diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index b48dbc4..60bd155 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -6,10 +6,10 @@
Airship
Airship
-
-
-
-
+
+
+
+
@@ -18,23 +18,25 @@
ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
Autogyro
https://github.com/ThunderFly-aerospace/Auto-G2/
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
Autogyro
ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
Autogyro
https://github.com/ThunderFly-aerospace/TF-G2/
-
-
-
-
+
+
+
+
@@ -45,17 +47,46 @@
https://github.com/ThunderFly-aerospace/TF-B1/
+
+
+ Copter
+ Emmanuel Roussel
+ Coaxial Helicopter
+
+
+
+
+
+
Copter
William Peale <develop707@gmail.com>
Dodecarotor cox
+
+
+
+
+
+
+
+
+
+
+
+
-
+
Copter
+ Bart Slinger <bartslinger@gmail.com>
Helicopter
+
+
+
+
+
@@ -63,6 +94,15 @@
Copter
Lorenz Meier <lorenz@px4.io>
Hexarotor +
+
+
+
+
+
+
+
+
+
@@ -70,12 +110,15 @@
Copter
Lorenz Meier <lorenz@px4.io>
Hexarotor Coaxial
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
@@ -83,11 +126,48 @@
Copter
Lorenz Meier <lorenz@px4.io>
Hexarotor x
+
+
+
+
+
+
+
+
+
Copter
Hyon Lim <lim@uvify.com>
Hexarotor x
+
+
+
+
+
+
+
+
+
+
+ Copter
+ Silvan Fuhrer
+ Hexarotor x
+
+
+
+
+ Copter
+ Simon Wilks <simon@uaventure.com>
+ Octo Coax Wide
+
+
+
+
+
+
+
+
@@ -95,6 +175,17 @@
Copter
Lorenz Meier <lorenz@px4.io>
Octorotor +
+
+
+
+
+
+
+
+
+
+
+
@@ -102,14 +193,14 @@
Copter
Lorenz Meier <lorenz@px4.io>
Octorotor Coaxial
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
@@ -117,6 +208,17 @@
Copter
Lorenz Meier <lorenz@px4.io>
Octorotor x
+
+
+
+
+
+
+
+
+
+
+
@@ -124,6 +226,16 @@
Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor +
+
+
+
+
+
+
+
+
+
+
@@ -131,11 +243,95 @@
Copter
Blankered
Quadrotor H
+
+
+
+
+
+
Copter
Beat Kueng <beat-kueng@gmx.net>
Quadrotor H
+
+
+
+
+
+
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor Wide
+
+
+
+
+
+
+
+
+
+
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor Wide
+
+
+
+
+
+
+
+
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor Wide
+
+
+
+
+
+
+
+
+
+
+
+
+ Copter
+ Simon Wilks <simon@uaventure.com>
+ Quadrotor Wide
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor asymmetric
+ https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
+
+
+
+
+
+
@@ -143,6 +339,36 @@
Copter
Lorenz Meier <lorenz@px4.io>
Quadrotor x
+
+
+
+
+
+
+
+
+
+
+
+
+ Copter
+ James Goppert <james.goppert@gmail.com>
+ Quadrotor x
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor x
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor x
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
+ Quadrotor x
Copter
@@ -154,22 +380,36 @@
Lorenz Meier <lorenz@px4.io>
Quadrotor x
-
+
Copter
Quadrotor x
+
+
+
+
Copter
Iain Galloway <iain.galloway@nxp.com>
Quadrotor x
+
+
+
+
-
+
Copter
- Farhang Naderi <farhang.nba@gmail.com>
+ Silvan Fuhrer
Quadrotor x
-
+
Copter
+ Andreas Antener <andreas@uaventure.com>
+ Quadrotor x
+
+
+ Copter
+ Lorenz Meier <lorenz@px4.io>
Quadrotor x
@@ -181,27 +421,72 @@
Copter
Beat Kueng <beat-kueng@gmx.net>
Quadrotor x
- https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+ https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
Copter
Beat Kueng <beat@px4.io>
Quadrotor x
+
+ Copter
+ James Goppert <james.goppert@gmail.com>
+ Quadrotor x
+
Copter
Quadrotor x
+
+
+
+
Copter
Hyon Lim <lim@uvify.com>
Quadrotor x
+
+
+
+
+
+
+ Copter
+ Hyon Lim <lim@uvify.com>
+ Quadrotor x
+
+
+
+
Copter
Hyon Lim <lim@uvify.com>
Quadrotor x
+
+
+
+
+
+
+ Copter
+ Anton Matosov <anton.matosov@gmail.com>
+ Quadrotor x
+
+
+ Copter
+ Henry Zhang <zhanghui629@gmail.com>
+ Quadrotor x
+
+
+ Copter
+ Matt McFadden <matt.mcfadden@tealdrones.com>
+ Quadrotor x
+
+
+
+
Copter
@@ -219,7 +504,7 @@
Quadrotor x
-
+
Copter
Lorenz Meier <lorenz@px4.io>
@@ -231,20 +516,158 @@
Simulation
+
+
+ Copter
+ Ricardo Marques <marques.ricardo17@gmail.com>
+ Tilt-Quad
+ http://www.alivaero.com/the-project.html
+
+
+
+
+
+
+
+
+
+
-
+
Copter
+ Trent Lukaczyk <aerialhedgehog@gmail.com>
Tricopter Y+
-
-
-
-
+
+
+
+
+
+
+
+
+ Copter
+ Trent Lukaczyk <aerialhedgehog@gmail.com>
+ Tricopter Y-
+
+
+
+
-
+
+ Plane
+
+ Flying Wing
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+
+
+
+
+
+
+
+
Plane
+ Simon Wilks <simon@uaventure.com>
Flying Wing
+ https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+
+
+
+
+
+
+
+
+ Plane
+ Julian Oes <julian@px4.io>
+ Flying Wing
+
+
+
+
+
+
+
+
+ Plane
+ Lorenz Meier <lorenz@px4.io>
+ Flying Wing
+ https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+
+
+
+
+
+
+
+
+ Plane
+ Simon Wilks <simon@uaventure.com>
+ Flying Wing
+ http://www.sparkletech.hk/
+
+
+
+
+
+
+
+
+ Plane
+ Jan Liphardt <JTLiphardt@gmail.com>
+ Flying Wing
+
+
+
+
+
+
+
+
+
+ Plane
+ Lorenz Meier <lorenz@px4.io>
+ Flying Wing
+
+
+
+
+
+
@@ -252,17 +675,49 @@
Plane
Andreas Antener <andreas@uaventure.com>
Plane A-Tail
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Plane
+ Friedrich Beckmann <friedrich.beckmann@hs-augsburg.de>
+ Plane V-Tail
+
+
+
+
+
+
+
+
+
+
+
-
+
+
+ Plane
+ Lorenz Meier <lorenz@px4.io>
+ Simulation
+
+
+
+
+
+
+
Plane
Romain Chiappinelli <romain.chiap@gmail.com>
@@ -270,30 +725,59 @@
-
+
Plane
+ Lorenz Meier <lorenz@px4.io>
Standard Plane
+
+
+
+
+
+
+
+
+
+
+
+ Plane
+ Andreas Antener <andreas@uaventure.com>
+ Standard Plane
+
+
+
+
+
+
+
+
+
+
-
+
Rover
Rover
-
-
+
+
-
+
Rover
+ Timothy Scott
Rover
https://www.aionrobotics.com/r1
+
+
Rover
Katrin Moritz
Rover
-
-
+
+
+
@@ -313,25 +797,14 @@
Underwater Robot
Thies Lennart Alff <thies.lennart.alff@tuhh.de>
Vectored 6 DOF UUV
-
-
-
-
-
-
-
-
-
-
-
-
- VTOL
- Romain Chiappinelli <romain.chiap@gmail.com>
- Simulation
-
-
-
-
+
+
+
+
+
+
+
+
@@ -340,52 +813,197 @@
Roman Bapst <roman@auterion.com>
Standard VTOL
-
+
VTOL
+
+ Standard VTOL
+
+
+
+
+
+
+
+
+
+
+
+ VTOL
+ Simon Wilks <simon@uaventure.com>
+ Standard VTOL
+
+
+
+
+
+
+
+
+
+
+
+ VTOL
+ Simon Wilks <simon@uaventure.com>
+ Standard VTOL
+
+
+
+
+
+
+
+
+
+ VTOL
+ Sander Smeets <sander@droneslab.com>
+ Standard VTOL
+
+
+ VTOL
+ Sander Smeets <sander@droneslab.com>
+ Standard VTOL
+
+
+ VTOL
+ Andreas Antener <andreas@uaventure.com>
Standard VTOL
VTOL
Sander Smeets <sander@droneslab.com>
Standard VTOL
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
VTOL
Silvan Fuhrer <silvan@auterion.com>
Standard VTOL
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+ VTOL
+ Roman Bapst <roman@px4.io>
+ VTOL Duo Tailsitter
+
+
+
+
+
+
VTOL
- VTOL Tailsitter
+ Roman Bapst <roman@px4.io>
+ VTOL Duo Tailsitter
+
+
+
+
+
+
+
+
+ VTOL
+ VTOL Octoplane
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ VTOL
+ Roman Bapst <roman@px4.io>
+ VTOL Quad Tailsitter
+
+
+ VTOL
+ Roman Bapst <roman@px4.io>
+ VTOL Quad Tailsitter
+
+
+
+
+
+
+
+
-
+
VTOL
-
+ Roman Bapst <roman@uaventure.com>
VTOL Tiltrotor
+
+
+
+
+
+
+
+
+
+
+
+
+ VTOL
+ Samay Siga <samay_s@icloud.com>
+ VTOL Tiltrotor
+
+
+ VTOL
+ Andreas Antener <andreas@uaventure.com>
+ VTOL Tiltrotor
+
+
+
+
+
+
+
+
-
+
VTOL
+
VTOL Tiltrotor
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index d7e6027..5a80440 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -196,165 +196,6 @@
us
-
-
- First 4 characters of CALLSIGN
- Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
- true
-
-
- Second 4 characters of CALLSIGN
- Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
- true
-
-
- ADSB-Out Emergency State
- Sets the vehicle emergency state
- 0
- 6
- false
-
- NoEmergency
- General
- Medical
- LowFuel
- NoCommunications
- Interference
- Downed
-
-
-
- ADSB-Out Vehicle Emitter Type
- Configure the emitter type of the vehicle.
- 0
- 15
- true
-
- Unknown
- Light
- Small
- Large
- HighVortex
- Heavy
- Performance
- Rotorcraft
- RESERVED
- Glider
- LightAir
- Parachute
- UltraLight
- RESERVED
- UAV
- Space
- RESERVED
- EmergencySurf
- ServiceSurf
- PointObstacle
-
-
-
- ADSB-Out GPS Offset lat
- Sets GPS lataral offset encoding
- 0
- 7
- false
-
- NoData
- LatLeft2M
- LatLeft4M
- LatLeft6M
- LatRight0M
- LatRight2M
- LatRight4M
- LatRight6M
-
-
-
- ADSB-Out GPS Offset lon
- Sets GPS longitudinal offset encoding
- 0
- 1
- false
-
- NoData
- AppliedBySensor
-
-
-
- ADSB-Out ICAO configuration
- Defines the ICAO ID of the vehicle
- -1
- 16777215
- true
-
-
- ADSB-In Special ICAO configuration
- This vehicle is always tracked. Use 0 to disable.
- 0
- 16777215
- false
-
-
- ADSB-Out Ident Configuration
- Enable Identification of Position feature
- false
-
-
- ADSB-Out Vehicle Size Configuration
- Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.
- 0
- 15
- true
-
- SizeUnknown
- Len15_Wid23
- Len25_Wid28
- Len25_Wid34
- Len35_Wid33
- Len35_Wid38
- Len45_Wid39
- Len45_Wid45
- Len55_Wid45
- Len55_Wid52
- Len65_Wid59
- Len65_Wid67
- Len75_Wid72
- Len75_Wid80
- Len85_Wid80
- Len85_Wid90
-
-
-
- ADSB-In Vehicle List Size
- Change number of targets to track
- 0
- 50
- true
-
-
- ADSB-Out Vehicle Max Speed
- Informs ADSB vehicles of this vehicle's max speed capability
- 0
- 6
- true
-
- UnknownMaxSpeed
- 75Kts
- 150Kts
- 300Kts
- 600Kts
- 1200Kts
- Over1200Kts
-
-
-
- ADSB-Out squawk code configuration
- This parameter defines the squawk code. Value should be between 0000 and 7777.
- 0
- 7777
- false
-
-
Airspeed Selector: Gate size for sideslip angle fusion
@@ -369,19 +210,10 @@
0
1
rad
- 3
-
+
Enable checks on airspeed sensors
- Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0. Note that the data missing check is enabled if any of the options is set.
- 0
- 15
-
- Only data missing check (triggers if more than 1s no data)
- Data stuck (triggers if data is exactly constant for 2s in FW mode)
- Innovation check (see ASPD_FS_INNOV)
- Load factor check (triggers if measurement is below stall speed)
-
+ If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY > 0.
Enable fallback to sensor-less airspeed estimation
@@ -391,21 +223,17 @@
Enable fallback to sensor-less estimation
-
- Airspeed failure innovation threshold
- This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
+
+ Airspeed failsafe consistency threshold
+ This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the wind EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.
0.5
- 10.0
- m/s
- 1
+ 3.0
-
- Airspeed failure innovation integral threshold
- This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.
- 0.0
- 50.0
- m
- 1
+
+ Airspeed failsafe consistency delay
+ This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.
+ 30.0
+ s
Airspeed failsafe start delay
@@ -432,45 +260,22 @@
Third airspeed sensor
-
- Scale of airspeed sensor 1
- This is the scale IAS --> CAS of the first airspeed sensor instance
- 0.5
- 2.0
- 2
- true
-
-
- Scale of airspeed sensor 2
- This is the scale IAS --> CAS of the second airspeed sensor instance
- 0.5
- 2.0
- 2
- true
-
-
- Scale of airspeed sensor 3
- This is the scale IAS --> CAS of the third airspeed sensor instance
+
+ Airspeed scale (scale from IAS to CAS)
+ Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.
0.5
- 2.0
- 2
- true
+ 1.5
-
- Controls when to apply the new estimated airspeed scale(s)
-
- Do not automatically apply the estimated scale
- Apply the estimated scale after disarm
- Apply the estimated scale in air
-
+
+ Automatic airspeed scale estimation on
+ Turns the automatic airspeed scale (scale from IAS to CAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.
-
- Airspeed Selector: Wind estimator true airspeed scale process noise spectral density
- Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.
+
+ Airspeed Selector: Wind estimator true airspeed scale process noise
+ Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.
0
0.1
- 1/s/sqrt(Hz)
- 5
+ Hz
Airspeed Selector: Gate size for true airspeed fusion
@@ -485,27 +290,164 @@
0
4
m/s
- 1
-
-
- Horizontal wind uncertainty threshold for synthetic airspeed
- The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty drops below this value.
