<paramhumanName="Board options"name="BRD_OPTIONS"documentation="Board specific option flags"user="Advanced">
<paramhumanName="Board options"name="BRD_OPTIONS"documentation="Board specific option flags"user="Advanced">
<fieldname="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters</field>
<fieldname="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins</field>
</param>
</param>
<paramhumanName="Boot delay"name="BRD_BOOT_DELAY"documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully"user="Advanced">
<paramhumanName="Boot delay"name="BRD_BOOT_DELAY"documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully"user="Advanced">
<paramhumanName="Enable use of specific protocol over virtual driver"name="CAN_D2_PROTOCOL"documentation="Enabling this option starts selected protocol that will use this virtual driver"user="Advanced">
<paramhumanName="Enable use of specific protocol over virtual driver"name="CAN_D2_PROTOCOL"documentation="Enabling this option starts selected protocol that will use this virtual driver"user="Advanced">
<paramhumanName="Enable use of specific protocol over virtual driver"name="CAN_D3_PROTOCOL"documentation="Enabling this option starts selected protocol that will use this virtual driver"user="Advanced">
<paramhumanName="Enable use of specific protocol over virtual driver"name="CAN_D3_PROTOCOL"documentation="Enabling this option starts selected protocol that will use this virtual driver"user="Advanced">
<paramhumanName="Index of virtual driver to be used with physical CAN interface"name="CAN_P1_DRIVER"documentation="Enabling this option enables use of CAN buses."user="Standard">
<paramhumanName="Index of virtual driver to be used with physical CAN interface"name="CAN_P1_DRIVER"documentation="Enabling this option enables use of CAN buses."user="Standard">
<paramhumanName="Delay from loss of navigation to yaw reset"name="EK2_GSF_DELAY"documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK2_GSF_DELAY milli-seconds, then the EKF2 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter."user="Advanced">
<fieldname="Range">500 5000</field>
<fieldname="Increment">100</field>
<fieldname="Units">ms</field>
<fieldname="UnitText">milliseconds</field>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName="Maximum number of resets to the EKF-GSF yaw estimate allowed"name="EK2_GSF_RST_MAX"documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter."user="Advanced">
<paramhumanName="Maximum number of resets to the EKF-GSF yaw estimate allowed"name="EK2_GSF_RST_MAX"documentation="Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter."user="Advanced">
<fieldname="Range">1 10</field>
<fieldname="Range">1 10</field>
<fieldname="Increment">1</field>
<fieldname="Increment">1</field>
@ -4316,13 +4327,13 @@
<fieldname="UnitText">meters per cubic second</field>
<fieldname="UnitText">meters per cubic second</field>
</param>
</param>
<paramhumanName="Wind velocity process noise (m/s^2)"name="EK3_WIND_P_NSE"documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier."user="Advanced">
<paramhumanName="Wind velocity process noise (m/s^2)"name="EK3_WIND_P_NSE"documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier."user="Advanced">
<fieldname="Range">0.01 1.0</field>
<fieldname="Range">0.01 2.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Increment">0.1</field>
<fieldname="Units">m/s/s</field>
<fieldname="Units">m/s/s</field>
<fieldname="UnitText">meters per square second</field>
<fieldname="UnitText">meters per square second</field>
</param>
</param>
<paramhumanName="Height rate to wind process noise scaler"name="EK3_WIND_PSCALE"documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser."user="Advanced">
<paramhumanName="Height rate to wind process noise scaler"name="EK3_WIND_PSCALE"documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser."user="Advanced">
<fieldname="Range">0.0 1.0</field>
<fieldname="Range">0.0 2.0</field>
<fieldname="Increment">0.1</field>
<fieldname="Increment">0.1</field>
</param>
</param>
<paramhumanName="GPS preflight check"name="EK3_GPS_CHECK"documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat."user="Advanced">
<paramhumanName="GPS preflight check"name="EK3_GPS_CHECK"documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat."user="Advanced">
@ -4372,7 +4383,7 @@
<fieldname="Units">Gauss/s</field>
<fieldname="Units">Gauss/s</field>
<fieldname="UnitText">gauss per second</field>
<fieldname="UnitText">gauss per second</field>
</param>
</param>
<paramhumanName="Range finder switch height percentage"name="EK3_RNG_USE_HGT"documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK3_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point."user="Advanced">
<paramhumanName="Range finder switch height percentage"name="EK3_RNG_USE_HGT"documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point."user="Advanced">
<paramhumanName="Delay from loss of navigation to yaw reset"name="EK3_GSF_DELAY"documentation="If the inertial navigation calculation stops following the GPS and other positioning sensors for longer than EK3_GSF_DELAY milli-seconds, then the EKF3 code will generate a reset request internally and reset the yaw to the estimate from the EKF-GSF filter and reset the horizontal velocity and position to the GPS. This reset will not be performed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter."user="Advanced">
<fieldname="Range">500 5000</field>
<fieldname="Increment">100</field>
<fieldname="Units">ms</field>
<fieldname="UnitText">milliseconds</field>
<fieldname="RebootRequired">True</field>
</param>
<paramhumanName="Maximum number of resets to the EKF-GSF yaw estimate allowed"name="EK3_GSF_RST_MAX"documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter."user="Advanced">
