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Update PX4 Firmware metadata Wed Feb 17 14:24:41 UTC 2021

QGC4.4
PX4BuildBot 4 years ago
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1 changed files with 184 additions and 115 deletions
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  1. 299
      src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

299
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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@ -996,7 +996,7 @@ Set to 2 to use heading from motion capture</short_desc>
<max>121212</max> <max>121212</max>
<reboot_required>true</reboot_required> <reboot_required>true</reboot_required>
</parameter> </parameter>
<parameter name="CBRK_IO_SAFETY" default="0" type="INT32" category="Developer"> <parameter name="CBRK_IO_SAFETY" default="22027" type="INT32" category="Developer">
<short_desc>Circuit breaker for IO safety</short_desc> <short_desc>Circuit breaker for IO safety</short_desc>
<long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc> <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
<min>0</min> <min>0</min>
@ -3035,8 +3035,8 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
<increment>0.005</increment> <increment>0.005</increment>
</parameter> </parameter>
<parameter name="FW_PSP_OFF" default="0.0" type="FLOAT"> <parameter name="FW_PSP_OFF" default="0.0" type="FLOAT">
<short_desc>Pitch setpoint offset</short_desc> <short_desc>Pitch setpoint offset (pitch at level flight)</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>-90.0</min> <min>-90.0</min>
<max>90.0</max> <max>90.0</max>
<unit>deg</unit> <unit>deg</unit>
@ -3120,15 +3120,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
</parameter> </parameter>
<parameter name="FW_RSP_OFF" default="0.0" type="FLOAT">
<short_desc>Roll setpoint offset</short_desc>
<long_desc>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.</long_desc>
<min>-90.0</min>
<max>90.0</max>
<unit>deg</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
<parameter name="FW_R_RMAX" default="70.0" type="FLOAT"> <parameter name="FW_R_RMAX" default="70.0" type="FLOAT">
<short_desc>Maximum roll rate</short_desc> <short_desc>Maximum roll rate</short_desc>
<long_desc>This limits the maximum roll rate the controller will output (in degrees per second).</long_desc> <long_desc>This limits the maximum roll rate the controller will output (in degrees per second).</long_desc>
@ -3454,6 +3445,14 @@ Set to 0 to disable heading hold</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
</parameter> </parameter>
<parameter name="FW_TKO_PITCH_MIN" default="10.0" type="FLOAT">
<short_desc>Minimum pitch during takeoff</short_desc>
<min>-5.0</min>
<max>30.0</max>
<unit>deg</unit>
<decimal>1</decimal>
<increment>0.5</increment>
</parameter>
</group> </group>
<group name="FW Launch detection"> <group name="FW Launch detection">
<parameter name="LAUN_ALL_ON" default="0" type="INT32" boolean="true"> <parameter name="LAUN_ALL_ON" default="0" type="INT32" boolean="true">
@ -4258,14 +4257,14 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<min>0</min> <min>0</min>
<max>255</max> <max>255</max>
<bitmask> <bitmask>
<bit index="0"> fuse GPS, requires GPS for alt. init</bit> <bit index="0">fuse GPS, requires GPS for alt. init</bit>
<bit index="1"> fuse optical flow</bit> <bit index="1">fuse optical flow</bit>
<bit index="2"> fuse vision position</bit> <bit index="2">fuse vision position</bit>
<bit index="3"> fuse landing target</bit> <bit index="3">fuse landing target</bit>
<bit index="4"> fuse land detector</bit> <bit index="4">fuse land detector</bit>
<bit index="5"> pub agl as lpos down</bit> <bit index="5">pub agl as lpos down</bit>
<bit index="6"> flow gyro compensation</bit> <bit index="6">flow gyro compensation</bit>
<bit index="7"> fuse baro</bit> <bit index="7">fuse baro</bit>
</bitmask> </bitmask>
</parameter> </parameter>
<parameter name="LPE_GPS_DELAY" default="0.29" type="FLOAT"> <parameter name="LPE_GPS_DELAY" default="0.29" type="FLOAT">
@ -4705,11 +4704,6 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
<long_desc>If set to 1 incoming HIL GPS messages are parsed.</long_desc> <long_desc>If set to 1 incoming HIL GPS messages are parsed.</long_desc>
</parameter> </parameter>
</group> </group>
<group name="MKBLCTRL Testmode">
<parameter name="MKBLCTRL_TEST" default="0" type="INT32" boolean="true">
<short_desc>Test mode (Identify) of MKBLCTRL Driver</short_desc>
</parameter>
</group>
<group name="Mission"> <group name="Mission">
<parameter name="COM_OBS_AVOID" default="0" type="INT32" boolean="true"> <parameter name="COM_OBS_AVOID" default="0" type="INT32" boolean="true">
<short_desc>Flag to enable obstacle avoidance</short_desc> <short_desc>Flag to enable obstacle avoidance</short_desc>
@ -8915,24 +8909,31 @@ default 1.5 turns per second</short_desc>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.05</increment> <increment>0.05</increment>
</parameter> </parameter>
<parameter name="GND_L1_DIST" default="5.0" type="FLOAT"> <parameter name="GND_L1_DIST" default="1.0" type="FLOAT">
<short_desc>L1 distance</short_desc> <short_desc>L1 distance</short_desc>
<long_desc>This is the waypoint radius</long_desc> <long_desc>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).</long_desc>
<min>0.0</min> <min>1.0</min>
<max>100.0</max> <max>50.0</max>
<unit>m</unit> <unit>m</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.1</increment> <increment>0.1</increment>
</parameter> </parameter>