- 0.001
- 5
- m/s
- 3
-
- Airspeed Selector: Wind estimator wind process noise noise spectral density
- Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
+
+ Airspeed Selector: Wind estimator wind process noise
+ Wind process noise of the internal wind estimator(s) of the airspeed selector.
0
1
- m/s^2/sqrt(Hz)
+ m/s^2
+
+
+
+
+ Body X axis angular velocity D gain
+ Body X axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 2.0
+ 4
+ 0.01
+
+
+ Body X axis angular velocity feedforward gain
+ Improves tracking performance.
+ 0.0
+ Nm/(rad/s)
+ 4
+
+
+ Body X axis angular velocity I gain
+ Body X axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ Nm/rad
+ 3
+ 0.01
+
+
+ Body X axis angular velocity integrator limit
+ Body X axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
+ 0.0
+ Nm
+ 2
+ 0.01
+
+
+ Body X axis angular velocity controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_X_K * (AVC_X_P * error + AVC_X_I * error_integral + AVC_X_D * error_derivative) Set AVC_X_P=1 to implement a PID in the ideal form. Set AVC_X_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
+
+
+ Body X axis angular velocity P gain
+ Body X axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 20.0
+ 1/s
+ 3
+ 0.01
+
+
+ Body Y axis angular velocity D gain
+ Body Y axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 2.0
+ 4
+ 0.01
+
+
+ Body Y axis angular velocity feedforward
+ Improves tracking performance.
+ 0.0
+ Nm/(rad/s)
+ 4
+
+
+ Body Y axis angular velocity I gain
+ Body Y axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ Nm/rad
+ 3
+ 0.01
+
+
+ Body Y axis angular velocity integrator limit
+ Body Y axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
+ 0.0
+ Nm
+ 2
+ 0.01
+
+
+ Body Y axis angular velocity controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_Y_K * (AVC_Y_P * error + AVC_Y_I * error_integral + AVC_Y_D * error_derivative) Set AVC_Y_P=1 to implement a PID in the ideal form. Set AVC_Y_K=1 to implement a PID in the parallel form.
+ 0.0
+ 20.0
+ 4
+ 0.0005
+
+
+ Body Y axis angular velocity P gain
+ Body Y axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 20.0
+ 1/s
+ 3
+ 0.01
+
+
+ Body Z axis angular velocity D gain
+ Body Z axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ 0.0
+ 2.0
+ 2
+ 0.01
+
+
+ Body Z axis angular velocity feedforward
+ Improves tracking performance.
+ 0.0
+ Nm/(rad/s)
+ 4
+ 0.01
+
+
+ Body Z axis angular velocity I gain
+ Body Z axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
+ 0.0
+ Nm/rad
+ 2
+ 0.01
+
+
+ Body Z axis angular velocity integrator limit
+ Body Z axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
+ 0.0
+ Nm
+ 2
+ 0.01
+
+
+ Body Z axis angular velocity controller gain
+ Global gain of the controller. This gain scales the P, I and D terms of the controller: output = AVC_Z_K * (AVC_Z_P * error + AVC_Z_I * error_integral + AVC_Z_D * error_derivative) Set AVC_Z_P=1 to implement a PID in the ideal form. Set AVC_Z_K=1 to implement a PID in the parallel form.
+ 0.0
+ 5.0
+ 4
+ 0.0005
+
+
+ Body Z axis angular velocity P gain
+ Body Z axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
+ 0.0
+ 20.0
+ 1/s
2
+ 0.01
-
+
Acceleration compensation based on GPS velocity
@@ -560,95 +502,212 @@
2
-
-
- Controls when to apply the new gains
- After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.
-
- Do not apply the new gains (logging only)
- Apply the new gains after disarm
- Apply the new gains in air
-
+
+
+ Battery 1 current per volt (A/V)
+ The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
+ 8
+ True
-
- Tuning axes selection
- Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw
- 1
- 7
-
- roll
- pitch
- yaw
-
+
+ Battery 1 capacity
+ Defines the capacity of battery 1 in mAh.
+ -1.0
+ 100000
+ mAh
+ 0
+ 50
+ True
+
+
+ Battery 1 Current ADC Channel
+ This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
+ True
+
+
+ Number of cells for battery 1
+ Defines the number of cells the attached battery consists of.
+ True
+
+ 2S Battery
+ 3S Battery
+ 4S Battery
+ 5S Battery
+ 6S Battery
+ 7S Battery
+ 8S Battery
+ 9S Battery
+ 10S Battery
+ 11S Battery
+ 12S Battery
+ 13S Battery
+ 14S Battery
+ 15S Battery
+ 16S Battery
+
+
+
+ Explicitly defines the per cell internal resistance for battery 1
+ If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.
+ -1.0
+ 0.2
+ Ohm
+ 2
+ 0.01
+ True
-
- Enable/disable auto tuning using an RC AUX input
- Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.
- 0
- 6
+
+ Battery 1 monitoring source
+ This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.
+ True
- Disable
- Aux1
- Aux2
- Aux3
- Aux4
- Aux5
- Aux6
+ Disabled
+ Power Module
+ External
+ ESCs
-
- Start the autotuning sequence
- WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio
+
+ Battery 1 Voltage ADC Channel
+ This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
+ True
-
- Amplitude of the injected signal
- This parameter scales the signal sent to the rate controller during system identification.
- 0.1
- 6.0
- 1
+
+ Full cell voltage (5C load)
+ Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
+ V
+ 2
+ 0.01
+ True
+
+
+ Battery 1 voltage divider (V divider)
+ This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
+ 8
+ True
+
+
+ Empty cell voltage (5C load)
+ Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
+ V
+ 2
+ 0.01
+ True
-
- Controls when to apply the new gains
- After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.
+
+ Voltage drop per cell on full throttle
+ This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.
+ 0.07
+ 0.5
+ V
+ 2
+ 0.01
+ True
+
+
+ Battery 2 current per volt (A/V)
+ The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.
+ 8
+ True
+
+
+ Battery 2 capacity
+ Defines the capacity of battery 2 in mAh.
+ -1.0
+ 100000
+ mAh
+ 0
+ 50
+ True
+
+
+ Battery 2 Current ADC Channel
+ This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.
+ True
+
+
+ Number of cells for battery 2
+ Defines the number of cells the attached battery consists of.
+ True
+
+ 2S Battery
+ 3S Battery
+ 4S Battery
+ 5S Battery
+ 6S Battery
+ 7S Battery
+ 8S Battery
+ 9S Battery
+ 10S Battery
+ 11S Battery
+ 12S Battery
+ 13S Battery
+ 14S Battery
+ 15S Battery
+ 16S Battery
+
+
+
+ Explicitly defines the per cell internal resistance for battery 2
+ If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.
+ -1.0
+ 0.2
+ Ohm
+ 2
+ 0.01
+ True
+
+
+ Battery 2 monitoring source
+ This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.
+ True
- Do not apply the new gains (logging only)
- Apply the new gains after disarm
- WARNING Apply the new gains in air
+ Disabled
+ Power Module
+ External
+ ESCs
-
- Multicopter autotune module enable
+
+ Battery 2 Voltage ADC Channel
+ This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.
+ True
-
- Desired angular rate closed-loop rise time
- 0.01
- 0.5
- s
+
+ Full cell voltage (5C load)
+ Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V
+ V
2
+ 0.01
+ True
-
- Start the autotuning sequence
- WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio
+
+ Battery 2 voltage divider (V divider)
+ This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.
+ 8
+ True
-
- Amplitude of the injected signal
- 0.1
- 6.0
- 1
+
+ Empty cell voltage (5C load)
+ Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.
+ V
+ 2
+ 0.01
+ True
+
+
+ Voltage drop per cell on full throttle
+ This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.
+ 0.07
+ 0.5
+ V
+ 2
+ 0.01
+ True
-
-
This parameter is deprecated. Please use BAT1_I_CHANNEL
-
- Expected battery current in flight
- This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.
- 0
- 500
- A
- 0.1
-
Critical threshold
Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.
@@ -682,7 +741,7 @@
This parameter is deprecated. Please use BAT1_V_CHARGED instead
-
+
This parameter is deprecated. Please use BAT1_V_EMPTY instead
@@ -790,6 +849,22 @@
Distance based, on command (Survey mode)
+
+ Camera trigger pin
+ Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board, MAIN1-MAIN8 on controllers without an I/O board). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is < .2 uS.
+ 1
+ 12345678
+ 0
+ true
+
+
+ Camera trigger pin extended
+ This Bit mask selects which FMU pin is used (range: AUX9-AUX32) If the value is not 0 it takes precedence over TRIG_PINS. If bits above 8 are set that value is used as the selector for trigger pins. greater then 8. 0x00000300 Would be Pins 9,10. If the value is
+ 0
+ 2147483647
+ 0
+ true
+
Camera trigger polarity
This parameter sets the polarity of the trigger (0 = active low, 1 = active high )
@@ -831,7 +906,14 @@
782097
true
-
+
+ Circuit breaker for engine failure detection
+ Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ 0
+ 284953
+ true
+
+
Circuit breaker for flight termination
Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.
0
@@ -844,6 +926,13 @@
0
22027
+
+ Circuit breaker for rate controller output
+ Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ 0
+ 140253
+ true
+
Circuit breaker for power supply check
Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
@@ -856,6 +945,12 @@
0
197848
+
+ Circuit breaker for position error check
+ Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ 0
+ 201607
+
Circuit breaker for arming in fixed-wing mode check
Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
@@ -864,25 +959,12 @@
-
- Set the actuator failure failsafe mode
- Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.
- 0
- 3
-
- Warning only
- Hold mode
- Land mode
- Return mode
- Terminate
-
-
-
- Flag to allow arming
- Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.
+
+ Enable preflight check for maximal allowed airspeed when arming
+ Deny arming if the current airspeed measurement is greater than half the cruise airspeed (FW_AIRSPD_TRIM). Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration.
- Disallow arming
- Allow arming
+ Disabled
+ Enabled
@@ -940,10 +1022,6 @@
2
0.05
-
- Enable FMU SD card hardfault detection check
- This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.
-
Maximum accelerometer inconsistency between IMU units that will allow arming
0.1
@@ -960,35 +1038,21 @@
3
0.01
-
+
Maximum magnetic field inconsistency between units that will allow arming
Set -1 to disable the check.
3
180
deg
-
+
Enable mag strength preflight check
- Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)
-
- Disabled
- Deny arming
- Warning only
-
+ Deny arming if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)
Require valid mission to arm
The default allows to arm the vehicle without a valid mission.
-
- Enable Drone ID system detection and health check
- This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.
-
- Disabled
- Warning only
- Enforce Open Drone ID system presence
-
-
Enable FMU SD card detection check
This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.
@@ -1004,12 +1068,13 @@
Allow arming without GPS
+ The default allows the vehicle to arm without GPS signal.
Require GPS lock to arm
Allow arming without GPS
-
+
Maximum allowed CPU load to still arm
A negative value disables the check.
-1
@@ -1021,32 +1086,49 @@
Time-out for auto disarm after landing
A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.
s
- 1
- 0.1
+ 2
Time-out for auto disarm if not taking off
A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.
s
- 1
- 0.1
+ 2
- GCS connection loss time threshold
- After this amount of seconds without datalink, the GCS connection lost mode triggers
+ Datalink loss time threshold
+ After this amount of seconds without datalink the data link lost mode triggers
5
300
s
1
1
-
- Delay between failsafe condition triggered and failsafe reaction
- Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature see COM_RC_OVERRIDE. Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).
+
+ Engine Failure Current/Throttle Threshold
+ Engine failure triggers only below this current value
0.0
- 25.0
+ 50.0
+ A/%
+ 2
+ 1
+
+
+ Engine Failure Throttle Threshold
+ Engine failure triggers only above this throttle value
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Engine Failure Time Threshold
+ Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time
+ 0.0
+ 60.0
s
- 3
+ 1
+ 1
Next flight UUID
@@ -1070,7 +1152,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1090,7 +1171,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1110,7 +1190,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1130,7 +1209,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1150,7 +1228,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1170,7 +1247,6 @@
Takeoff
Land
Follow Me
- Precision Land
@@ -1183,16 +1259,6 @@
Developer
-
- Maximum allowed flight time
- The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.
- -1
- s
-
-
- Enable force safety
- Force safety when the vehicle disarms
-
High Latency Datalink loss time threshold
After this amount of seconds without datalink the data link lost mode triggers
@@ -1207,25 +1273,27 @@
60
s
-
- Home position enabled
- Set home position automatically if possible.
- true
+
+ Home set horizontal threshold
+ The home position will be set if the estimated positioning accuracy is below the threshold.
+ 2
+ 15
+ m
+ 2
+ 0.5
Allows setting the home position after takeoff
If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.
-
- Imbalanced propeller failsafe mode
- Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.
- 1
-
- Disabled
- Warning
- Return
- Land
-
+
+ Home set vertical threshold
+ The home position will be set if the estimated positioning accuracy is below the threshold.
+ 5
+ 25
+ m
+ 2
+ 0.5
Timeout value for disarming when kill switch is engaged
@@ -1236,7 +1304,7 @@
Timeout for detecting a failure after takeoff
- A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.
+ A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.
-1.0
5.0
s
@@ -1245,6 +1313,8 @@
Battery failsafe mode
Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.
+ 0
+ 1
Warning
Land mode
@@ -1252,8 +1322,8 @@
- Enable Actuator Testing
- If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.
+ Enable Motor Testing
+ If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that allows spinning the motors for testing purposes.
Time-out to wait when onboard computer connection is lost before warning about loss connection
@@ -1262,10 +1332,23 @@
s
0.01
-
+
Set offboard loss failsafe mode
The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
+ Disabled
+ Land mode
+ Hold mode
+ Return mode
+ Terminate
+ Lockdown
+
+
+
+ Set offboard loss failsafe mode when RC is available
+ The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
+
+ Disabled
Position mode
Altitude mode
Manual
@@ -1273,7 +1356,7 @@
Land mode
Hold mode
Terminate
- Disarm
+ Lockdown
@@ -1281,21 +1364,18 @@
Time-out to wait when offboard connection is lost before triggering offboard lost action
- See COM_OBL_RC_ACT to configure action.
+ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.
0
60
s
0.01
-
- Expect and require a healthy MAVLink parachute system
-
Position control navigation loss response
- This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.
+ 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.
- Altitude/Manual
- Land/Descend
+ Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
+ Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
@@ -1305,21 +1385,28 @@
100
s
-
+
Horizontal position error threshold
- This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.
- -1
- 400
+ This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
- 1
-
- EPH threshold for RTL
- Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.
- -1
- 1000
+
+ Vertical position error threshold
+ This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m
+
+ Loss of position probation gain factor
+ This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.
+ true
+
+
+ Loss of position probation delay at takeoff
+ The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.
+ 1
+ 100
+ s
+
Required number of redundant power modules
This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.