<paramhumanName="Maximum number of resets to the EKF-GSF yaw estimate allowed"name="EK3_GSF_RST_MAX"documentation="Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter."user="Advanced">
<fieldname="Range">1 10</field>
<fieldname="Range">1 10</field>
<fieldname="Increment">1</field>
<fieldname="Increment">1</field>
@ -4514,6 +4518,10 @@
<fieldname="Range">0.0 10.0</field>
<fieldname="Range">0.0 10.0</field>
<fieldname="Increment">0.5</field>
<fieldname="Increment">0.5</field>
</param>
</param>
<paramhumanName="Primary core number"name="EK3_PRIMARY"documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK."user="Advanced">
<paramhumanName="driver options"name="GPS_DRV_OPTIONS"documentation="Additional backend specific options"user="Advanced">
<paramhumanName="driver options"name="GPS_DRV_OPTIONS"documentation="Additional backend specific options"user="Advanced">
<fieldname="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF</field>
<fieldname="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200</field>
</param>
</param>
<paramhumanName="GPS physical COM port"name="GPS_COM_PORT"documentation="The physical COM port on the connected device, currently only applies to SBF GPS"user="Advanced">
<paramhumanName="GPS physical COM port"name="GPS_COM_PORT"documentation="The physical COM port on the connected device, currently only applies to SBF GPS"user="Advanced">
<fieldname="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry</field>
<fieldname="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems, 10:Enable RC Protocol re-detection</field>
</param>
</param>
<paramhumanName="RC protocols enabled"name="RC_PROTOCOLS"documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols."user="Advanced">
<paramhumanName="RC protocols enabled"name="RC_PROTOCOLS"documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols."user="Advanced">
<paramhumanName="Telem1 options"name="SERIAL1_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards."user="Advanced">
<paramhumanName="Telem1 options"name="SERIAL1_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards."user="Advanced">
<paramhumanName="Telem2 options"name="SERIAL2_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Telem2 options"name="SERIAL2_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial3 options"name="SERIAL3_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial3 options"name="SERIAL3_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial4 options"name="SERIAL4_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial4 options"name="SERIAL4_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial5 options"name="SERIAL5_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial5 options"name="SERIAL5_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial6 options"name="SERIAL6_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial6 options"name="SERIAL6_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial passthru first port"name="SERIAL_PASS1"documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port"user="Advanced">
<paramhumanName="Serial passthru first port"name="SERIAL_PASS1"documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port"user="Advanced">
@ -14146,6 +14160,8 @@
<valuecode="34">AirSpeed</value>
<valuecode="34">AirSpeed</value>
<valuecode="35">ADSB</value>
<valuecode="35">ADSB</value>
<valuecode="36">AHRS</value>
<valuecode="36">AHRS</value>
<valuecode="37">SmartAudio</value>
<valuecode="38">FETtecOneWire</value>
</values>
</values>
<fieldname="RebootRequired">True</field>
<fieldname="RebootRequired">True</field>
</param>
</param>
@ -14169,7 +14185,7 @@
</values>
</values>
</param>
</param>
<paramhumanName="Serial7 options"name="SERIAL7_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial7 options"name="SERIAL7_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial8 protocol selection"name="SERIAL8_PROTOCOL"documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
<paramhumanName="Serial8 protocol selection"name="SERIAL8_PROTOCOL"documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details."user="Standard">
@ -14209,10 +14225,12 @@
<valuecode="34">AirSpeed</value>
<valuecode="34">AirSpeed</value>
<valuecode="35">ADSB</value>
<valuecode="35">ADSB</value>
<valuecode="36">AHRS</value>
<valuecode="36">AHRS</value>
<valuecode="37">SmartAudio</value>
<valuecode="38">FETtecOneWire</value>
</values>
</values>
<fieldname="RebootRequired">True</field>
<fieldname="RebootRequired">True</field>
</param>
</param>
<paramhumanName="Serial 8 Baud Rate"name="SERIAL8_BAUD"documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults."user="Standard">
<paramhumanName="Serial 8 Baud Rate"name="SERIAL8_BAUD"documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults."user="Standard">
<values>
<values>
<valuecode="1">1200</value>
<valuecode="1">1200</value>
<valuecode="2">2400</value>
<valuecode="2">2400</value>
@ -14232,7 +14250,7 @@
</values>
</values>
</param>
</param>
<paramhumanName="Serial8 options"name="SERIAL8_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Serial8 options"name="SERIAL8_OPTIONS"documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire."user="Advanced">
<paramhumanName="Nr. electrical poles"name="SERVO_FTW_POLES"documentation="Number of motor electrical poles"user="Standard">
<fieldname="Range">2 50</field>
</param>
</parameters>
<parametersname="SERVO_ROB_">
<parametersname="SERVO_ROB_">
<paramhumanName="Robotis servo position min"name="SERVO_ROB_POSMIN"documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095"user="Standard">
<paramhumanName="Robotis servo position min"name="SERVO_ROB_POSMIN"documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095"user="Standard">
Willian Galvani
3 years ago
committed by
Patrick José Pereira