From 684888871726c4c77575e59c967dfbe45bfaa308 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Mon, 26 Jun 2023 15:53:48 +0000 Subject: [PATCH] Update PX4 Firmware metadata Mon Jun 26 15:53:48 UTC 2023 --- .../PX4/PX4ParameterFactMetaData.xml | 370 +++++++++++---------- 1 file changed, 198 insertions(+), 172 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 8514ecb..04621d7 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -4706,8 +4706,7 @@ 1 - Yaw mode - Specifies the heading in Auto. + Heading behavior in autonomous modes 0 4 @@ -5057,13 +5056,13 @@ 2 0.1 - - Max yaw rate in auto mode - Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation. - 0.0 - 360.0 + + Max yaw rate in autonomous modes + Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation. + 0 + 360 deg/s - 1 + 0 5 @@ -5102,41 +5101,41 @@ 2 - Maximum vertical acceleration in velocity controlled modes down + Maximum downwards acceleration in climb rate controlled modes 2.0 15.0 m/s^2 - 2 + 1 1 - - Acceleration for auto and for manual - Note: In manual, this parameter is only used in MPC_POS_MODE 4. - 2.0 - 15.0 + + Acceleration for autonomous and for manual modes + When piloting manually, this parameter is only used in MPC_POS_MODE 4. + 2 + 15 m/s^2 - 2 + 1 1 - - Maximum horizontal acceleration for auto mode and for manual mode - MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 just acceleration - 2.0 - 15.0 + + Maximum horizontal acceleration + MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead + 2 + 15 m/s^2 2 1 - Maximum vertical acceleration in velocity controlled modes upward + Maximum upwards acceleration in climb rate controlled modes 2.0 15.0 m/s^2 - 2 + 1 1 - Altitude control mode + Altitude reference mode 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. 0 2 @@ -5147,44 +5146,48 @@ - Deadzone of sticks where position hold is enabled - 0.0 - 1.0 + Deadzone for sticks in manual piloted modes + Does not apply to manual throttle and direct attitude piloting by stick. + 0 + 1 2 + 0.01 Maximum horizontal velocity for which position hold is enabled (use 0 to disable check) - 0.0 - 3.0 + Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2 + 0 + 3 m/s 2 Maximum vertical velocity for which position hold is enabled (use 0 to disable check) - 0.0 - 3.0 + Only used with MPC_ALT_MODE 1 + 0 + 3 m/s 2 - - Jerk limit in auto mode - 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. - 1.0 - 80.0 + + Jerk limit in autonomous modes + 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. + 1 + 80 m/s^3 1 1 - - Maximum jerk limit - 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. + + Maximum horizontal and vertical jerk in Position/Altitude mode + 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. 0.5 - 500.0 + 500 m/s^3 - 2 + 0 1 - + Altitude for 1. step of slow landing (descend) 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" 0 @@ -5192,7 +5195,7 @@ m 1 - + Altitude for 2. step of slow landing (landing) Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1" 0 @@ -5200,7 +5203,7 @@ m 1 - + Altitude for 3. step of slow landing Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available 0 @@ -5217,19 +5220,20 @@ User assisted landing radius - When user assisted descent is enabled (see MPC_LAND_RC_HELP), this parameter controls the maximum position adjustment allowed from the original landing point. + When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point. 0 m - 1 + 0 + 1 - Enable user assisted descent for autonomous land routine - 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). + Enable nudging based on user input during autonomous land routine + 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). 0 1 - Fixed descent speed of MPC_LAND_SPEED - User assisted descent speed + Nudging disabled + Nudging enabled @@ -5239,110 +5243,116 @@ 1 - Minimum manual thrust - 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. + Minimum collective thrust in Stabilized mode + 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). 0.0 1.0 norm 2 0.01 - - Maximal tilt angle in manual or altitude mode - 0.0 - 90.0 + + Maximal tilt angle in Stabilized or Altitude mode + 0 + 90 deg - 1 + 0 + 1 - - Max manual yaw rate - 0.0 + + Max manual yaw rate for Stabilized, Altitude, Position mode + 0 400 deg/s - 1 + 0 + 10 Manual yaw rate input filter time constant - Setting this parameter to 0 disables the filter + Not used in Stabilized mode Setting this parameter to 0 disables the filter 0.0 5.0 s 2 + 0.01 - Manual-Position control sub-mode - 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 + Position/Altitude mode variant + 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 - Simple position control - Smooth position control (Jerk optimized) - Acceleration based input + Direct velocity + Smoothed velocity + Acceleration based - Thrust curve in Manual Mode - 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. + Thrust curve mapping in Stabilized Mode + 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. Rescale to hover thrust No Rescale - Hover thrust - 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. + Vertical thrust required to hover + 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. 0.1 0.8 norm 2 0.01 - - Maximum thrust in auto thrust control - Limit max allowed thrust - 0.0 - 1.0 + + Maximum collective thrust in climb rate controlled modes + Limit allowed thrust e.g. for indoor test of overpowered vehicle. + 0 + 1 norm 2 - 0.01 + 0.05 - Minimum collective thrust in auto thrust control - 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) + Minimum collective thrust in climb rate controlled modes + 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). 