@@ -1335,14 +1422,13 @@
Always
-
- Set command after a quadchute
-
- Warning only
- Return mode
- Land mode
- Hold mode
-
+
+ Delay between RC loss and configured reaction
+ RC signal not updated -> still use data for COM_RC_LOSS_T seconds Consider RC signal lost -> wait COM_RCL_ACT_T seconds on the spot waiting to regain signal React with failsafe action NAV_RCL_ACT A zero value disables the delay.
+ 0.0
+ 25.0
+ s
+ 3
RC loss exceptions
@@ -1362,17 +1448,15 @@
1500
ms
-
+
RC control input mode
- A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.
+ 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.
0
- 4
+ 2
- RC Transmitter only
- Joystick only
- RC and Joystick with fallback
- RC or Joystick keep first
- Stick input disabled
+ RC Transmitter
+ Joystick/No RC Checks
+ Virtual RC by Joystick
@@ -1386,12 +1470,13 @@
Enable RC stick override of auto and/or offboard modes
- When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
+ When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV from their center position immediately gives control back to the pilot by switching to Position mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
0
- 3
+ 7
Enable override during auto modes (except for in critical battery reaction)
Enable override during offboard mode
+ Ignore throttle stick
@@ -1403,14 +1488,9 @@
0
0.05
-
- Enforced delay between arming and further navigation
- The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground
- 0
- 30
- s
- 1
- 0.1
+
+ Rearming grace period
+ Re-arming grace allows to rearm the drone with manual command without running prearmcheck during 5 s after disarming.
Action after TAKEOFF has been accepted
@@ -1420,32 +1500,14 @@
Mission (if valid)
-
+
Horizontal velocity error threshold
- This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
- 0
+ This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
m/s
- 1
-
-
- Wind speed RTL threshold
- Wind speed threshold above which an automatic return to launch is triggered. It is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible. Set to -1 to disable.
- -1
- m/s
- 1
- 0.1
-
-
- Wind speed warning threshold
- A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.
- -1
- m/s
- 1
- 0.1
- Set GCS connection loss failsafe mode
- The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.
+ Set data link loss failsafe mode
+ The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.
0
6
@@ -1454,7 +1516,7 @@
Return mode
Land mode
Terminate
- Disarm
+ Lockdown
@@ -1467,210 +1529,544 @@
Return mode
Land mode
Terminate
- Disarm
+ Lockdown
+
+ Maximum allowed RTL flight in minutes
+ This is used to determine when the vehicle should be switched to RTL due to low battery. Note, particularly for multirotors this should reflect flight time at cruise speed, not while stationary
+ min
+
-
-
- UAVCAN/CAN v1 bus bitrate
- 20000
- 1000000
- bit/s
- true
+
+
+ Maximum value for actuator 0
-
- Cyphal
- 0 - Cyphal disabled. 1 - Enables Cyphal
- true
+
+ Minimum value for actuator 0
-
- Cyphal Node ID
- Read the specs at http://uavcan.org to learn more about Node ID.
- -1
- 125
- true
+
+ Maximum value for actuator 10
-
- actuator_outputs uORB over Cyphal publication port ID
- -1
- 6143
+
+ Minimum value for actuator 10
-
- UDRAL battery parameters subscription port ID
- -1
- 6143
+
+ Maximum value for actuator 11
-
- UDRAL battery status subscription port ID
- -1
- 6143
+
+ Minimum value for actuator 11
-
- UDRAL battery energy source subscription port ID
- -1
- 6143
+
+ Maximum value for actuator 12
-
- ESC 0 subscription port ID
- -1
- 6143
+
+ Minimum value for actuator 12
-
- Cyphal ESC publication port ID
- -1
- 6143
+
+ Maximum value for actuator 13
-
- GPS 0 subscription port ID
- -1
- 6143
+
+ Minimum value for actuator 13
-
- GPS 1 subscription port ID
- -1
- 6143
+
+ Maximum value for actuator 14
-
- Cyphal GPS publication port ID
- -1
- 6143
+
+ Minimum value for actuator 14
-
- Cyphal legacy battery port ID
- -1
- 6143
+
+ Maximum value for actuator 15
-
- Cyphal Servo publication port ID
- -1
- 6143
+
+ Minimum value for actuator 15
-
- sensor_gps uORB over Cyphal subscription port ID
- -1
- 6143
+
+ Maximum value for actuator 1
-
- sensor_gps uORB over Cyphal publication port ID
- -1
- 6143
+
+ Minimum value for actuator 1
-
-
-
- 1-sigma IMU accelerometer switch-on bias
- 0.0
- 0.5
- m/s^2
- 2
- true
+
+ Maximum value for actuator 2
-
- Maximum IMU accel magnitude that allows IMU bias learning
- If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.
- 20.0
- 200.0
- m/s^2
- 1
+
+ Minimum value for actuator 2
-
- Maximum IMU gyro angular rate magnitude that allows IMU bias learning
- If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.
- 2.0
- 20.0
- rad/s
- 1
+
+ Maximum value for actuator 3
-
- Accelerometer bias learning limit
- The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.
- 0.0
- 0.8
- m/s^2
- 2
+
+ Minimum value for actuator 3
-
- Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning
- The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.
- 0.1
- 1.0
- s
- 2
+
+ Maximum value for actuator 4
-
- Process noise for IMU accelerometer bias prediction
- 0.0
- 0.01
- m/s^3
- 6
+
+ Minimum value for actuator 4
-
- Accelerometer noise for covariance prediction
- 0.01
- 1.0
- m/s^2
- 2
+
+ Maximum value for actuator 5
-
- Will be removed after v1.14 release
- Set bits in the following positions to enable: 0 : Deprecated, use EKF2_GPS_CTRL instead 1 : Deprecated. use EKF2_OF_CTRL instead 2 : Deprecated, use EKF2_IMU_CTRL instead 3 : Deprecated, use EKF2_EV_CTRL instead 4 : Deprecated, use EKF2_EV_CTRL instead 5 : Deprecated. use EKF2_DRAG_CTRL instead 6 : Deprecated, use EKF2_EV_CTRL instead 7 : Deprecated, use EKF2_GPS_CTRL instead 8 : Deprecated, use EKF2_EV_CTRL instead
- 0
- 511
- true
-
- unused
- unused
- unused
- unused
- unused
- unused
- unused
- unused
- unused
-
+
+ Minimum value for actuator 5
-
- 1-sigma tilt angle uncertainty after gravity vector alignment
- 0.0
- 0.5
- rad
- 3
- true
+
+ Maximum value for actuator 6
-
- Airspeed fusion threshold
- A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion. Note: side slip fusion is currently not supported for tailsitters.
- 0.0
- m/s
- 1
+
+ Minimum value for actuator 6
-
- Upper limit on airspeed along individual axes used to correct baro for position error effects
- 5.0
- 50.0
- m/s
- 1
+
+ Maximum value for actuator 7
-
- Airspeed measurement delay relative to IMU measurements
- 0
- 300
- ms
- 1
- true
+
+ Minimum value for actuator 7
-
- Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements
+
+ Maximum value for actuator 8
+
+
+ Minimum value for actuator 8
+
+
+ Maximum value for actuator 9
+
+
+ Minimum value for actuator 9
+
+
+ Airframe ID
+ This is used to retrieve pre-computed control effectiveness matrix
+ 0
+ 2
+
+ Multirotor
+ Standard VTOL (WIP)
+ Tiltrotor VTOL (WIP)
+
+
+
+ Airspeed scaler
+ This compensates for the variation of flap effectiveness with airspeed.
+
+
+ Battery power level scaler
+ This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
+
+
+ Axis of rotor 0 thrust vector, X body axis component
+
+
+ Axis of rotor 0 thrust vector, Y body axis component
+
+
+ Axis of rotor 0 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 0
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT0_MIN and CA_ACT0_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 0
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 0 along X body axis
+
+
+ Position of rotor 0 along Y body axis
+
+
+ Position of rotor 0 along Z body axis
+
+
+ Axis of rotor 1 thrust vector, X body axis component
+
+
+ Axis of rotor 1 thrust vector, Y body axis component
+
+
+ Axis of rotor 1 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 1
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT1_MIN and CA_ACT1_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 1
+ The moment coefficient if defined as Torque = KM * Thrust, Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 1 along X body axis
+
+
+ Position of rotor 1 along Y body axis
+
+
+ Position of rotor 1 along Z body axis
+
+
+ Axis of rotor 2 thrust vector, X body axis component
+
+
+ Axis of rotor 2 thrust vector, Y body axis component
+
+
+ Axis of rotor 2 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 2
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT2_MIN and CA_ACT2_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 2
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 2 along X body axis
+
+
+ Position of rotor 2 along Y body axis
+
+
+ Position of rotor 2 along Z body axis
+
+
+ Axis of rotor 3 thrust vector, X body axis component
+
+
+ Axis of rotor 3 thrust vector, Y body axis component
+
+
+ Axis of rotor 3 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 3
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT3_MIN and CA_ACT3_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 3
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 3 along X body axis
+
+
+ Position of rotor 3 along Y body axis
+
+
+ Position of rotor 3 along Z body axis
+
+
+ Axis of rotor 4 thrust vector, X body axis component
+
+
+ Axis of rotor 4 thrust vector, Y body axis component
+
+
+ Axis of rotor 4 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 4
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT4_MIN and CA_ACT4_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 4
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 4 along X body axis
+
+
+ Position of rotor 4 along Y body axis
+
+
+ Position of rotor 4 along Z body axis
+
+
+ Axis of rotor 5 thrust vector, X body axis component
+
+
+ Axis of rotor 5 thrust vector, Y body axis component
+
+
+ Axis of rotor 5 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 5
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT5_MIN and CA_ACT5_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 5
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 5 along X body axis
+
+
+ Position of rotor 5 along Y body axis
+
+
+ Position of rotor 5 along Z body axis
+
+
+ Axis of rotor 6 thrust vector, X body axis component
+
+
+ Axis of rotor 6 thrust vector, Y body axis component
+
+
+ Axis of rotor 6 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 6
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT6_MIN and CA_ACT6_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 6
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 6 along X body axis
+
+
+ Position of rotor 6 along Y body axis
+
+
+ Position of rotor 6 along Z body axis
+
+
+ Axis of rotor 7 thrust vector, X body axis component
+
+
+ Axis of rotor 7 thrust vector, Y body axis component
+
+
+ Axis of rotor 7 thrust vector, Z body axis component
+
+
+ Thrust coefficient of rotor 7
+ The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between CA_ACT7_MIN and CA_ACT7_MAX) is the output signal sent to the motor controller.
+
+
+ Moment coefficient of rotor 7
+ The moment coefficient if defined as Torque = KM * Thrust Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.
+
+
+ Position of rotor 7 along X body axis
+
+
+ Position of rotor 7 along Y body axis
+
+
+ Position of rotor 7 along Z body axis
+
+
+ Control allocation method
+ 0
+ 1
+
+ Pseudo-inverse with output clipping (default)
+ Pseudo-inverse with sequential desaturation technique
+
+
+
+
+
+ DSHOT 3D deadband high
+ When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
+ 1000
+ 1999
+
+
+ DSHOT 3D deadband low
+ When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
+ 0
+ 1000
+
+
+ Allows for 3d mode when using DShot and suitable mixer
+ WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
+
+
+ Configure DShot
+ This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.
+ True
+
+ Disable (use PWM/Oneshot)
+ DShot150
+ DShot300
+ DShot600
+ DShot1200
+
+
+
+ Minimum DShot Motor Output
+ Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.
+ 0
+ 1
+ %
+ 2
+ 0.01
+
+
+ Serial Configuration for DShot Driver
+ Configure on which serial port to run DShot Driver.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Number of magnetic poles of the motors
+ Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.
+
+
+
+
+ Airfield home alt
+ Altitude of airfield home waypoint
+ -50
+ m
+ 1
+ 0.5
+
+
+ Airfield home Lat
+ Latitude of airfield home waypoint
+ -900000000
+ 900000000
+ deg*1e7
+
+
+ Airfield home Lon
+ Longitude of airfield home waypoint
+ -1800000000
+ 1800000000
+ deg*1e7
+
+
+
+
+ 1-sigma IMU accelerometer switch-on bias
+ 0.0
+ 0.5
+ m/s^2
+ 2
+ true
+
+
+ Maximum IMU accel magnitude that allows IMU bias learning
+ If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.
+ 20.0
+ 200.0
+ m/s^2
+ 1
+
+
+ Maximum IMU gyro angular rate magnitude that allows IMU bias learning
+ If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.
+ 2.0
+ 20.0
+ rad/s
+ 1
+
+
+ Accelerometer bias learning limit
+ The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.
+ 0.0
+ 0.8
+ m/s^2
+ 2
+
+
+ Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning
+ The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.
+ 0.1
+ 1.0
+ s
+ 2
+
+
+ Process noise for IMU accelerometer bias prediction
+ 0.0
+ 0.01
+ m/s^3
+ 6
+
+
+ Accelerometer noise for covariance prediction
+ 0.01
+ 1.0
+ m/s^2
+ 2
+
+
+ Integer bitmask controlling data fusion and aiding methods
+ Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.
+ 0
+ 511
+ true
+
+ use GPS
+ use optical flow
+ inhibit IMU bias estimation
+ vision position fusion
+ vision yaw fusion
+ multi-rotor drag fusion
+ rotate external vision
+ GPS yaw fusion
+ vision velocity fusion
+
+
+
+ 1-sigma tilt angle uncertainty after gravity vector alignment
+ 0.0
+ 0.5
+ rad
+ 3
+ true
+
+
+ Airspeed fusion threshold
+ A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion.
+ 0.0
+ m/s
+ 1
+
+
+ Upper limit on airspeed along individual axes used to correct baro for position error effects
+ 5.0
+ 50.0
+ m/s
+ 1
+
+
+ Airspeed measurement delay relative to IMU measurements
0
300
ms
1
true
-
- Barometric sensor height aiding
- If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).
+
+ Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements
+ 0
+ 300
+ ms
+ 1
+ true
Barometer measurement delay relative to IMU measurements
@@ -1696,7 +2092,7 @@
X-axis ballistic coefficient used for multi-rotor wind estimation
- This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.
+ This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_AID_MASK parameter. The EKF2_BCOEF_X paraemter should be set initially to the ratio of mass / projected frontal area and adjusted together with EKF2_MCOEF to minimise variance of the X-axis drag specific force innovation sequence. The drag produced by this effect scales with speed squared. Set this parameter to zero to turn off the bluff body drag model for this axis. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter.
0.0
200.0
kg/m^2
@@ -1704,7 +2100,7 @@
Y-axis ballistic coefficient used for multi-rotor wind estimation
- This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.
+ This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_AID_MASK parameter. The EKF2_BCOEF_Y paraemter should be set initially to the ratio of mass / projected side area and adjusted together with EKF2_MCOEF to minimise variance of the Y-axis drag specific force innovation sequence. The drag produced by this effect scales with speed squared. et this parameter to zero to turn off the bluff body drag model for this axis. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter.
0.0
200.0
kg/m^2
@@ -1736,10 +2132,6 @@
use declination as an observation
-
- Multirotor wind estimation selection
- Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.