<parameter name="GND_L1_PERIOD" default="10.0" type="FLOAT"> <parameter name="GND_L1_PERIOD" default="5.0" type="FLOAT">
<short_desc>L1 period</short_desc> <short_desc>L1 period</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0.0</min> <min>0.5</min>
<max>50.0</max> <max>50.0</max>
<unit>m</unit> <unit>m</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
</parameter> </parameter>
<parameter name="GND_MAN_Y_MAX" default="150.0" type="FLOAT">
<short_desc>Max manual yaw rate</short_desc>
<min>0.0</min>
<max>400</max>
<unit>deg/s</unit>
<decimal>1</decimal>
</parameter>
<parameter name="GND_MAX_ANG" default="0.7854" type="FLOAT"> <parameter name="GND_MAX_ANG" default="0.7854" type="FLOAT">
<short_desc>Maximum turn angle for Ackerman steering. <short_desc>Maximum turn angle for Ackerman steering.
At a control output of 0, the steering wheels are at 0 radians. 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 radians</short_
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="GND_THR_IDLE" default="0.0" type="FLOAT">
<short_desc>Idle throttle</short_desc>
<long_desc>This is the minimum throttle while on the ground, it should be 0 for a rover</long_desc>
<min>0.0</min>
<max>0.4</max>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="GND_THR_MAX" default="0.3" type="FLOAT"> <parameter name="GND_THR_MAX" default="0.3" type="FLOAT">
<short_desc>Throttle limit max</short_desc> <short_desc>Throttle limit max</short_desc>
<long_desc>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</long_desc> <long_desc>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</long_desc>
@ -9050,8 +9042,9 @@ At a control output of 1, the steering wheels are at GND_MAX_ANG radians</short_
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="GND_WHEEL_BASE" default="2.0" type="FLOAT"> <parameter name="GND_WHEEL_BASE" default="0.31" type="FLOAT">
<short_desc>Distance from front axle to rear axle</short_desc> <short_desc>Distance from front axle to rear axle</short_desc>
<long_desc>A value of 0.31 is typical for 1/10 RC cars.</long_desc>
<min>0.0</min> <min>0.0</min>
<unit>m</unit> <unit>m</unit>
<decimal>3</decimal> <decimal>3</decimal>
@ -9292,22 +9285,22 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_ACC0_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis offset</short_desc> <short_desc>Accelerometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC0_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis scaling factor</short_desc> <short_desc>Accelerometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC0_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis offset</short_desc> <short_desc>Accelerometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC0_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis scaling factor</short_desc> <short_desc>Accelerometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC0_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis offset</short_desc> <short_desc>Accelerometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC0_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis scaling factor</short_desc> <short_desc>Accelerometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_ID" default="0" type="INT32" category="System"> <parameter name="CAL_ACC1_ID" default="0" type="INT32" category="System">
@ -9376,22 +9369,22 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_ACC1_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis offset</short_desc> <short_desc>Accelerometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis scaling factor</short_desc> <short_desc>Accelerometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis offset</short_desc> <short_desc>Accelerometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis scaling factor</short_desc> <short_desc>Accelerometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis offset</short_desc> <short_desc>Accelerometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC1_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis scaling factor</short_desc> <short_desc>Accelerometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_ID" default="0" type="INT32" category="System"> <parameter name="CAL_ACC2_ID" default="0" type="INT32" category="System">
@ -9460,22 +9453,22 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_ACC2_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis offset</short_desc> <short_desc>Accelerometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis scaling factor</short_desc> <short_desc>Accelerometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis offset</short_desc> <short_desc>Accelerometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis scaling factor</short_desc> <short_desc>Accelerometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis offset</short_desc> <short_desc>Accelerometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC2_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis scaling factor</short_desc> <short_desc>Accelerometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_ID" default="0" type="INT32" category="System"> <parameter name="CAL_ACC3_ID" default="0" type="INT32" category="System">
