diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index f4b4c36..6425236 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -527,7 +527,7 @@ Set to 2 to use heading from motion capture - Arm authorization parameters, this uint32_t will be splitted between starting from the LSB: + Arm authorization parameters, this uint32_t will be split between starting from the LSB: - 8bits to authorizer system id - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods. - 7bits to authentication method @@ -878,9 +878,9 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than modules/commander Warning - Return to land - Land at current position - Return to land at critically low level, land at current position if reaching dangerously low levels + Return mode + Land mode + Return mode at critically low level, Land mode at current position if reaching dangerously low levels @@ -3171,9 +3171,9 @@ but also ignore less noise None Warning - Loiter - Return to Land - Flight terminate + Hold mode + Return mode + Terminate @@ -3883,9 +3883,9 @@ Used to calculate increased terrain random walk nosie due to movementThe offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. modules/commander - Land at current position - Loiter - Return to Land + Land mode + Hold mode + Return mode @@ -3893,21 +3893,21 @@ Used to calculate increased terrain random walk nosie due to movementThe offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. modules/commander - Position control - Altitude control + Position mode + Altitude mode Manual - Return to Land - Land at current position - Loiter + Return mode + Land mode + Hold mode Position control navigation loss response - This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. + This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. modules/commander - Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. - Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. + Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. + Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION. @@ -4029,9 +4029,9 @@ Used to calculate increased terrain random walk nosie due to movementmodules/navigator Disabled - Loiter - Return to Land - Land at current position + Hold mode + Return mode + Land mode Data Link Auto Recovery (CASA Outback Challenge rules) Terminate Lockdown @@ -4054,7 +4054,7 @@ Used to calculate increased terrain random walk nosie due to movement Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only). 25 1000 m @@ -4078,9 +4078,9 @@ Used to calculate increased terrain random walk nosie due to movementmodules/navigator Disabled - Loiter - Return to Land - Land at current position + Hold mode + Return mode + Land mode RC Auto Recovery (CASA Outback Challenge rules) Terminate Lockdown @@ -4102,8 +4102,8 @@ Used to calculate increased terrain random walk nosie due to movement Disabled Warn only - Return to Land - Land immediately + Return mode + Land mode @@ -7454,9 +7454,9 @@ the setpoint will be capped to MPC_XY_VEL_MAX modules/sensors - + - RTL loiter altitude + Return mode loiter altitude Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed. 2 100 @@ -7466,8 +7466,8 @@ the setpoint will be capped to MPC_XY_VEL_MAX modules/navigator - RTL delay - Delay after descend before landing in RTL mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT. + Return mode delay + Delay after descend before landing in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT. -1 300 s @@ -7475,15 +7475,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX 0.5 modules/navigator - - RTL land location - Land at the home location or planned mission landing - modules/navigator - - Home Position - Planned Landing (Mission) - - Minimum distance to trigger rising to a safe altitude If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first. @@ -7505,6 +7496,17 @@ the setpoint will be capped to MPC_XY_VEL_MAX modules/navigator + + + RTL land location + Land at the home location or planned mission landing + modules/navigator + + Home Position + Planned Landing (Mission) + + + Min. airspeed scaling factor for takeoff.