-
Specific drag force observation noise variance used by the multi-rotor specific drag force model
Increasing this makes the multi-rotor wind estimates adjust more slowly.
@@ -1755,7 +2147,7 @@
m/s
1
-
+
Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message
0.05
rad
@@ -1787,19 +2179,7 @@
m/s
2
-
- External vision (EV) sensor aiding
- Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw
- 0
- 15
-
- Horizontal position
- Vertical position
- 3D velocity
- Yaw
-
-
-
+
Vision Position Estimator delay relative to IMU measurements
0
300
@@ -1807,13 +2187,9 @@
1
true
-
- External vision (EV) noise mode
- If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,
-
- EV reported variance (parameter lower bound)
- EV noise parameters
-
+
+ Whether to set the external vision observation noise from the parameter or from vision message
+ If set to true the observation noise is set from the parameters directly, if set to false the measurement noise is taken from the vision message and the parameter are used as a lower bound.
X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)
@@ -1830,13 +2206,6 @@
m
3
-
- External vision (EV) minimum quality (optional)
- External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.
- 0
- 100
- 1
-
Boolean determining if synthetic sideslip measurements should fused
A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.
@@ -1867,7 +2236,7 @@
Integer bitmask controlling GPS checks
- Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
+ Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
0
511
@@ -1882,18 +2251,6 @@
Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
-
- GNSS sensor aiding
- Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion
- 0
- 15
-
- Lon/lat
- Altitude
- 3D velocity
- Dual antenna heading
-
-
GPS measurement delay relative to IMU measurements
0
@@ -1945,29 +2302,14 @@
m/s
2
-
- Accelerometer measurement noise for gravity based observations
- 0.1
- 10.0
- m/s^2
- 2
-
Default value of true airspeed used in EKF-GSF AHRS calculation
- If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.
+ If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.
0.0
100.0
m/s
1
-
- Gyro bias learning limit
- The ekf delta angle bias states will be limited to within a range equivalent to +- of this value.
- 0.0
- 0.4
- rad/s
- 3
-
Process noise for IMU rate gyro bias prediction
0.0
@@ -1983,7 +2325,7 @@
4
- Gate size for heading fusion
+ Gate size for magnetic heading fusion
Sets the number of standard deviations used by the innovation consistency test.
1.0
SD
@@ -1996,9 +2338,9 @@
rad
2
-
- Determines the reference source of height data used by the EKF
- When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
+
+ Determines the primary source of height data used by the EKF
+ The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
true
Barometric pressure
@@ -2007,16 +2349,6 @@
Vision
-
- IMU control
- 0
- 7
-
- Gyro Bias
- Accel Bias
- Gravity vector fusion
-
-
X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)
m
@@ -2034,7 +2366,7 @@
Horizontal acceleration threshold used by automatic selection of magnetometer fusion method
- This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
+ This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.
0.0
5.0
m/s^2
@@ -2047,32 +2379,9 @@
gauss/s
6
-
+
Magnetic field strength test selection
- Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM
- 0
- 7
-
- Strength (EKF2_MAG_CHK_STR)
- Inclination (EKF2_MAG_CHK_INC)
- Wait for WMM
-
-
-
- Magnetic field inclination check tolerance
- Maximum allowed deviation from the expected magnetic field inclination to pass the check.
- 0.0
- 90.0
- deg
- 1
-
-
- Magnetic field strength check tolerance
- Maximum allowed deviation from the expected magnetic field strength to pass the check.
- 0.0
- 1.0
- gauss
- 2
+ When set, the EKF checks the strength of the magnetic field to decide whether the magnetometer data is valid. If GPS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance.
Magnetic declination
@@ -2110,37 +2419,55 @@
Type of magnetometer fusion
- Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality).
+ Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality). Other external sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
true
Automatic
Magnetic heading
+ 3-axis
+ VTOL custom
+ MC custom
None
-
+
Yaw rate threshold used by automatic selection of magnetometer fusion method
- This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
+ This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.
0.0
1.0
rad/s
2
- Propeller momentum drag coefficient used for multi-rotor wind estimation
- This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.
+ propeller momentum drag coefficient used for multi-rotor wind estimation
+ This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_AID_MASK parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. For example, if flying at 10 m/s at sea level conditions produces a rotor induced drag deceleration of 1.5 m/s/s when the multi-copter levelled to zero roll/pitch, then EKF2_MCOEF would be set to 0.15 = (1.5/10.0). Set EKF2_MCOEF to a positive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. The EKF2_MCOEF parameter should be adjusted together with EKF2_BCOEF_X and EKF2_BCOEF_Y to minimise variance of the X and y axis drag specific force innovation sequences.
0
1.0
1/s
2
-
- Expected range finder reading when on ground
- If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.
- 0.01
- m
+
+ Minimum time of arrival delta between non-IMU observations before data is downsampled
+ Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information.
+ 10
+ 50
+ ms
+ true
+
+
+ Expected range finder reading when on ground
+ If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_TEST and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.
+ 0.01
+ m
2
+
+ Vehicle movement test threshold
+ Scales the threshold tests applied to IMU data used to determine if the vehicle is static or moving. See parameter descriptions for EKF2_GPS_CHECK and EKF2_MAG_TYPE for further information on the functionality affected by this parameter.
+ 0.1
+ 10.0
+ 1
+
Multi-EKF IMUs
Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.
@@ -2168,10 +2495,6 @@
10000000
us
-
- Optical flow aiding
- Enable optical flow fusion.
-
Optical flow measurement delay relative to IMU measurements
Assumes measurement is timestamped at trailing edge of integration period
@@ -2217,12 +2540,7 @@
3
- Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN
- 0
- 255
-
-
- Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND
+ Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN
0
255
@@ -2261,13 +2579,6 @@
0.5
2
-
- EKF prediction period
- EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.
- 1000
- 20000
- us
-
Required EPH to use GPS
2
@@ -2322,9 +2633,17 @@
m/s
2
+
+ Range sensor aid
+ If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff.
+
+ Range aid disabled
+ Range aid enabled
+
+
- Maximum absolute altitude (height above ground level) allowed for conditional range aid mode
- If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
+ Maximum absolute altitude (height above ground level) allowed for range aid mode
+ If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
1.0
10.0
m
@@ -2337,21 +2656,12 @@
SD
- Maximum horizontal velocity allowed for conditional range aid mode
- If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
+ Maximum horizontal velocity allowed for range aid mode
+ If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
0.1
2
m/s
-
- Range sensor height aiding
- WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.
-
- Disable range fusion
- Enabled (conditional mode)
- Enabled
-
-
Range finder measurement delay relative to IMU measurements
0
@@ -2367,13 +2677,6 @@
SD
1
-
- Gate size used for range finder kinematic consistency check
- To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.
- 0.1
- 5.0
- SD
-
Measurement noise for range finder fusion
0.01
@@ -2409,7 +2712,7 @@
s
- Range finder range dependent noise scaler
+ Range finder range dependant noise scaler
Specifies the increase in range finder noise with range.
0.0
0.2
@@ -2441,7 +2744,7 @@
Enable synthetic magnetometer Z component measurement
- Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.
+ Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ingored instead of fusing the synthetic value.
Gate size for TAS fusion
@@ -2485,12 +2788,11 @@
m/s
1
-
- Process noise spectral density for wind velocity prediction
- When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.
+
+ Process noise for wind velocity prediction
0.0
1.0
- m/s^2/sqrt(Hz)
+ m/s^2
3
@@ -2524,178 +2826,452 @@
-
- Maximum manual pitch angle
- Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
- 0.0
- 90.0
+
+ Acro body x max rate
+ This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.
+ 45
+ 720
deg
- 1
- 0.5
-
- Maximum manual roll angle
- Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
- 0.0
- 90.0
+
+ Acro body y max rate
+ This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.
+ 45
+ 720
deg
- 1
- 0.5
-
-
- Maximum manually added yaw rate
- This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it. This is an absolute value, which is applied symmetrically to the negative and positive side.
- 0
- deg/s
- 1
- 0.5
-
- Pitch setpoint offset (pitch at level flight)
- An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.
- -90.0
- 90.0
+
+ Acro body z max rate
+ This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.
+ 10
+ 180
deg
- 1
- 0.5
-
- Maximum negative / down pitch rate setpoint
+
+ Airspeed mode
+ For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading
+
+ Normal (use airspeed if available)
+ Airspeed disabled
+
+
+
+ Enable airspeed scaling
+ This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)
+
+
+ Whether to scale throttle by battery power level
+ This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.
+
+
+ Pitch trim increment for flaps configuration
+ This increment is added to the pitch trim whenever flaps are fully deployed.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Pitch trim increment at maximum airspeed
+ This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Pitch trim increment at minimum airspeed
+ This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Roll trim increment for flaps configuration
+ This increment is added to TRIM_ROLL whenever flaps are fully deployed.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Roll trim increment at maximum airspeed
+ This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Roll trim increment at minimum airspeed
+ This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Yaw trim increment at maximum airspeed
+ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Yaw trim increment at minimum airspeed
+ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Scale factor for flaperons
0.0
- 180
- deg/s
- 1
- 0.5
+ 1.0
+ norm
+ 2
+ 0.01
-
- Maximum positive / up pitch rate setpoint
+
+ Flaps setting during landing
+ Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
0.0
- 180
- deg/s
- 1
- 0.5
+ 1.0
+ norm
+ 2
+ 0.01
-
- Attitude pitch time constant
- This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
- 0.2
+
+ Scale factor for flaps
+ 0.0
1.0
- s
+ norm
2
- 0.05
+ 0.01
-
- Maximum roll rate setpoint
+
+ Flaps setting during take-off
+ Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
0.0
- 180
- deg/s
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Max manual pitch
+ Max pitch for manual control in attitude stabilized mode
+ 0.0
+ 90.0
+ deg
1
0.5
-
- Attitude Roll Time Constant
- This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
- 0.2
- 1.0
- s
+
+ Manual pitch scale
+ Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
+ 0.0
+ norm
2
- 0.05
+ 0.01
+
+
+ Max manual roll
+ Max roll for manual control in attitude stabilized mode
+ 0.0
+ 90.0
+ deg
+ 1
+ 0.5
-
- Spoiler descend setting
+
+ Manual roll scale
+ Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
0.0
1.0
norm
2
0.01
-
- Spoiler landing setting
+
+ Manual yaw scale
+ Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
0.0
- 1.0
norm
2
0.01
-
- Wheel steering rate feed forward
+
+ Pitch rate feed forward
Direct feed forward from rate setpoint to control surface output
0.0
- 10
+ 10.0
%/rad/s
2
0.05
-
- Wheel steering rate integrator gain
+
+ Pitch rate integrator gain
This gain defines how much control response will result out of a steady state error. It trims any constant error.
- 0.0
- 10
+ 0.005
+ 0.5
%/rad
3
0.005
-
- Wheel steering rate integrator limit
+
+ Pitch rate integrator limit
The portion of the integrator part in the control surface deflection is limited to this value
0.0
1.0
2
0.05
-
- Wheel steering rate proportional gain
- This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
- 0.0
- 10
+
+ Pitch rate proportional gain
+ This defines how much the elevator input will be commanded depending on the current body angular rate error.
+ 0.005
+ 1.0
%/rad/s
3
0.005
-
- Enable wheel steering controller
- Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.
+
+ Pitch setpoint offset (pitch at level flight)
+ An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.
+ -90.0
+ 90.0
+ deg
+ 1
+ 0.5
-
- Maximum wheel steering rate
- This limits the maximum wheel steering rate the controller will output (in degrees per second).
+
+ Maximum negative / down pitch rate
+ This limits the maximum pitch down up angular rate the controller will output (in degrees per second).
0.0
90.0
deg/s
1
0.5
-
- Maximum yaw rate setpoint
+
+ Maximum positive / up pitch rate
+ This limits the maximum pitch up angular rate the controller will output (in degrees per second).
0.0
- 180
+ 90.0
deg/s
1
0.5
-
-
-
- Bit mask to set the automatic landing abort conditions
- Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)
- 0
- 3
-
- Abort if terrain is not found (only applies to mission landings)
- Abort if terrain times out (after a first successful measurement)
-
+
+ Attitude pitch time constant
+ This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
+ 0.2
+ 1.0
+ s
+ 2
+ 0.05
-
- Landing airspeed
- The calibrated airspeed setpoint during landing. If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.
- -1.0
- m/s
+
+ Roll control to yaw control feedforward gain
+ This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect.
+ 0.0
1
- 0.1
+ 0.01
+
+
+ Roll rate feed forward
+ Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.
+ 0.0
+ 10.0
+ %/rad/s
+ 2
+ 0.05
+
+
+ Roll rate integrator Gain
+ This gain defines how much control response will result out of a steady state error. It trims any constant error.
+ 0.005
+ 0.2
+ %/rad
+ 3
+ 0.005
+
+
+ Roll integrator anti-windup
+ The portion of the integrator part in the control surface deflection is limited to this value.
+ 0.0
+ 1.0
+ 2
+ 0.05
+
+
+ Roll rate proportional Gain
+ This defines how much the aileron input will be commanded depending on the current body angular rate error.
+ 0.005
+ 1.0
+ %/rad/s
+ 3
+ 0.005
+
+
+ Maximum roll rate
+ This limits the maximum roll rate the controller will output (in degrees per second).
+ 0.0
+ 90.0
+ deg/s
+ 1
+ 0.5
+
+
+ Attitude Roll Time Constant
+ This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
+ 0.4
+ 1.0
+ s
+ 2
+ 0.05
+
+
+ Wheel steering rate feed forward
+ Direct feed forward from rate setpoint to control surface output
+ 0.0
+ 10.0
+ %/rad/s
+ 2
+ 0.05
+
+
+ Wheel steering rate integrator gain
+ This gain defines how much control response will result out of a steady state error. It trims any constant error.
+ 0.005
+ 0.5
+ %/rad
+ 3
+ 0.005
+
+
+ Wheel steering rate integrator limit
+ The portion of the integrator part in the control surface deflection is limited to this value
+ 0.0
+ 1.0
+ 2
+ 0.05
+
+
+ Wheel steering rate proportional gain
+ This defines how much the wheel steering input will be commanded depending on the current body angular rate error.
+ 0.005
+ 1.0
+ %/rad/s
+ 3
+ 0.005
+
+
+ Enable wheel steering controller
+
+
+ Maximum wheel steering rate
+ This limits the maximum wheel steering rate the controller will output (in degrees per second).
+ 0.0
+ 90.0
+ deg/s
+ 1
+ 0.5
+
+
+ Yaw rate feed forward
+ Direct feed forward from rate setpoint to control surface output
+ 0.0
+ 10.0
+ %/rad/s
+ 2
+ 0.05
+
+
+ Yaw rate integrator gain
+ This gain defines how much control response will result out of a steady state error. It trims any constant error.
+ 0.0
+ 50.0
+ %/rad
+ 1
+ 0.5
+
+
+ Yaw rate integrator limit
+ The portion of the integrator part in the control surface deflection is limited to this value
+ 0.0
+ 1.0
+ 2
+ 0.05
+
+
+ Yaw rate proportional gain
+ This defines how much the rudder input will be commanded depending on the current body angular rate error.