0.05 - 1.0 + 0.5 norm 2 0.01 Horizontal thrust margin - Margin that is kept for horizontal control when prioritizing vertical thrust. To avoid completely starving horizontal control with high vertical error. + Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error. 0.0 0.5 norm 2 0.01 - + Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. - 20.0 - 89.0 + Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated. + 20 + 89 deg - 1 + 0 + 1 - - Maximum tilt during landing - Limits maximum tilt angle on landing. - 10.0 - 89.0 + + Maximum tilt during inital takeoff ramp + Tighter tilt limit during takeoff to avoid tip over. + 5 + 89 deg - 1 + 0 + 1 - - Position control smooth takeoff ramp time constant - 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 + + Smooth takeoff ramp time constant + 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 0 5 + s Takeoff climb rate @@ -5352,79 +5362,85 @@ 2 - Hover thrust source selector - Set false to use the fixed parameter MPC_THR_HOVER Set true to use the value computed by the hover thrust estimator + Hover thrust estimator + Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator - Low pass filter cut freq. for numerical velocity derivative + Numerical velocity derivative low pass cutoff frequency 0.0 10 Hz - 2 + 1 + 0.5 - + Maximum horizontal velocity setpoint in Position mode - 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. - 3.0 - 20.0 + 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. + 3 + 20 m/s - 2 + 1 1 - + Maximum backward velocity in Position mode If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. - -1.0 - 20.0 + -1 + 20 m/s - 2 - 0.1 + 1 + 1 - + Maximum sideways velocity in Position mode If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. - -1.0 - 20.0 + -1 + 20 m/s - 2 - 0.1 + 1 + 1 - - Default horizontal velocity in mission - Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto. - 3.0 - 20.0 + + Default horizontal velocity in autonomous modes + e.g. in Missions, RTL, Goto if the waypoint does not specify differently + 3 + 20 m/s - 2 + 0 1 - + Maximum horizontal error allowed by the trajectory generator 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. 0.1 - 10.0 + 10 1 + 1 Manual position control stick exponential curve sensitivity - 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 + 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 0 1 2 + 0.01 Proportional gain for horizontal position error - 0.0 - 2.0 + Defined as corrective velocity in m/s per m position error + 0 + 2 2 + 0.1 Proportional gain for horizontal trajectory position error 0.1 - 1.0 + 1 1 + 0.1 - + Overall Horizontal Velocity Limit 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. -20 @@ -5433,56 +5449,63 @@ 1 - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - defined as correction acceleration in m/s^2 per m/s^2 velocity derivative + Differential gain for horizontal velocity error + Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative 0.1 - 2.0 - 3 + 2 + 2 + 0.02 Integral gain for horizontal velocity error - 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. - 0.0 - 60.0 - 3 + Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind. + 0 + 60 + 2 + 0.02 - + Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity. - 0.0 - 20.0 + Absolute maximum for all velocity controlled modes. Any higher value is truncated. + 0 + 20 m/s - 2 + 1 1 Proportional gain for horizontal velocity error - defined as correction acceleration in m/s^2 per m/s velocity error + Defined as corrective acceleration in m/s^2 per m/s velocity error 1.2 - 5.0 + 5 2 + 0.1 Manual control stick yaw rotation exponential curve - 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 + 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 0 1 2 + 0.01 Manual control stick vertical exponential curve - 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 + 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 0 1 2 + 0.01 - + Proportional gain for vertical position error - 0.0 + Defined as corrective velocity in m/s per m position error + 0.1 1.5 2 + 0.1 - + Overall Vertical Velocity Limit 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. -3 @@ -5490,62 +5513,65 @@ 1 0.5 - + Differential gain for vertical velocity error - defined as correction acceleration in m/s^2 per m/s^2 velocity derivative - 0.0 - 2.0 - 3 + Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative + 0 + 2 + 2 + 0.02 - + Integral gain for vertical velocity error - defined as correction acceleration in m/s^2 per m velocity integral Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + Defined as corrective acceleration in m/s^2 per m velocity integral 0.2 - 3.0 - 3 + 3 + 2 + 0.1 Maximum descent velocity - Descent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_DN + 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 0.5 - 4.0 + 4 m/s 1 0.1 Maximum ascent velocity - Ascent velocity in manual modes and offboard. For auto modes, see MPC_Z_V_AUTO_UP + 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 0.5 - 8.0 + 8 m/s 1 0.1 - + Proportional gain for vertical velocity error - defined as correction acceleration in m/s^2 per m/s velocity error - 2.0 - 15.0 + Defined as corrective acceleration in m/s^2 per m/s velocity error + 2 + 15 2 + 0.1 - Automatic descent velocity - Descent velocity in auto modes. For manual modes and offboard, see MPC_Z_VEL_MAX_DN + Descent velocity in autonomous modes + For manual modes and offboard, see MPC_Z_VEL_MAX_DN 0.5 - 4.0 + 4 m/s 1 - 0.1 + 0.5 - Automatic ascent velocity - Ascent velocity in auto modes. For manual modes and offboard, see MPC_Z_VEL_MAX_UP + Ascent velocity in autonomous modes + For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP 0.5 - 8.0 + 8 m/s 1 - 0.1 + 0.5 Responsiveness