@ -9544,22 +9537,22 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_ACC3_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis offset</short_desc> <short_desc>Accelerometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer X-axis scaling factor</short_desc> <short_desc>Accelerometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis offset</short_desc> <short_desc>Accelerometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Y-axis scaling factor</short_desc> <short_desc>Accelerometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis offset</short_desc> <short_desc>Accelerometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_ACC3_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_ACC3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Accelerometer Z-axis scaling factor</short_desc> <short_desc>Accelerometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO0_ID" default="0" type="INT32" category="System"> <parameter name="CAL_GYRO0_ID" default="0" type="INT32" category="System">
@ -9628,13 +9621,13 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_GYRO0_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro X-axis offset</short_desc> <short_desc>Gyro X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO0_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Y-axis offset</short_desc> <short_desc>Gyro Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO0_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Z-axis offset</short_desc> <short_desc>Gyro Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO1_ID" default="0" type="INT32" category="System"> <parameter name="CAL_GYRO1_ID" default="0" type="INT32" category="System">
@ -9703,13 +9696,13 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_GYRO1_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro X-axis offset</short_desc> <short_desc>Gyro X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO1_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Y-axis offset</short_desc> <short_desc>Gyro Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO1_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Z-axis offset</short_desc> <short_desc>Gyro Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO2_ID" default="0" type="INT32" category="System"> <parameter name="CAL_GYRO2_ID" default="0" type="INT32" category="System">
@ -9778,13 +9771,13 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_GYRO2_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro X-axis offset</short_desc> <short_desc>Gyro X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO2_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Y-axis offset</short_desc> <short_desc>Gyro Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO2_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Z-axis offset</short_desc> <short_desc>Gyro Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO3_ID" default="0" type="INT32" category="System"> <parameter name="CAL_GYRO3_ID" default="0" type="INT32" category="System">
@ -9853,13 +9846,13 @@ Particularly useful for testing different low-battery behaviour</short_desc>
<value code="40">Roll 90°, Pitch 315°</value> <value code="40">Roll 90°, Pitch 315°</value>
</values> </values>
</parameter> </parameter>
<parameter name="CAL_GYRO3_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro X-axis offset</short_desc> <short_desc>Gyro X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO3_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Y-axis offset</short_desc> <short_desc>Gyro Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_GYRO3_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_GYRO3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Gyro Z-axis offset</short_desc> <short_desc>Gyro Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_ID" default="0" type="INT32" category="System"> <parameter name="CAL_MAG0_ID" default="0" type="INT32" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_XODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis off diagonal factor</short_desc> <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis offset</short_desc> <short_desc>Magnetometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis scaling factor</short_desc> <short_desc>Magnetometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_YCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_YCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_YODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis off diagonal factor</short_desc> <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis offset</short_desc> <short_desc>Magnetometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis scaling factor</short_desc> <short_desc>Magnetometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_ZCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_ZCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_ZODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis off diagonal factor</short_desc> <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis offset</short_desc> <short_desc>Magnetometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG0_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG0_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis scaling factor</short_desc> <short_desc>Magnetometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_ID" default="0" type="INT32" category="System"> <parameter name="CAL_MAG1_ID" default="0" type="INT32" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_XODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis off diagonal factor</short_desc> <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis offset</short_desc> <short_desc>Magnetometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis scaling