+ 0.005
+ 1.0
+ %/rad/s
+ 3
+ 0.005
+
+
+ Maximum yaw rate
+ This limits the maximum yaw rate the controller will output (in degrees per second).
+ 0.0
+ 90.0
+ deg/s
+ 1
+ 0.5
+
+
+
+
+ Climbout Altitude difference
+ If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).
+ 0.0
+ 150.0
+ m
+ 1
+ 0.5
+
+
+ L1 damping
+ Damping factor for L1 control.
+ 0.6
+ 0.9
+ 2
+ 0.05
+
+
+ L1 period
+ This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.
+ 12.0
+ 50.0
+ m
+ 1
+ 0.5
+
+
+ L1 controller roll slew rate limit
+ The maxium change in roll angle setpoint per second.
+ 0
+ deg/s
+ 1
+
+
+ Min. airspeed scaling factor for landing
+ Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC
+ 1.0
+ 1.5
+ norm
+ 2
+ 0.01
- Maximum landing slope angle
- Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.
+ Landing slope angle
1.0
15.0
deg
@@ -2706,17 +3282,17 @@
Early landing configuration deployment
When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.
-
+
Landing flare altitude (relative to landing altitude)
- NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
0.0
+ 25.0
m
1
0.5
Flare, maximum pitch
- Maximum pitch during flare, a positive sign means nose up Applied once flaring is triggered
+ Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached
0
45.0
deg
@@ -2725,227 +3301,146 @@
Flare, minimum pitch
- Minimum pitch during flare, a positive sign means nose up Applied once flaring is triggered
- -5
+ Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached
+ 0
15.0
deg
1
0.5
-
- Landing flare sink rate
- TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)
- 0.0
- 2
- m/s
- 2
- 0.1
-
-
- Landing flare time
- Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude
- 0.1
- 5.0
- s
- 1
- 0.1
-
-
- Landing touchdown nudging option
- Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
+
+ Landing heading hold horizontal distance
+ Set to 0 to disable heading hold.
0
- 2
-
- Disable nudging
- Nudge approach angle
- Nudge approach path
-
-
-
- Maximum lateral position offset for the touchdown point
- 0.0
- 10.0
+ 30.0
m
1
- 1
+ 0.5
-
- Landing touchdown time (since flare start)
- This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).
- -1.0
- 5.0
- s
+
+ FW_LND_HVIRT
+ 1.0
+ 15.0
+ m
1
- 0.1
+ 0.5
Altitude time constant factor for landing
- Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.
+ Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight (i.e. giving efficiency and low motor wear at high altitudes but control accuracy during landing). During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.
0.2
1.0
0.1
-
- Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible
- NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.
+
+ Landing throttle limit altitude (relative landing altitude)
+ Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.
+ -1.0
+ 30.0
+ m
+ 1
+ 0.5
+
+
+ Use terrain estimate during landing
+ This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position).
+
+
+ RC stick mapping fixed-wing
+ Set RC/joystick configuration for fixed-wing position and altitude controlled flight.
0
- 2
+ 1
- Disable the terrain estimate
- Use the terrain estimate to trigger the flare (only)
- Calculate landing glide slope relative to the terrain estimate
+ Normal stick configuration (airspeed on throttle stick, altitude on pitch stick)
+ Alternative stick configuration (altitude on throttle stick, airspeed on pitch stick)
-
-
-
- Height (AGL) of the wings when the aircraft is on the ground
- This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)
+
+ Positive pitch limit
+ The maximum positive pitch the controller will output.
0.0
- m
+ 60.0
+ deg
1
- 1
+ 0.5
-
- The aircraft's wing span (length from tip to tip)
- This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
- 0.1
- m
+
+ Negative pitch limit
+ The minimum negative pitch the controller will output.
+ -60.0
+ 0.0
+ deg
1
- 0.1
-
-
-
-
- Trigger time
- Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
- 0.0
- 5.0
- s
- 2
- 0.05
+ 0.5
-
- Trigger acceleration threshold
- Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
- 0
- m/s^2
+
+ Controller roll limit
+ The maximum roll the controller will output.
+ 35.0
+ 65.0
+ deg
1
0.5
-
- FW Launch detection
- Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Only available for fixed-wing vehicles. Not compatible with runway takeoff.
-
-
- Motor delay
- Start the motor(s) this amount of seconds after launch is detected.
+
+ Scale throttle by pressure change
+ Automatically adjust throttle to account for decreased air density at higher altitudes. Start with a scale factor of 1.0 and adjust for different propulsion systems. When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges. The default value of 0 will disable scaling.
0.0
10.0
- s
1
- 0.5
+ 0.1
-
-
-
- NPFG damping ratio
- Damping ratio of the NPFG control law.
- 0.10
- 1.00
+
+ Cruise throttle
+ This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
+ 0.0
+ 1.0
+ norm
2
0.01
-
- Enable minimum forward ground speed maintaining excess wind handling logic
-
-
- Maximum, minimum forward ground speed for track keeping in excess wind
- The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.
+
+ Idle throttle
+ This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.
0.0
- 10.0
- m/s
- 1
- 0.5
-
-
- Enable automatic lower bound on the NPFG period
- Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.
+ 0.4
+ norm
+ 2
+ 0.01
-
- NPFG period
- Period of the NPFG control law.
- 1.0
- 100.0
- s
- 1
- 0.1
-
-
- Period safety factor
- Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.
- 1.0
- 10.0
- 1
- 0.1
-
-
- Roll time constant
- Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.
- 0.00
- 2.00
- s
+
+ Throttle limit during landing below throttle limit altitude
+ During the flare of the autonomous landing process, this value will be set as throttle limit when the aircraft altitude is below FW_LND_TLALT.
+ 0.0
+ 1.0
+ norm
2
- 0.05
+ 0.01
-
- NPFG switch distance multiplier
- Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.
- 0.1
+
+ Throttle limit max
+ This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
+ 0.0
1.0
+ norm
2
0.01
-
- Enable track keeping excess wind handling logic
-
-
- Enable automatic upper bound on the NPFG period
- Adapts period to maintain track keeping in variable winds and path curvature.
-
-
- Enable wind excess regulation
- Disabling this parameter further disables all other airspeed incrementation options.
-
-
-
-
- Path navigation roll slew rate limit
- The maximum change in roll angle setpoint per second.
- 0
- deg/s
- 0
- 1
-
-
- RC stick configuration fixed-wing
- Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.
- 0
- 3
-
- Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
- Enable airspeed setpoint via sticks in altitude and position flight mode
-
+
+ Throttle limit min
+ This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
-
- Maximum roll angle
- The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.
- 35.0
- 65.0
- deg
- 1
- 0.5
+
+ Throttle max slew rate
+ Maximum slew rate for the commanded throttle
+ 0.0
+ 1.0
Minimum pitch during takeoff
@@ -2956,1507 +3451,1303 @@
0.5
-
-
- Acro body x max rate
- This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.
- 10
- 720
- deg
+
+
+ Launch detection
-
- Enable yaw rate controller in Acro
- If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.
+
+ Catapult accelerometer threshold
+ LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
+ 0
+ m/s^2
+ 1
+ 0.5
-
- Acro body pitch max rate setpoint
- 10
- 720
- deg
+
+ Motor delay
+ Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate
+ 0.0
+ 10.0
+ s
+ 1
+ 0.5
-
- Acro body yaw max rate setpoint
- 10
- 720
+
+ Maximum pitch before the throttle is powered up (during motor delay phase)
+ This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
+ 0.0
+ 45.0
deg
+ 1
+ 0.5
-
- Airspeed mode
- On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading
-
- Use airspeed in controller
- Do not use airspeed in controller
-
+
+ Catapult time threshold
+ LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
+ 0.0
+ 5.0
+ s
+ 2
+ 0.05
-
- Enable airspeed scaling
- This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)
+
+
+
+ Maximum Airspeed (CAS)
+ If the CAS (calibrated airspeed) is above this value, the TECS controller will try to decrease airspeed more aggressively.
+ 0.5
+ 40
+ m/s
+ 1
+ 0.5
-
- Enable throttle scale by battery level
- This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.
+
+ Minimum Airspeed (CAS)
+ The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.
+ 0.5
+ 40
+ m/s
+ 1
+ 0.5
-
- Pitch trim increment at maximum airspeed
- This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
- -0.5
- 0.5
- 2
- 0.01
+
+ Stall Airspeed (CAS)
+ The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.
+ 0.5
+ 40
+ m/s
+ 1
+ 0.5
-
- Pitch trim increment at minimum airspeed
- This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
- -0.5
- 0.5
- 2
- 0.01
+
+ Cruise Airspeed (CAS)
+ The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve if no other airspeed setpoint sources are present (e.g. through non-centered RC sticks).
+ 0.5
+ 40
+ m/s
+ 1
+ 0.5
-
- Roll trim increment at maximum airspeed
- This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
- -0.5
- 0.5
- 2
- 0.01
+
+ Minimum groundspeed
+ The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.
+ 0.0
+ 40
+ m/s
+ 1
+ 0.5
-
- Roll trim increment at minimum airspeed
- This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
- -0.5
- 0.5
+
+ Altitude error time constant
+ 2.0
2
- 0.01
+ 0.5
-
- Yaw trim increment at maximum airspeed
- This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
- -0.5
- 0.5
- 2
- 0.01
+
+ Maximum climb rate
+ This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.
+ 1.0
+ 15.0
+ m/s
+ 1
+ 0.5
-
- Yaw trim increment at minimum airspeed
- This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
- -0.5
- 0.5
+
+ Default target climbrate
+ The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
+ 0.5
+ 15
+ m/s
2
0.01
-
- Flaps setting during landing
- Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.
+
+ Height rate feed forward
0.0
1.0
- norm
2
- 0.01
+ 0.05
-
- Flaps setting during take-off
- Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.
+
+ Integrator gain pitch
+ This is the integrator gain on the pitch part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
0.0
- 1.0
- norm
+ 2.0
2
- 0.01
+ 0.05
-
- Manual pitch scale
- Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
+
+ Integrator gain throttle
+ This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
0.0
- norm
+ 2.0
2
- 0.01
+ 0.05
-
- Manual roll scale
- Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
+
+ Pitch damping factor
+ This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.
0.0
- 1.0
- norm
+ 2.0
2
- 0.01
+ 0.1
-
- Manual yaw scale
- Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.
+
+ Roll -> Throttle feedforward
+ Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.
0.0
- norm
+ 20.0
+ 1
+ 0.5
+
+
+ Specific total energy balance rate feedforward gain
+ 0.5
+ 3
2
0.01
-
- Pitch rate derivative gain
- Pitch rate differential gain.
- 0.0
- 10
- %/rad/s
- 3
- 0.005
+
+ Maximum descent rate
+ This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.
+ 1.0
+ 15.0
+ m/s
+ 1
+ 0.5
-
- Pitch rate feed forward
- Direct feed forward from rate setpoint to control surface output
- 0.0
- 10.0
- %/rad/s
- 2
- 0.05
-
-
- Pitch rate integrator gain
- This gain defines how much control response will result out of a steady state error. It trims any constant error.
- 0.0
- 10
- %/rad
- 3
- 0.005
+
+ Minimum descent rate
+ This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.
+ 1.0
+ 5.0
+ m/s
+ 1
+ 0.5
-
- Pitch rate integrator limit
- The portion of the integrator part in the control surface deflection is limited to this value
- 0.0
- 1.0
+
+ Default target sinkrate
+ The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
+ 0.5
+ 15
+ m/s
2
- 0.05
-
-
- Pitch rate proportional gain
- 0.0
- 10
- %/rad/s
- 3
- 0.005
-
-
- Roll control to yaw control feedforward gain
- This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.
- 0.0
- 1
0.01
-
- Roll rate derivative Gain
- Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+
+ Speed <--> Altitude priority
+ This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).
0.0
- 10
- %/rad/s
- 3
- 0.005
+ 2.0
+ 1
+ 1.0
-
- Roll rate feed forward
- Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.
- 0.0
+
+ Complementary filter "omega" parameter for speed
+ This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.
+ 1.0
10.0
- %/rad/s
- 2
- 0.05
+ rad/s
+ 1
+ 0.5
-
- Roll rate integrator Gain
- This gain defines how much control response will result out of a steady state error. It trims any constant error.
+
+ Specific total energy rate first order filter time constant
+ This filter is applied to the specific total energy rate used for throttle damping.
0.0
- 10
- %/rad
+ 2
2
0.01
-
- Roll integrator anti-windup
- The portion of the integrator part in the control surface deflection is limited to this value.
+
+ True airspeed rate first order filter time constant
+ This filter is applied to the true airspeed rate.
0.0
- 1.0
+ 2
2
- 0.05
-
-
- Roll rate proportional Gain
- 0.0
- 10
- %/rad/s
- 3
- 0.005
-
-
- Spoiler input in manual flight
- Chose source for manual setting of spoilers in manual flight modes.
-
- Disabled
- Flaps channel
- Aux1
-
-
-
- Yaw rate derivative gain
- Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- 0.0
- 10
- %/rad/s
- 3
- 0.005
+ 0.01
-
- Yaw rate feed forward
- Direct feed forward from rate setpoint to control surface output
- 0.0
- 10.0
- %/rad/s
+
+ True airspeed error time constant
+ 2.0
2
- 0.05
-
-
- Yaw rate integrator gain
- This gain defines how much control response will result out of a steady state error. It trims any constant error.
- 0.0
- 10
- %/rad
- 1
0.5
-
- Yaw rate integrator limit
- The portion of the integrator part in the control surface deflection is limited to this value
+
+ Throttle damping factor
+ This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.
0.0
- 1.0
+ 2.0
2
- 0.05
-
-
- Yaw rate proportional gain
- 0.0
- 10
- %/rad/s
- 3
- 0.005
-
-
-
-
- Maximum Airspeed (CAS)
- The maximal airspeed (calibrated airspeed) the user is able to command.
- 0.5
- m/s
- 1
- 0.5
+ 0.1
-
- Minimum Airspeed (CAS)
- The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
- 0.5
- m/s
+
+ Maximum vertical acceleration
+ This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.
+ 1.0
+ 10.0
+ m/s^2
1
0.5
-
- Stall Airspeed (CAS)
- The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.
- 0.5
- m/s
- 1
- 0.5
+
+
+
+ Enable checks on ESCs that report their arming state
+ If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
-
- Trim (Cruise) Airspeed
- The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve.
- 0.5
- m/s
- 1
- 0.5
+
+ Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)
+ Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.
+ true
-
- Minimum groundspeed
- The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.
- 0.0
- 40
- m/s
- 1
- 0.5
+
+ The PWM threshold from external automatic trigger system for engaging failsafe
+ External ATS is required by ASTM F3322-18.
+ us
+ 2
-
- Maximum pitch angle
- The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.
- 0.0
- 60.0
+
+ FailureDetector Max Pitch
+ Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
+ 60
+ 180
deg
- 1
- 0.5
-
- Minimum pitch angle
- The minimum pitch angle setpoint for a height-rate or altitude controlled mode.
