<long_desc>Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.</long_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.</long_desc>
<short_desc>Jerk limit in autonomous modes</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.</long_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.</long_desc>
<short_desc>Maximum horizontal and vertical jerk in Position/Altitude mode</short_desc>
<long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE 3 and 4.</long_desc>
<short_desc>Altitude for 1. step of slow landing (descend)</short_desc>
<long_desc>Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
<long_desc>When user assisted descent is enabled (see MPC_LAND_RC_HELP), this parameter controls the maximum position adjustment allowed from the original landing point.</long_desc>
<long_desc>When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.</long_desc>
<short_desc>Enable user assisted descent for autonomous land routine</short_desc>
<long_desc>When enabled, descent speed will be: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Additionally, the vehicle can be yawed and moved laterally using the other sticks. Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</long_desc>
<short_desc>Enable nudging based on user input during autonomous land routine</short_desc>
<long_desc>Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</long_desc>
<min>0</min>
<max>1</max>
<values>
<valuecode="0">Fixed descent speed of MPC_LAND_SPEED</value>
<long_desc>Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.</long_desc>
<short_desc>Minimum collective thrust in Stabilized mode</short_desc>
<long_desc>The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).</long_desc>
<short_desc>Manual-Position control sub-mode</short_desc>
<long_desc>The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag</long_desc>
<long_desc>The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. 3 Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Sticks map to acceleration and there's a virtual brake drag</long_desc>
<values>
<valuecode="0">Simple position control</value>
<valuecode="3">Smooth position control (Jerk optimized)</value>
<short_desc>Thrust curve in Manual Mode</short_desc>
<long_desc>This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</long_desc>
<short_desc>Thrust curve mapping in Stabilized Mode</short_desc>
<long_desc>This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</long_desc>
<long_desc>Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.</long_desc>
<short_desc>Vertical thrust required to hover</short_desc>
<long_desc>Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.</long_desc>
<short_desc>Minimum collective thrust in auto thrust control</short_desc>
<long_desc>It's recommended to set it > 0 to avoid free fall with zero thrust. Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)</long_desc>
<short_desc>Minimum collective thrust in climb rate controlled modes</short_desc>
<long_desc>Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).</long_desc>
<long_desc>Margin that is kept for horizontal control when prioritizing vertical thrust. To avoid completely starving horizontal control with high vertical error.</long_desc>
<long_desc>Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.</long_desc>
<short_desc>Position control smooth takeoff ramp time constant</short_desc>
<long_desc>Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</long_desc>
<short_desc>Smooth takeoff ramp time constant</short_desc>
<long_desc>Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</long_desc>
<short_desc>Maximum horizontal velocity setpoint in Position mode</short_desc>
<long_desc>If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</long_desc>
<min>3.0</min>
<max>20.0</max>
<long_desc>Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</long_desc>
<short_desc>Maximum horizontal error allowed by the trajectory generator</short_desc>
<long_desc>The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.</long_desc>
<short_desc>Manual position control stick exponential curve sensitivity</short_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.</long_desc>
<short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
<long_desc>defined as correction acceleration in m/s^2 per m/s^2 velocity derivative</long_desc>
<short_desc>Differential gain for horizontal velocity error</short_desc>
<long_desc>Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative</long_desc>
<short_desc>Integral gain for horizontal velocity error</short_desc>
<long_desc>defined as correction acceleration in m/s^2 per m velocity integral Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.</long_desc>
<min>0.0</min>
<max>60.0</max>
<decimal>3</decimal>
<long_desc>Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.</long_desc>
<short_desc>Manual control stick yaw rotation exponential curve</short_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<short_desc>Manual control stick vertical exponential curve</short_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
<long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
<long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.</long_desc>
<short_desc>Integral gain for vertical velocity error</short_desc>
<long_desc>defined as correction acceleration in m/s^2 per m velocity integral Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
<long_desc>Defined as corrective acceleration in m/s^2 per m velocity integral</long_desc>
<long_desc>Descent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_DN</long_desc>
<long_desc>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
<long_desc>Ascent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_UP</long_desc>
<long_desc>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</long_desc>
PX4BuildBot
2 years ago