnetometer Y-axis scaling factor @@ -10081,13 +10074,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Z-axis off diagonal factor - + Magnetometer Z-axis offset - + Magnetometer Z-axis scaling factor @@ -10163,13 +10156,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer X-axis off diagonal factor - + Magnetometer X-axis offset - + Magnetometer X-axis scaling factor @@ -10179,13 +10172,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Y-axis off diagonal factor - + Magnetometer Y-axis offset - + Magnetometer Y-axis scaling factor @@ -10195,13 +10188,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Z-axis off diagonal factor - + Magnetometer Z-axis offset - + Magnetometer Z-axis scaling factor @@ -10277,13 +10270,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer X-axis off diagonal factor - + Magnetometer X-axis offset - + Magnetometer X-axis scaling factor @@ -10293,13 +10286,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Y-axis off diagonal factor - + Magnetometer Y-axis offset - + Magnetometer Y-axis scaling factor @@ -10309,13 +10302,13 @@ and either current or throttle depending on value of CAL_MAG_COMP_TYP Unit for throttle-based compensation is [G] and for current-based compensation [G/kA] - + Magnetometer Z-axis off diagonal factor - + Magnetometer Z-axis offset - + Magnetometer Z-axis scaling factor @@ -10331,7 +10324,7 @@ for current-based compensation [G/kA] Differential pressure sensor analog scaling Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes. - + Differential pressure sensor offset The offset (zero-reading) in Pascal @@ -10821,6 +10814,13 @@ How often the sensor is readout celcius 3 + + IMU heater controller feedforward value + 0 + 1.0 + % + 3 + IMU heater controller integrator gain value 0 @@ -10835,6 +10835,11 @@ How often the sensor is readout us/C 3 + + Enable internal barometers + For systems with an external barometer, this should be set to false to make sure that the external is used. + true + Serial Configuration for LeddarOne Rangefinder Configure on which serial port to run LeddarOne Rangefinder. @@ -12729,6 +12734,43 @@ How often the sensor is readout m + + + UAVCAN v1 battery port ID + 1 + 32767 + + + UAVCAN v1 battery mode + true + + Disable + Receive BMSStatus + Send BMSStatus + + + + UAVCAN/CAN v1 bus bitrate + 20000 + 1000000 + bit/s + true + + + UAVCAN v1 + 0 - UAVCAN disabled. 1 - Enables UAVCANv1 + true + + + + + UAVCAN v1 Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + true + + Direct pitch input @@ -12768,6 +12810,33 @@ How often the sensor is readout Yawh proportional gain + + + Gain of D controller X + + + Gain of P controller X + + + Gain of D controller Y + + + Gain of P controller Y + + + Gain of D controller Z + + + Gain of P controller Z + + + Stabilization mode(1) or Position Control(0) + + Position Control + Stabilization Mode + + + Transition blending airspeed