- -60.0
- 0.0
+
+ Pitch failure trigger time
+ Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.
+ 0.02
+ 5
+ s
+ 2
+
+
+ FailureDetector Max Roll
+ Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
+ 60
+ 180
deg
- 1
- 0.5
-
- Throttle at max airspeed
- Required throttle for level flight at maximum airspeed FW_AIRSPD_MAX (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle.
- 0
- 1
+
+ Roll failure trigger time
+ Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.
+ 0.02
+ 5
+ s
2
- 0.01
-
- Throttle at min airspeed
- Required throttle for level flight at minimum airspeed FW_AIRSPD_MIN (sea level, standard atmosphere) Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.
- 0
- 1
- 2
- 0.01
+
+
+
+ Distance to follow target from
+ The distance in meters to follow the target at
+ 1.0
+ m
-
- Idle throttle
- This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, "landed" conditions will engage idle throttle.
- 0.0
- 0.4
- norm
- 2
- 0.01
+
+ Side to follow target from
+ The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)
+ 0
+ 3
-
- Throttle limit max
- This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
+
+ Dynamic filtering algorithm responsiveness to target movement
+ lower numbers increase the responsiveness to changing long lat but also ignore less noise
0.0
1.0
- norm
2
- 0.01
-
- Throttle limit min
- This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.
- 0.0
- 1.0
- norm
- 2
- 0.01
+
+ Minimum follow target altitude
+ The minimum height in meters relative to home for following a target
+ 8.0
+ m
-
- Throttle max slew rate
- Maximum slew rate for the commanded throttle
- 0.0
- 1.0
- 2
- 0.01
+
+
+
+ Serial Configuration for Main GPS
+ Configure on which serial port to run Main GPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
-
- Trim throttle
- This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight.
- 0.0
- 1.0
- norm
- 2
- 0.01
+
+ GNSS Systems for Primary GPS (integer bitmask)
+ This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
+ 0
+ 31
+ true
+
+ GPS (with QZSS)
+ SBAS
+ Galileo
+ BeiDou
+ GLONASS
+
-
- Takeoff Airspeed
- The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set <= 0.0, FW_AIRSPD_MIN will be set by default.
- -1.0
- m/s
- 1
- 0.1
+
+ Protocol for Main GPS
+ Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
+ 0
+ 5
+ true
+
+ Auto detect
+ u-blox
+ MTK
+ Ashtech / Trimble
+ Emlid Reach
+ Femtomes
+ NMEA (generic)
+
-
- Altitude error time constant
- 2.0
- 2
- 0.5
+
+ Serial Configuration for Secondary GPS
+ Configure on which serial port to run Secondary GPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
-
- Maximum climb rate
- This is the maximum climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.
- 1.0
- 15.0
- m/s
- 1
- 0.5
+
+ GNSS Systems for Secondary GPS (integer bitmask)
+ This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
+ 0
+ 31
+ true
+
+ GPS (with QZSS)
+ SBAS
+ Galileo
+ BeiDou
+ GLONASS
+
-
- Default target climbrate
- The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
- 0.5
- 15
- m/s
- 2
- 0.01
+
+ Protocol for Secondary GPS
+ Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
+ 0
+ 5
+ true
+
+ Auto detect
+ u-blox
+ MTK
+ Ashtech / Trimble
+ Emlid Reach
+ Femtomes
+ NMEA (generic)
+
-
- Height rate feed forward
- 0.0
- 1.0
- 2
- 0.05
+
+ Log GPS communication data
+ If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.
+ 0
+ 2
+
+ Disable
+ Full communication
+ RTCM output (PPK)
+
-
- Integrator gain pitch
- This is the integrator gain on the pitch part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
- 0.0
- 2.0
- 2
- 0.05
+
+ u-blox GPS dynamic platform model
+ u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
+ 0
+ 9
+ true
+
+ stationary
+ automotive
+ airborne with <1g acceleration
+ airborne with <2g acceleration
+ airborne with <4g acceleration
+
-
- Integrator gain throttle
- This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.
- 0.0
- 2.0
- 2
- 0.05
+
+ u-blox GPS Mode
+ Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to the rover GPS. RTK is still possible with this setup.
+ 0
+ 1
+ true
+
+ Default
+ Heading
+
-
- Pitch damping factor
- This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.
- 0.0
- 2.0
- 2
- 0.1
+
+ Heading/Yaw offset for dual antenna GPS
+ Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases clockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.
+ 0
+ 360
+ deg
+ 0
+ true
-
- Roll -> Throttle feedforward
- Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.
+
+
+
+ Loiter time
+ The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.
0.0
- 20.0
- 1
- 0.5
-
-
- Specific total energy balance rate feedforward gain
- 0.5
- 3
- 2
- 0.01
+ 3600.0
+ s
+ 0
+ 1
-
- Maximum descent rate
- This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.
- 1.0
- 15.0
- m/s
+
+ Fixed pitch angle
+ Pitch in degrees during the open loop loiter
+ -30.0
+ 30.0
+ deg
1
0.5
-
- Minimum descent rate
- This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.
- 1.0
- 5.0
- m/s
+
+ Fixed bank angle
+ Roll in degrees during the loiter
+ 0.0
+ 30.0
+ deg
1
0.5
-
- Default target sinkrate
- The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
- 0.5
- 15
- m/s
- 2
- 0.01
-
-
- Speed <--> Altitude priority
- This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.
+
+ Thrust
+ Thrust value which is set during the open loop loiter
0.0
- 2.0
- 1
- 1.0
-
-
- Airspeed rate measurement standard deviation for airspeed filter
- This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.
- 0.01
- 10.0
- m/s^2
- 2
- 0.1
-
-
- Process noise standard deviation for the airspeed rate in the airspeed filter
- This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.
- 0.01
- 10.0
- m/s^2
+ 1.0
+ norm
2
- 0.1
+ 0.05
-
- Airspeed measurement standard deviation for airspeed filter
- This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.
- 0.01
- 10.0
- m/s
- 2
- 0.1
+
+
+
+ Geofence violation action
+ Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.
+ 0
+ 5
+
+ None
+ Warning
+ Hold mode
+ Return mode
+ Terminate
+ Land mode
+
-
- Specific total energy rate first order filter time constant
- This filter is applied to the specific total energy rate used for throttle damping.
- 0.0
- 2
- 2
- 0.01
+
+ Geofence altitude mode
+ Select which altitude (AMSL) source should be used for geofence calculations.
+ 0
+ 1
+
+ Autopilot estimator global position altitude (GPS)
+ Raw barometer altitude (assuming standard atmospheric pressure)
+
-
- True airspeed error time constant
- 2.0
- 2
- 0.5
+
+ Geofence counter limit
+ Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
+ -1
+ 10
+ 1
-
- Throttle damping factor
- This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.
- 0.0
- 2.0
- 2
- 0.1
+
+ Max horizontal distance in meters
+ Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
+ 0
+ 10000
+ m
+ 1
-
- Maximum vertical acceleration
- This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.
- 1.0
- 10.0
- m/s^2
- 1
- 0.5
+
+ Max vertical distance in meters
+ Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
+ 0
+ 10000
+ m
+ 1
-
- Wind-based airspeed scaling factor
- Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode. airspeed_min_adjusted = FW_AIRSPD_MIN + FW_WIND_ARSP_SC * wind.length()
+
+ Geofence source
+ Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS
0
- 2
- 0.01
+ 1
+
+ GPOS
+ GPS
+
-
-
- Enable Actuator Failure check
- If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.
- true
-
-
- Motor Failure Current/Throttle Threshold
- Motor failure triggers only below this current value
- 0.0
- 50.0
- A/%
- 2
- 1
+
+
+ Gate size for acceleration fusion
+ Sets the number of standard deviations used by the innovation consistency test.
+ 1.0
+ 10.0
+ SD
+ 1
-
- Motor Failure Throttle Threshold
- Motor failure triggers only above this throttle value.
+
+ 1-sigma initial hover thrust uncertainty
+ Sets the number of standard deviations used by the innovation consistency test.
0.0
1.0
- norm
- 2
- 0.01
-
-
- Motor Failure Time Threshold
- Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.
- 10
- 10000
- ms
- 100
+ normalized_thrust
+ 3
-
- Enable checks on ESCs that report their arming state
- If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
+
+ Hover thrust process noise
+ Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.
+ 0.0001
+ 1.0
+ normalized_thrust/s
+ 4
-
- Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)
- Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.
+
+
+
+ Serial Configuration for Iridium (with MAVLink)
+ Configure on which serial port to run Iridium (with MAVLink).
true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
-
- The PWM threshold from external automatic trigger system for engaging failsafe
- External ATS is required by ASTM F3322-18.
- us
- 2
-
-
- FailureDetector Max Pitch
- Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
+
+ Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call
0
- 180
- deg
-
-
- Pitch failure trigger time
- Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.
- 0.02
- 5
+ 5000
s
- 2
-
- FailureDetector Max Roll
- Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check
+
+ Iridium SBD session timeout
0
- 180
- deg
-
-
- Roll failure trigger time
- Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.
- 0.02
- 5
+ 300
s
- 2
-
- Imbalanced propeller check threshold
- Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.
+
+ Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message
+ Value 0 turns the functionality off
0
- 1000
- 1
+ 500
+ ms
-
-
- Maximum radius of orbit
- 1.0
- 10000.0
- m
+
+
+ Airspeed max
+ Maximum airspeed allowed in the landed state
+ 4
+ 20
+ m/s
1
- 0.5
-
-
-
- Altitude control mode
- Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.
-
- 2D Tracking: Maintain constant altitude relative to home and track XY position only
- 2D + Terrain: Maintain constant altitude relative to terrain below and track XY position
- 3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)
-
+
+ Fixedwing max horizontal velocity
+ Maximum horizontal velocity allowed in the landed state
+ 0.5
+ 10
+ m/s
+ 1
-
- Distance to follow target from
- The distance in meters to follow the target at
- 1.0
- m
+
+ Fixedwing max climb rate
+ Maximum vertical velocity allowed in the landed state
+ 0.1
+ 20
+ m/s
+ 1
-
- Follow Angle setting in degrees
- Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.
- -180.0
- 180.0
+
+ Fixedwing max horizontal acceleration
+ Maximum horizontal (x,y body axes) acceleration allowed in the landed state
+ 2
+ 15
+ m/s^2
+ 1
-
- Follow target height
- Following height above the target
- 8.0
+
+ Ground effect altitude for multicopters
+ The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.
+ -1
m
+ 2
-
- Maximum tangential velocity setting for generating the follow orbit trajectory
- This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.
- 0.0
- 20.0
+
+ Maximum altitude for multicopters
+ The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.
+ -1
+ 10000
+ m
+ 2
+
+
+ Multicopter max rotation
+ Maximum allowed angular velocity around each axis allowed in the landed state.
+ deg/s
1
-
- Responsiveness to target movement in Target Estimator
- lower values increase the responsiveness to changing position, but also ignore less noise
- 0.0
- 1.0
- 2
+
+ Multicopter land detection trigger time
+ Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.
+ 0.1
+ 10.0
+ s
+ 1
-
-
-
- GNSS Systems for Primary GPS (integer bitmask)
- This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
+
+ Multicopter max horizontal velocity
+ Maximum horizontal velocity allowed in the landed state
+ m/s
+ 1
+
+
+ Multicopter max climb rate
+ Maximum vertical velocity allowed in the landed state
+ m/s
+ 1
+
+
+ Total flight time in microseconds
+ Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
- 31
- true
-
- GPS (with QZSS)
- SBAS
- Galileo
- BeiDou
- GLONASS
-
-
- Protocol for Main GPS
- Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
+
+ Total flight time in microseconds
+ Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
0
- 7
- true
-
- Auto detect
- u-blox
- MTK
- Ashtech / Trimble
- Emlid Reach
- Femtomes
- NMEA (generic)
- Septentrio (SBF)
-
-
- GNSS Systems for Secondary GPS (integer bitmask)
- This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS
- 0
- 31
- true
-
- GPS (with QZSS)
- SBAS
- Galileo
- BeiDou
- GLONASS
-
+
+
+
+ Acceleration uncertainty
+ Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
+ 0.01
+ (m/s^2)^2
+ 2
-
- Protocol for Secondary GPS
- Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.
- 0
- 6
- true
-
- Auto detect
- u-blox
- MTK
- Ashtech / Trimble
- Emlid Reach
- Femtomes
- NMEA (generic)
-
+
+ Landing target measurement uncertainty
+ Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.
+ tan(rad)^2
+ 4
-
- Log GPS communication data
- If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.
+
+ Landing target mode
+ Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
0
- 2
+ 1
- Disable
- Full communication
- RTCM output (PPK)
+ Moving
+ Stationary
-
- Pitch offset for dual antenna GPS
- Vertical offsets can be compensated for by adjusting the Pitch offset (Septentrio). Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
- -90
- 90
- deg
+
+ Initial landing target position uncertainty
+ Initial variance of the relative landing target position in x and y direction
+ 0.001
+ m^2
3
- true
-
- Enable sat info (if available)
- Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.
- true
+
+ Scale factor for sensor measurements in sensor x axis
+ Landing target x measurements are scaled by this factor before being used
+ 0.01
+ 3
-
- u-blox F9P UART2 Baudrate
- Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.
- 0
- B/s
- true
+
+ Scale factor for sensor measurements in sensor y axis
+ Landing target y measurements are scaled by this factor before being used
+ 0.01
+ 3
-
- u-blox protocol configuration for interfaces
- 0
- 32
- true
-
- Enable I2C input protocol UBX
- Enable I2C input protocol NMEA
- Enable I2C input protocol RTCM3X
- Enable I2C output protocol UBX
- Enable I2C output protocol NMEA
- Enable I2C output protocol RTCM3X
-
+
+ Initial landing target velocity uncertainty
+ Initial variance of the relative landing target velocity in x and y directions
+ 0.001
+ (m/s)^2
+ 3
-
- u-blox GPS dynamic platform model
- u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
- 0
- 9
- true
-
- stationary
- automotive
- airborne with <1g acceleration
- airborne with <2g acceleration
- airborne with <4g acceleration
-
+
+
+
+ Accelerometer xy noise density
+ Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.
+ 0.00001
+ 2
+ m/s^2/sqrt(Hz)
+ 4
-
- u-blox GPS Mode
- Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.
- 0
- 1
- true
-
- Default
- Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)
- Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
- Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
- Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
- Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
-
+
+ Accelerometer z noise density
+ Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
+ 0.00001
+ 2
+ m/s^2/sqrt(Hz)
+ 4
-
- Heading/Yaw offset for dual antenna GPS
- Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).
- 0
- 360
- deg
- 3
- true
+
+ Barometric presssure altitude z standard deviation
+ 0.01
+ 100
+ m
+ 2
-
- PPS Capture Enable
- Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.
- true
+
+ Max EPH allowed for GPS initialization
+ 1.0
+ 5.0
+ m
+ 3
-
-
-
- Geofence violation action
- Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.