factor</short_desc> <short_desc>Magnetometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_YCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_YCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_YODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis off diagonal factor</short_desc> <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis offset</short_desc> <short_desc>Magnetometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis scaling factor</short_desc> <short_desc>Magnetometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_ZCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_ZCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_ZODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis off diagonal factor</short_desc> <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis offset</short_desc> <short_desc>Magnetometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG1_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG1_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis scaling factor</short_desc> <short_desc>Magnetometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_ID" default="0" type="INT32" category="System"> <parameter name="CAL_MAG2_ID" default="0" type="INT32" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_XODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis off diagonal factor</short_desc> <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis offset</short_desc> <short_desc>Magnetometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis scaling factor</short_desc> <short_desc>Magnetometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_YCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_YCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_YODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis off diagonal factor</short_desc> <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis offset</short_desc> <short_desc>Magnetometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis scaling factor</short_desc> <short_desc>Magnetometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_ZCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_ZCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_ZODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis off diagonal factor</short_desc> <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis offset</short_desc> <short_desc>Magnetometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG2_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG2_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis scaling factor</short_desc> <short_desc>Magnetometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_ID" default="0" type="INT32" category="System"> <parameter name="CAL_MAG3_ID" default="0" type="INT32" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_XODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_XODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis off diagonal factor</short_desc> <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_XOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_XOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis offset</short_desc> <short_desc>Magnetometer X-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_XSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_XSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer X-axis scaling factor</short_desc> <short_desc>Magnetometer X-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_YCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_YCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_YODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_YODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis off diagonal factor</short_desc> <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_YOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_YOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis offset</short_desc> <short_desc>Magnetometer Y-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_YSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_YSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Y-axis scaling factor</short_desc> <short_desc>Magnetometer Y-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_ZCOMP" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_ZCOMP" default="0.0" type="FLOAT" category="System">
@ -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 Unit for throttle-based compensation is [G] and
for current-based compensation [G/kA]</short_desc> for current-based compensation [G/kA]</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_ZODIAG" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_ZODIAG" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis off diagonal factor</short_desc> <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_ZOFF" default="0.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_ZOFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis offset</short_desc> <short_desc>Magnetometer Z-axis offset</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG3_ZSCALE" default="1.0" type="FLOAT" category="System"> <parameter name="CAL_MAG3_ZSCALE" default="1.0" type="FLOAT" volatile="true" category="System">
<short_desc>Magnetometer Z-axis scaling factor</short_desc> <short_desc>Magnetometer Z-axis scaling factor</short_desc>
</parameter> </parameter>
<parameter name="CAL_MAG_COMP_TYP" default="0" type="INT32" category="System"> <parameter name="CAL_MAG_COMP_TYP" default="0" type="INT32" category="System">
@ -10331,7 +10324,7 @@ for current-based compensation [G/kA]</short_desc>
