<long_desc>If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off.</long_desc>
<long_desc>The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.</long_desc>
@ -1584,6 +1587,11 @@ value will determine the minimum airspeed which will still be fused</short_desc>
@@ -1584,6 +1587,11 @@ value will determine the minimum airspeed which will still be fused</short_desc>
<long_desc>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</long_desc>
@ -2178,17 +2186,17 @@ value will determine the minimum airspeed which will still be fused</short_desc>
@@ -2178,17 +2186,17 @@ value will determine the minimum airspeed which will still be fused</short_desc>
<short_desc>Multicopter max climb rate</short_desc>
<long_desc>Maximum vertical velocity allowed in the landed state (m/s up and down)</long_desc>
<unit>m/s</unit>
@ -2417,6 +2425,16 @@ but also ignore less noise</short_desc>
@@ -2417,6 +2425,16 @@ but also ignore less noise</short_desc>
<long_desc>When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position.</long_desc>
<short_desc>Manual position flight stick up threshold for taking off</short_desc>
<long_desc>When controlling manually in position mode the throttle stick value (0 to 1) has to get above this threshold after arming in order to take off.</long_desc>
<min>0</min>
<max>1</max>
<unit>norm</unit>
<decimal>2</decimal>
<scope>modules/land_detector</scope>
</parameter>
@ -2468,6 +2486,14 @@ but also ignore less noise</short_desc>
@@ -2468,6 +2486,14 @@ but also ignore less noise</short_desc>
@ -2592,7 +2618,7 @@ but also ignore less noise</short_desc>
@@ -2592,7 +2618,7 @@ but also ignore less noise</short_desc>
<long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.</long_desc>
<min>0.00001</min>
<max>2</max>
<unit>m/s^2/srqt(Hz)</unit>
<unit>m/s^2/sqrt(Hz)</unit>
<decimal>4</decimal>
<scope>modules/local_position_estimator</scope>
</parameter>
@ -2601,7 +2627,7 @@ but also ignore less noise</short_desc>
@@ -2601,7 +2627,7 @@ but also ignore less noise</short_desc>
<long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)</long_desc>
<min>0.00001</min>
<max>2</max>
<unit>m/s^2/srqt(Hz)</unit>
<unit>m/s^2/sqrt(Hz)</unit>
<decimal>4</decimal>
<scope>modules/local_position_estimator</scope>
</parameter>
@ -2754,7 +2780,7 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
@@ -2754,7 +2780,7 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
<short_desc>Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable</short_desc>
<min>0</min>
@ -2817,9 +2843,9 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
@@ -2817,9 +2843,9 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<short_desc>Integer bitmask controlling data fusion</short_desc>
<long_desc>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (247, no vision yaw)</long_desc>
<long_desc>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS only)</long_desc>
<min>0</min>
<max>255</max>
<scope>modules/local_position_estimator</scope>
@ -3052,7 +3078,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
@@ -3052,7 +3078,7 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat
<long_desc>Acceptance radius for multicopter altitude.</long_desc>
<min>0.05</min>
@ -3538,24 +3564,6 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3538,24 +3564,6 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<long_desc>Halfwidth of deadband or reduced sensitivity center portion of curve. This is the halfwidth of the center region of the ALTCTL throttle curve. It extends from center-dz to center+dz.</long_desc>
<long_desc>Controls the slope of the reduced sensitivity region. This is the height of the ALTCTL throttle curve at center-dz and center+dz.</long_desc>
<short_desc>Maximum thrust in auto thrust control</short_desc>
<long_desc>Limit max allowed thrust. Setting a value of one can put the system into actuator saturation as no spread between the motors is possible any more. A value of 0.8 - 0.9 is recommended.</long_desc>
@ -3624,7 +3632,7 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3624,7 +3632,7 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
<min>0.5</min>
@ -3632,13 +3640,6 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3632,13 +3640,6 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
@ -3677,7 +3678,7 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3677,7 +3678,7 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Nominal horizontal velocity in mission</short_desc>
<long_desc>Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc.) and endpoint for position stabilized mode (POSCTRL).</long_desc>
<min>3.0</min>
<max>20.0</max>
@ -3686,6 +3687,25 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3686,6 +3687,25 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<long_desc>The distance defines at which point the vehicle has to slow down to reach target if no direct passing to the next target is desired</long_desc>
<long_desc>Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.</long_desc>
@ -3761,15 +3781,8 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3761,15 +3781,8 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Deadzone of sticks where position hold is enabled</short_desc>
<min>0.0</min>
<max>1.0</max>
<decimal>2</decimal>
@ -3808,6 +3821,15 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3808,6 +3821,15 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Maximum vertical acceleration in velocity controlled modes upward</short_desc>
<min>2.0</min>
@ -3838,15 +3860,37 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3838,15 +3860,37 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Manual control stick exponential curve sensitivity attenuation with small velocity setpoints</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.</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 (default) 1 Purely cubic input curve</long_desc>
<min>0</min>
<max>1</max>
<decimal>2</decimal>
<scope>modules/mc_pos_control</scope>
<values>
<valuecode="1">Purely cubic input curve</value>
<valuecode="0">Purely linear input curve (default)</value>
<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>
<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" and "MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
<short_desc>Altitude for 2. step of slow landing (landing)</short_desc>
<long_desc>Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
<min>0</min>
<max>122</max>
<unit>m</unit>
<decimal>1</decimal>
<scope>modules/mc_pos_control</scope>
</parameter>
</group>
<groupname="PWM Outputs">
@ -3940,6 +3984,132 @@ if required for the gimbal (only in AUX output mode)</short_desc>
@@ -3940,6 +3984,132 @@ if required for the gimbal (only in AUX output mode)</short_desc>
<short_desc>Set the PWM output frequency for the main outputs</short_desc>
<long_desc>IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM REBOOT IN ORDER TO APPLY THE CHANGES. Set to 400 for industry default or 1000 for high frequency ESCs.</long_desc>
<long_desc>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</long_desc>
<long_desc>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1).</long_desc>
<min>0</min>
<max>3</max>
<reboot_required>true</reboot_required>
<scope>modules/logger</scope>
<values>
<valuecode="1">from boot until disarm</value>
<valuecode="0">when armed until disarm (default)</value>
<valuecode="3">from boot until shutdown - IMU and Baro data only (used for thermal calibration)</value>
<short_desc>Maximum number of log directories to keep</short_desc>
<long_desc>If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum.</long_desc>
<long_desc>A value of -1 indicates the commandline argument should be obeyed. A value of 0 sets the minimum rate, any other value is interpreted as rate in Hertz. This parameter is only read out before logging starts (which commonly is before arming).</long_desc>
@ -6261,34 +6467,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
@@ -6261,34 +6467,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<long_desc>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</long_desc>
<long_desc>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. This parameter is only for the new logger (SYS_LOGGER=1).</long_desc>
<min>0</min>
<max>3</max>
<reboot_required>true</reboot_required>
<scope>modules/logger</scope>
<values>
<valuecode="1">from boot until disarm</value>
<valuecode="0">when armed until disarm (default)</value>
<valuecode="3">from boot until shutdown - IMU and Baro data only (used for thermal calibration)</value>
@ -7771,29 +7949,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
@@ -7771,29 +7949,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.</long_desc>
<long_desc>Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL</long_desc>
<short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
<long_desc>Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.</long_desc>
@ -8467,6 +8659,22 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
@@ -8467,6 +8659,22 @@ Maps the change of airspeed error to the acceleration setpoint</short_desc>
Don Gagne
8 years ago
committed by
GitHub