- 0
- 5
-
- None
- Warning
- Hold mode
- Return mode
- Terminate
- Land mode
-
+
+ Max EPV allowed for GPS initialization
+ 1.0
+ 5.0
+ m
+ 3
-
- Geofence altitude mode
- Select which altitude (AMSL) source should be used for geofence calculations.
+
+ 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
0
1
-
- Autopilot estimator global position altitude (GPS)
- Raw barometer altitude (assuming standard atmospheric pressure)
-
-
-
- Geofence counter limit
- Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
- -1
- 10
- 1
-
- Max horizontal distance in meters
- Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
+
+ Flow gyro high pass filter cut off frequency
0
- 10000
- m
- 1
+ 2
+ Hz
+ 3
-
- Max vertical distance in meters
- Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.
- 0
- 10000
+
+ Optical flow z offset from center
+ -1
+ 1
m
- 1
-
-
- [EXPERIMENTAL] Use Pre-emptive geofence triggering
- WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).
+ 3
-
- Geofence source
- Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS
+
+ Optical flow minimum quality threshold
0
- 1
-
- GPOS
- GPS
-
+ 255
+ 0
-
-
-
- Gate size for acceleration fusion
- Sets the number of standard deviations used by the innovation consistency test.
- 1.0
+
+ Optical flow rotation (roll/pitch) noise gain
+ 0.1
10.0
- SD
- 1
+ m/s/rad
+ 3
-
- 1-sigma initial hover thrust uncertainty
- Sets the number of standard deviations used by the innovation consistency test.
+
+ Optical flow angular velocity noise gain
0.0
- 1.0
- normalized_thrust
+ 10.0
+ m/rad
3
-
- Hover thrust process noise
- Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.
- 0.0001
- 1.0
- normalized_thrust/s
- 4
+
+ Optical flow scale
+ 0.1
+ 10.0
+ m
+ 3
-
- Max deviation from MPC_THR_HOVER
- Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).
- 0.01
- 0.4
- normalized_thrust
- 2
-
-
- Horizontal velocity threshold for sensitivity reduction
- Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.
- 1.0
- 20.0
- m/s
- 1
-
-
- Vertical velocity threshold for sensitivity reduction
- Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.
- 1.0
- 10.0
- m/s
- 1
-
-
-
-
- Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call
- 0
- 5000
- s
-
-
- Iridium SBD session timeout
+
+ Integer bitmask controlling data fusion
+ 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 enable landing target 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, baro, land detector)
0
- 300
- s
+ 255
+
+ fuse GPS, requires GPS for alt. init
+ fuse optical flow
+ fuse vision position
+ fuse landing target
+ fuse land detector
+ pub agl as lpos down
+ flow gyro compensation
+ fuse baro
+
-
- Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message
- Value 0 turns the functionality off
+
+ GPS delay compensaton
0
- 500
- ms
-
-
-
-
- Fixed-wing land detector: Max airspeed
- Maximum airspeed allowed in the landed state
- 2
- 20
- m/s
- 1
-
-
- Fixed-wing land detection trigger time
- Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.
- 0.1
+ 0.4
s
- 1
- true
+ 2
-
- Fixed-wing land detector: Max horizontal velocity threshold
- Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).
- 0.5
- 10
+
+ GPS xy velocity standard deviation
+ EPV used if greater than this value.
+ 0.01
+ 2
m/s
- 1
+ 3
-
- Fixed-wing land detector: Max vertiacal velocity threshold
- Maximum vertical velocity allowed in the landed state.
- 0.1
- 20
+
+ GPS z velocity standard deviation
+ 0.01
+ 2
m/s
- 1
-
-
- Fixed-wing land detector: Max horizontal acceleration
- Maximum horizontal (x,y body axes) acceleration allowed in the landed state
- 2
- 15
- m/s^2
- 1
+ 3
-
- Ground effect altitude for multicopters
- The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.
- -1
+
+ Minimum GPS xy standard deviation, uses reported EPH if greater
+ 0.01
+ 5
m
2
-
- Maximum altitude for multicopters
- The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.
- -1
- 10000
+
+ Minimum GPS z standard deviation, uses reported EPV if greater
+ 0.01
+ 200
m
2
-
- Multicopter max rotation
- Maximum allowed angular velocity around each axis allowed in the landed state.
- deg/s
- 1
-
-
- Multicopter land detection trigger time
- Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.
- 0.1
+
+ Land detector xy velocity standard deviation
+ 0.01
10.0
- s
- 1
-
-
- Multicopter max horizontal velocity
- Maximum horizontal velocity allowed in the landed state
m/s
- 1
+ 3
-
- Multicopter vertical velocity threshold
- Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.
- 0
- m/s
- 2
+
+ Land detector z standard deviation
+ 0.001
+ 10.0
+ m
+ 3
-
- Total flight time in microseconds
- Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
- 0
+
+ Local origin latitude for nav w/o GPS
+ -90
+ 90
+ deg
+ 8
-
- Total flight time in microseconds
- Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
- 0
+
+ Lidar z offset from center of vehicle +down
+ -1
+ 1
+ m
+ 3
-
-
-
- Acceleration uncertainty
- Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
+
+ Lidar z standard deviation
0.01
- (m/s^2)^2
+ 1
+ m
+ 3
+
+
+ Local origin longitude for nav w/o GPS
+ -180
+ 180
+ deg
+ 8
+
+
+ Minimum landing target standard covariance, uses reported covariance if greater
+ 0.0
+ 10
+ m^2
2
-
- Landing target measurement uncertainty
- Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.
- tan(rad)^2
- 4
+
+ Accel bias propagation noise density
+ 0
+ 1
+ m/s^3/sqrt(Hz)
+ 8
-
- Landing target mode
- Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
+
+ Position propagation noise density
+ Increase to trust measurements more. Decrease to trust model more.
0
1
-
- Moving
- Stationary
-
+ m/s/sqrt(Hz)
+ 8
-
- Initial landing target position uncertainty
- Initial variance of the relative landing target position in x and y direction
- 0.001
- m^2
+
+ Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
+ 0
+ 1
+ m/s/sqrt(Hz)
3
-
- Scale factor for sensor measurements in sensor x axis
- Landing target x measurements are scaled by this factor before being used
- 0.01
- 3
+
+ Velocity propagation noise density
+ Increase to trust measurements more. Decrease to trust model more.
+ 0
+ 1
+ m/s^2/sqrt(Hz)
+ 8
-
- Scale factor for sensor measurements in sensor y axis
- Landing target y measurements are scaled by this factor before being used
- 0.01
+
+ Sonar z offset from center of vehicle +down
+ -1
+ 1
+ m
3
-
- X Position of IRLOCK in body frame (forward)
+
+ Sonar z standard deviation
+ 0.01
+ 1
m
3
- true
-
- Y Position of IRLOCK in body frame (right)
- m
+
+ Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
+ Used to calculate increased terrain random walk nosie due to movement.
+ 0
+ 100
+ %
3
- true
-
- Z Position of IRLOCK in body frame (downward)
+
+ Vicon position standard deviation
+ 0.0001
+ 1
m
- 3
- true
+ 4
-
- Rotation of IRLOCK sensor relative to airframe
- Default orientation of Yaw 90°
- -1
- 40
- true
-
- No rotation
- Yaw 45°
- Yaw 90°
- Yaw 135°
- Yaw 180°
- Yaw 225°
- Yaw 270°
- Yaw 315°
-
+
+ Vision delay compensation
+ Set to zero to enable automatic compensation from measurement timestamps
+ 0
+ 0.1
+ s
+ 2
-
- Initial landing target velocity uncertainty
- Initial variance of the relative landing target velocity in x and y directions
- 0.001
- (m/s)^2
+
+ Vision xy standard deviation
+ 0.01
+ 1
+ m
3
-
-
-
- Accelerometer xy noise density
- Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.
- 0.00001
- 2
- m/s^2/sqrt(Hz)
- 4
-
-
- Accelerometer z noise density
- Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
- 0.00001
- 2
- m/s^2/sqrt(Hz)
- 4
-
-
- Barometric presssure altitude z standard deviation
+
+ Vision z standard deviation
0.01
100
m
- 2
-
-
- Max EPH allowed for GPS initialization
- 1.0
- 5.0
- m
3
-
- Max EPV allowed for GPS initialization
- 1.0
- 5.0
- m
+
+ Required velocity xy standard deviation to publish position
+ 0.01
+ 1.0
+ m/s
3
-
- 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
- 0
- 1
-
-
- Flow gyro high pass filter cut off frequency
- 0
- 2
+
+ Cut frequency for state publication
+ 5
+ 1000
Hz
- 3
+ 0
-
- Optical flow z offset from center
- -1
- 1
+
+ Required z standard deviation to publish altitude/ terrain
+ 0.3
+ 5.0
m
- 3
+ 1
-
- Optical flow minimum quality threshold
+
+
+
+ Broadcast heartbeats on local network for MAVLink instance 0
+ This allows a ground control station to automatically find the drone on the local network.
+
+ Never broadcast
+ Always broadcast
+ Only multicast
+
+
+
+ Serial Configuration for MAVLink (instance 0)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+ Ethernet
+
+
+
+ Enable MAVLink Message forwarding for instance 0
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+ True
+
+
+ MAVLink Mode for instance 0
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Minimal
+ External Vision
+ Gimbal
+ Onboard Low Bandwidth
+
+
+
+ Enable software throttling of mavlink on instance 0
+ If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
+ True
+
+
+ Maximum MAVLink sending rate for instance 0
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
0
- 255
+ B/s
+ True
-
- Optical flow rotation (roll/pitch) noise gain
- 0.1
- 10.0
- m/s/rad
- 3
+
+ MAVLink Remote Port for instance 0
+ If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.
+ True
-
- Optical flow angular velocity noise gain
- 0.0
- 10.0
- m/rad
- 3
+
+ MAVLink Network Port for instance 0
+ If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.
+ True
-
- Optical flow scale
- 0.1
- 10.0
- m
- 3
+
+ Broadcast heartbeats on local network for MAVLink instance 1
+ This allows a ground control station to automatically find the drone on the local network.
+
+ Never broadcast
+ Always broadcast
+ Only multicast
+
-
- Integer bitmask controlling data fusion
- 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 enable landing target 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, baro, land detector)
+
+ Serial Configuration for MAVLink (instance 1)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+ Ethernet
+
+
+
+ Enable MAVLink Message forwarding for instance 1
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+ True
+
+
+ MAVLink Mode for instance 1
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Minimal
+ External Vision
+ Gimbal
+ Onboard Low Bandwidth
+
+
+
+ Enable software throttling of mavlink on instance 1
+ If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
+ True
+
+
+ Maximum MAVLink sending rate for instance 1
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
0
- 255
-
- fuse GPS, requires GPS for alt. init
- fuse optical flow
- fuse vision position
- fuse landing target
- fuse land detector
- pub agl as lpos down
- flow gyro compensation
- fuse baro
-
+ B/s
+ True
-
- GPS delay compensaton
- 0
- 0.4
- s
- 2
+
+ MAVLink Remote Port for instance 1
+ If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.
+ True
-
- GPS xy velocity standard deviation
- EPV used if greater than this value.
- 0.01
- 2
- m/s
- 3
+
+ MAVLink Network Port for instance 1
+ If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.
+ True
-
- GPS z velocity standard deviation
- 0.01
- 2
- m/s
- 3
+
+ Broadcast heartbeats on local network for MAVLink instance 2
+ This allows a ground control station to automatically find the drone on the local network.
+
+ Never broadcast
+ Always broadcast
+ Only multicast
+
-
- Minimum GPS xy standard deviation, uses reported EPH if greater
- 0.01
- 5
- m
- 2
+
+ Serial Configuration for MAVLink (instance 2)
+ Configure on which serial port to run MAVLink.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+ Ethernet
+
+
+
+ Enable MAVLink Message forwarding for instance 2
+ If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).
+ True
+
+
+ MAVLink Mode for instance 2
+ The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.
+ True
+
+ Normal
+ Custom
+ Onboard
+ OSD
+ Magic
+ Config
+ Minimal
+ External Vision
+ Gimbal
+ Onboard Low Bandwidth
+
+
+
+ Enable software throttling of mavlink on instance 2
+ If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.
+ True
+
+
+ Maximum MAVLink sending rate for instance 2
+ Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).
+ 0
+ B/s
+ True
-
- Minimum GPS z standard deviation, uses reported EPV if greater
- 0.01
- 200
- m
- 2
+
+ MAVLink Remote Port for instance 2
+ If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.
+ True
-
- Land detector xy velocity standard deviation
- 0.01
- 10.0
- m/s
- 3
+
+ MAVLink Network Port for instance 2
+ If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.
+ True
-
- Land detector z standard deviation
- 0.001
- 10.0
- m
- 3
+
+ MAVLink component ID
+ 1
+ 250
+ true
-
- Local origin latitude for nav w/o GPS
- -90
- 90
- deg
- 8
+
+ Forward external setpoint messages
+ If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode
-
- Lidar z offset from center of vehicle +down
- -1
- 1
- m
- 3
+
+ Parameter hash check
+ Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.
-
- Lidar z standard deviation
- 0.01
- 1
- m
- 3
+
+ Hearbeat message forwarding
+ The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
-
- Local origin longitude for nav w/o GPS
- -180
- 180
- deg
- 8
+
+ Activate ODOMETRY loopback
+ If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry' serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.
-
- Minimum landing target standard covariance, uses reported covariance if greater
- 0.0
- 10
- m^2
- 2
+
+ MAVLink protocol version
+
+ Default to 1, switch to 2 if GCS sends version 2
+ Always use version 1
+ Always use version 2
+
-
- Accel bias propagation noise density
- 0
- 1
- m/s^3/sqrt(Hz)
- 8
-
-
- Position propagation noise density
- Increase to trust measurements more. Decrease to trust model more.
- 0
- 1
- m/s/sqrt(Hz)
- 8
-
-
- Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
- 0
- 1
- m/s/sqrt(Hz)
- 3
-
-
- Velocity propagation noise density
- Increase to trust measurements more. Decrease to trust model more.
- 0
- 1
- m/s^2/sqrt(Hz)
- 8
-
-
- Sonar z offset from center of vehicle +down
- -1
- 1
- m
- 3
-
-
- Sonar z standard deviation
- 0.01
- 1
- m
- 3
-
-
- Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
- Used to calculate increased terrain random walk nosie due to movement.
- 0
- 100
- %
- 3
-
-
- Vicon position standard deviation
- 0.0001
- 1
- m
- 4
-
-
- Vision delay compensation
- Set to zero to enable automatic compensation from measurement timestamps
- 0
- 0.1
- s
- 2
-
-
- Vision xy standard deviation
- 0.01
- 1
- m
- 3
-
-
- Vision z standard deviation
- 0.01
- 100
- m
- 3
-
-
- Required velocity xy standard deviation to publish position
- 0.01
- 1.0
- m/s
- 3
-
-
- Cut frequency for state publication
- 5
- 1000
- Hz
- 0
-
-
- Required z standard deviation to publish altitude/ terrain
- 0.3
- 5.0
- m
- 1
-
-
-
-
- MAVLink component ID
- 1
- 250
- true
-
-
- Forward external setpoint messages
- If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode
-
-
- Parameter hash check
- Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.