<short_desc>Differential pressure sensor analog scaling</short_desc> <short_desc>Differential pressure sensor analog scaling</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
</parameter> </parameter>
<parameter name="SENS_DPRES_OFF" default="0.0" type="FLOAT" category="System"> <parameter name="SENS_DPRES_OFF" default="0.0" type="FLOAT" volatile="true" category="System">
<short_desc>Differential pressure sensor offset</short_desc> <short_desc>Differential pressure sensor offset</short_desc>
<long_desc>The offset (zero-reading) in Pascal</long_desc> <long_desc>The offset (zero-reading) in Pascal</long_desc>
</parameter> </parameter>
@ -10821,6 +10814,13 @@ How often the sensor is readout</short_desc>
<unit>celcius</unit> <unit>celcius</unit>
<decimal>3</decimal> <decimal>3</decimal>
</parameter> </parameter>
<parameter name="SENS_IMU_TEMP_FF" default="0.05" type="FLOAT" category="System">
<short_desc>IMU heater controller feedforward value</short_desc>
<min>0</min>
<max>1.0</max>
<unit>%</unit>
<decimal>3</decimal>
</parameter>
<parameter name="SENS_IMU_TEMP_I" default="0.025" type="FLOAT" category="System"> <parameter name="SENS_IMU_TEMP_I" default="0.025" type="FLOAT" category="System">
<short_desc>IMU heater controller integrator gain value</short_desc> <short_desc>IMU heater controller integrator gain value</short_desc>
<min>0</min> <min>0</min>
@ -10835,6 +10835,11 @@ How often the sensor is readout</short_desc>
<unit>us/C</unit> <unit>us/C</unit>
<decimal>3</decimal> <decimal>3</decimal>
</parameter> </parameter>
<parameter name="SENS_INT_BARO_EN" default="1" type="INT32" boolean="true" category="System">
<short_desc>Enable internal barometers</short_desc>
<long_desc>For systems with an external barometer, this should be set to false to make sure that the external is used.</long_desc>
<reboot_required>true</reboot_required>
</parameter>
<parameter name="SENS_LEDDAR1_CFG" default="0" type="INT32"> <parameter name="SENS_LEDDAR1_CFG" default="0" type="INT32">
<short_desc>Serial Configuration for LeddarOne Rangefinder</short_desc> <short_desc>Serial Configuration for LeddarOne Rangefinder</short_desc>
<long_desc>Configure on which serial port to run LeddarOne Rangefinder.</long_desc> <long_desc>Configure on which serial port to run LeddarOne Rangefinder.</long_desc>
@ -12729,6 +12734,43 @@ How often the sensor is readout</short_desc>
<unit>m</unit> <unit>m</unit>
</parameter> </parameter>
</group> </group>
<group name="UAVCAN v1">
<parameter name="UAVCAN_V1_BAT_ID" default="4242" type="INT32">
<short_desc>UAVCAN v1 battery port ID</short_desc>
<min>1</min>
<max>32767</max>
</parameter>
<parameter name="UAVCAN_V1_BAT_MD" default="0" type="INT32">
<short_desc>UAVCAN v1 battery mode</short_desc>
<reboot_required>true</reboot_required>
<values>
<value code="0">Disable</value>
<value code="1">Receive BMSStatus</value>
<value code="2">Send BMSStatus</value>
</values>
</parameter>
<parameter name="UAVCAN_V1_BAUD" default="1000000" type="INT32">
<short_desc>UAVCAN/CAN v1 bus bitrate</short_desc>
<min>20000</min>
<max>1000000</max>
<unit>bit/s</unit>
<reboot_required>true</reboot_required>
</parameter>
<parameter name="UAVCAN_V1_ENABLE" default="0" type="INT32" boolean="true">
<short_desc>UAVCAN v1</short_desc>
<long_desc>0 - UAVCAN disabled. 1 - Enables UAVCANv1</long_desc>
<reboot_required>true</reboot_required>
</parameter>
</group>
<group name="UAVCANv1">
<parameter name="UAVCAN_V1_ID" default="1" type="INT32">
<short_desc>UAVCAN v1 Node ID</short_desc>
<long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
<min>1</min>
<max>125</max>
<reboot_required>true</reboot_required>
</parameter>
</group>
<group name="UUV Attitude Control"> <group name="UUV Attitude Control">
<parameter name="UUV_DIRCT_PITCH" default="0.0" type="FLOAT"> <parameter name="UUV_DIRCT_PITCH" default="0.0" type="FLOAT">
<short_desc>Direct pitch input</short_desc> <short_desc>Direct pitch input</short_desc>
@ -12768,6 +12810,33 @@ How often the sensor is readout</short_desc>
<short_desc>Yawh proportional gain</short_desc> <short_desc>Yawh proportional gain</short_desc>
</parameter> </parameter>
</group> </group>
<group name="UUV Position Control">
<parameter name="UUV_GAIN_X_D" default="0.2" type="FLOAT">
<short_desc>Gain of D controller X</short_desc>
</parameter>
<parameter name="UUV_GAIN_X_P" default="1.0" type="FLOAT">
<short_desc>Gain of P controller X</short_desc>
</parameter>
<parameter name="UUV_GAIN_Y_D" default="0.2" type="FLOAT">
<short_desc>Gain of D controller Y</short_desc>
</parameter>
<parameter name="UUV_GAIN_Y_P" default="1.0" type="FLOAT">
<short_desc>Gain of P controller Y</short_desc>
</parameter>
<parameter name="UUV_GAIN_Z_D" default="0.2" type="FLOAT">
<short_desc>Gain of D controller Z</short_desc>
</parameter>
<parameter name="UUV_GAIN_Z_P" default="1.0" type="FLOAT">
<short_desc>Gain of P controller Z</short_desc>
</parameter>
<parameter name="UUV_STAB_MODE" default="1" type="INT32">
<short_desc>Stabilization mode(1) or Position Control(0)</short_desc>
<values>
<value code="0">Position Control</value>
<value code="1">Stabilization Mode</value>
</values>
</parameter>
</group>
<group name="VTOL Attitude Control"> <group name="VTOL Attitude Control">
<parameter name="VT_ARSP_BLEND" default="8.0" type="FLOAT"> <parameter name="VT_ARSP_BLEND" default="8.0" type="FLOAT">
<short_desc>Transition blending airspeed</short_desc> <short_desc>Transition blending airspeed</short_desc>

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