-
-
- Heartbeat message forwarding
- The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
-
-
- MAVLink protocol version
-
- Default to 1, switch to 2 if GCS sends version 2
- Always use version 1
- Always use version 2
-
-
-
- Timeout in seconds for the RADIO_STATUS reports coming in
- If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.
- 1
- 250
- s
+
+ Timeout in seconds for the RADIO_STATUS reports coming in
+ If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.
+ 1
+ 250
+ s
MAVLink SiK Radio ID
@@ -4470,29 +4761,39 @@
250
true
-
+
MAVLink airframe type
- 0
- 22
+ 1
+ 27
Generic micro air vehicle
Fixed wing aircraft
Quadrotor
Coaxial helicopter
Normal helicopter with tail rotor
+ Ground installation
+ Operator control unit / ground control station
Airship, controlled
Free balloon, uncontrolled
+ Rocket
Ground rover
Surface vessel, boat, ship
Submarine
Hexarotor
Octorotor
Tricopter
- VTOL Two-rotor Tailsitter
- VTOL Quad-rotor Tailsitter
- VTOL Tiltrotor
- VTOL Standard (separate fixed rotors for hover and cruise flight)
- VTOL Tailsitter
+ Flapping wing
+ Kite
+ Onboard companion controller
+ Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
+ Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
+ Tiltrotor VTOL
+ VTOL reserved 2
+ VTOL reserved 3
+ VTOL reserved 4
+ VTOL reserved 5
+ Onboard gimbal
+ Onboard ADSB peripheral
@@ -4500,172 +4801,33 @@
If set to 1 incoming HIL GPS messages are parsed.
-
-
- UART ESC baud rate
- Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.
- bit/s
-
-
- UART ESC configuration
- Selects what type of UART ESC, if any, is being used.
- 0
- 1
- true
-
- - Disabled
- - VOXL ESC
-
-
-
- UART ESC Mode
- Selects what type of mode is enabled, if any
- 0
- 2
- true
-
- - None
- - Turtle Mode enabled via AUX1
- - Turtle Mode enabled via AUX2
- - UART Passthrough Mode
-
-
-
- UART ESC RPM Max
- Maximum RPM for ESC
- rpm
-
-
- UART ESC RPM Min
- Minimum RPM for ESC
- rpm
-
-
- UART ESC ID 1 Spin Direction Flag
-
- - Default
- - Reverse
-
-
-
- UART ESC ID 2 Spin Direction Flag
-
- - Default
- - Reverse
-
-
-
- UART ESC ID 3 Spin Direction Flag
-
- - Default
- - Reverse
-
-
-
- UART ESC ID 4 Spin Direction Flag
-
- - Default
- - Reverse
-
-
-
- UART ESC Turtle Mode Cosphi
- 0.000
- 1.000
- 10
- 0.001
-
-
- UART ESC Turtle Mode Crash Flip Motor Deadband
- 0
- 100
- 10
- 1
-
-
- UART ESC Turtle Mode Crash Flip Motor expo
- 0
- 100
- 10
- 1
-
-
- UART ESC Turtle Mode Crash Flip Motor STICK_MINF
- 0.0
- 100.0
- 10
- 1.0
-
-
- UART ESC Turtle Mode Crash Flip Motor Percent
- 1
- 100
- 10
- 1
-
-
- UART ESC verbose logging
- 0
- 1
- true
-
- - Disabled
- - Enabled
-
-
-
-
-
- Enable online mag bias calibration
- This enables continuous calibration of the magnetometers before takeoff using gyro data.
- true
-
-
- Mag bias estimator learning gain
- Increase to make the estimator more responsive Decrease to make the estimator more robust to noise
- 0.1
- 100
- 1
- 0.1
-
-
-
-
- Enable arm/disarm stick gesture
- This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.
-
-
-
- GPS failure loiter time
- The time in seconds the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
+
+ Maximal horizontal distance from home to first waypoint
+ Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIST_1WP from the home position.
0
- 3600
- s
-
-
- GPS failure fixed roll angle
- Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
- 0.0
- 30.0
- deg
+ 10000
+ m
1
- 0.5
+ 100
-
- Maximal horizontal distance from current position to first waypoint
- Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIST_1WP from the current position.
- -1
+
+ Maximal horizontal distance between waypoint
+ Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.
+ 0
10000
m
1
100
-
- Landing abort min altitude
- Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.
- 0
+
+ Minimum Loiter altitude
+ This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude
+ -1
+ 80
m
+ 1
+ 0.5
Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
@@ -4677,31 +4839,18 @@
Enable
-
- Timeout for a successful payload deployment acknowledgement
- 0
- s
- 1
- 1
-
- Default take-off altitude
- This is the relative altitude the system will take off to if not otherwise specified.
+ Take-off altitude
+ This is the minimum altitude the system will take off to.
0
+ 80
m
1
0.5
-
- Mission takeoff/landing required
- Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.
-
- No requirements
- Require a takeoff
- Require a landing
- Require a takeoff and a landing
- Require both a takeoff and a landing, or neither
-
+
+ Take-off waypoint required
+ If set, the mission feasibility checker will check for a takeoff waypoint on the mission.
Max yaw error in degrees needed for waypoint heading acceptance
@@ -4721,7 +4870,8 @@
1
- Heading behavior in autonomous modes
+ Yaw mode
+ Specifies the heading in Auto.
0
4
@@ -4734,7 +4884,7 @@
Acceptance Radius
- Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.
+ Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.
0.05
200.0
m
@@ -4761,9 +4911,9 @@
1
0.5
-
+
Loiter radius (FW only)
- Default value of loiter radius in FW mode (e.g. for Loiter mode).
+ Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).
25
1000
m
@@ -4779,14 +4929,6 @@
1
0.5
-
- Minimum Loiter altitude
- This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.
- -1
- m
- 1
- 0.5
-
Set traffic avoidance mode
Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders
@@ -4798,39 +4940,19 @@
Position Hold mode
-
- Set NAV TRAFFIC AVOID horizontal distance
- Defines a crosstrack horizontal distance
+
+ Set NAV TRAFFIC AVOID RADIUS MANNED
+ Defines the Radius where NAV TRAFFIC AVOID is Called For Manned Aviation
500
m
-
- Set NAV TRAFFIC AVOID vertical distance
+
+ Set NAV TRAFFIC AVOID RADIUS
+ Defines the Radius where NAV TRAFFIC AVOID is Called For Unmanned Aviation
10
500
m
-
- Estimated time until collision
- Minimum acceptable time until collsion. Assumes constant speed over 3d distance.
- 1
- 900000000
- s
-
-
- Vehicle base weight
- This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.
- kg
- 1
- 0.5
-
-
- Vehicle gross weight
- This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.
- kg
- 1
- 0.1
-
@@ -4842,6 +4964,14 @@
Roll/Pitch/Yaw
+
+ Motor Ordering
+ Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. When changing this, make sure to test the motor response without props first.
+
+ PX4
+ Betaflight / Cleanflight
+
+
@@ -4855,20 +4985,6 @@
Stabilize yaw for absolute/lock mode.
-
- Pitch maximum when landed
- -90.0
- 90.0
- deg
- 1
-
-
- Pitch minimum when landed
- -90.0
- 90.0
- deg
- 1
-
Auxiliary channel to control pitch (in AUX input or manual mode)
0
@@ -4921,71 +5037,78 @@
Mount input mode
- This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.
+ RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.
-1
4
true
DISABLED
- Auto (RC and MAVLink gimbal protocol v2)
+ AUTO
RC
- MAVLINK_ROI (protocol v1, to be deprecated)
- MAVLINK_DO_MOUNT (protocol v1, to be deprecated)
+ MAVLINK_ROI (protocol v1)
+ MAVLINK_DO_MOUNT (protocol v1)
MAVlink gimbal protocol v2
Mount output mode
- This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.
+ AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)
0
2
- true
AUX
MAVLink gimbal protocol v1
MAVLink gimbal protocol v2
-
- Offset for pitch channel output in degrees
- -360.0
- 360.0
- deg
+
+ Mixer value for selecting a locking mode
+ if required for the gimbal (only in AUX output mode)
+ -1.0
+ 1.0
+ 3
+
+
+ Mixer value for selecting normal mode
+ if required by the gimbal (only in AUX output mode)
+ -1.0
+ 1.0
+ 3
+
+
+ Offset for pitch channel output in degrees
+ -360.0
+ 360.0
1
Offset for roll channel output in degrees
-360.0
360.0
- deg
1
Offset for yaw channel output in degrees
-360.0
360.0
- deg
1
-
+
Range of pitch channel output in degrees (only in AUX output mode)
1.0
720.0
- deg
1
-
+
Range of roll channel output in degrees (only in AUX output mode)
1.0
720.0
- deg
1
Range of yaw channel output in degrees (only in AUX output mode)
1.0
720.0
- deg
1
@@ -4993,23 +5116,12 @@
Full stick input [-1..1] translats to [-pitch rate..pitch rate].
1.0
90.0
- deg/s
Angular yaw rate for manual input in degrees/second
Full stick input [-1..1] translats to [-yaw rate..yaw rate].
1.0
90.0
- deg/s
-
-
- Input mode for RC gimbal input
- 0
- 1
-
- Angle
- Angular rate
-
@@ -5065,19 +5177,19 @@
Yaw weight
- A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.
+ A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.
0.0
1.0
2
0.1
-
- 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
+
+ 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
deg/s
- 0
+ 1
5
@@ -5115,42 +5227,42 @@
s
2
-
- Maximum downwards acceleration in climb rate controlled modes
- 2
- 15
+
+ Maximum vertical acceleration in velocity controlled modes down
+ 2.0
+ 15.0
m/s^2
- 1
+ 2
1
-
- Acceleration for autonomous and for manual modes
- When piloting manually, this parameter is only used in MPC_POS_MODE 4.
- 2
- 15
+
+ Acceleration for auto and for manual
+ Note: In manual, this parameter is only used in MPC_POS_MODE 4.
+ 2.0
+ 15.0
m/s^2
- 1
+ 2
1
-
- Maximum horizontal acceleration
- MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead
- 2
- 15
+
+ 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
m/s^2
2
1
-
- Maximum upwards acceleration in climb rate controlled modes
- 2
- 15
+
+ Maximum vertical acceleration in velocity controlled modes upward
+ 2.0
+ 15.0
m/s^2
- 1
+ 2
1
- Altitude reference mode
+ Altitude control 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
@@ -5161,96 +5273,59 @@
- Deadzone for sticks in manual piloted modes
- Does not apply to manual throttle and direct attitude piloting by stick.
- 0
- 1
+ Deadzone of sticks where position hold is enabled
+ 0.0
+ 1.0
2
- 0.01
Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
- Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2
- 0
- 3
+ 0.0
+ 3.0
m/s
2
Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
- Only used with MPC_ALT_MODE 1
- 0
- 3
+ 0.0
+ 3.0
m/s
2
-
- 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
+
+ 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
m/s^3
1
1
-
- 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.
+
+ 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.
0.5
- 500
+ 500.0
m/s^3
- 0
+ 2
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"
+ Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"
0
122
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
- 122
- 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
+ Below this altitude descending velocity gets limited to "MPC_LAND_SPEED". Value needs to be lower than "MPC_LAND_ALT1"
0
122
m
1
-
- Land crawl descend rate
- Used below MPC_LAND_ALT3 if distance sensor data is availabe.
- 0.1
- m/s
- 1
-
-
- User assisted landing radius
- When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.
- 0
- m
- 0
- 1
-
-
- 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
-
- Nudging disabled
- Nudging enabled
-
-
Landing descend rate
0.6
@@ -5258,116 +5333,117 @@
1
- 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
- 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.
+ 0.0
+ 1.0
norm
2
0.01
-
- Maximal tilt angle in Stabilized or Altitude mode
- 0
- 90
+
+ Maximal tilt angle in manual or altitude mode
+ 0.0
+ 90.0
deg
- 0
- 1
+ 1
-
- Max manual yaw rate for Stabilized, Altitude, Position mode
- 0
+
+ Max manual yaw rate
+ 0.0
400
deg/s
- 0
- 10
+ 1
Manual yaw rate input filter time constant
- Not used in Stabilized mode Setting this parameter to 0 disables the filter
- 0
- 5
+ Setting this parameter to 0 disables the filter
+ 0.0
+ 5.0
s
2
- 0.01
- 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
+ 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
- Direct velocity
- Smoothed velocity
- Acceleration based
+ Simple position control
+ Smooth position control (Jerk optimized)
+ Acceleration based input
+
+ Enforced delay between arming and takeoff
+ For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.
+ 0
+ 10
+ s
+
- 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.
+ 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.
Rescale to hover thrust
No Rescale
- 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.
+ 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.
0.1
0.8
norm
2
0.01
-
- Maximum collective thrust in climb rate controlled modes
- Limit allowed thrust e.g. for indoor test of overpowered vehicle.
- 0
- 1
+
+ Maximum thrust in auto thrust control
+ Limit max allowed thrust
+ 0.0
+ 1.0
norm
2
- 0.05
+ 0.01
- 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).
+ 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)
0.05
- 0.5
+ 1.0
norm
2
0.01
Horizontal thrust margin
- 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
+ Margin that is kept for horizontal control when prioritizing vertical thrust. To avoid completely starving horizontal control with high vertical error.
+ 0.0
0.5
norm
2
0.01
-
+
Maximum tilt angle in air
- Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.
- 20
- 89
+ Limits maximum tilt in AUTO and POSCTRL modes during flight.
+ 20.0
+ 89.0
deg
- 0
- 1
+ 1
-
- Maximum tilt during inital takeoff ramp
- Tighter tilt limit during takeoff to avoid tip over.
- 5
- 89
+
+ Maximum tilt during landing
+ Limits maximum tilt angle on landing.
+ 10.0
+ 89.0
deg
- 0
- 1
+ 1
-
- 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
+
+ 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
0
5
- s
Takeoff climb rate
@@ -5377,86 +5453,62 @@
2
- Hover thrust estimator
- Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator
+ 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
- Numerical velocity derivative low pass cutoff frequency
- 0
+ Low pass filter cut freq. for numerical velocity derivative
+ 0.0
10
Hz
- 1
- 0.5
-
-
- Maximum horizontal velocity setpoint in Position mode
- 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
- 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
- 20
- m/s
- 1
- 1
+ 2
-
- 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
- 20
+
+ Maximum horizontal velocity setpoint for manual controlled mode
+ If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX
+ 3.0
+ 20.0
m/s
- 1
+ 2
1
-
- Default horizontal velocity in autonomous modes
- e.g. in Missions, RTL, Goto if the waypoint does not specify differently
- 3
- 20
+
+ Maximum horizontal velocity in mission
+ Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
+ 3.0
+ 20.0
m/s
- 0
+ 2
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
+ 10.0
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 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 (default) 1 Purely cubic input curve
0
1
2
- 0.01
Proportional gain for horizontal position error
- Defined as corrective velocity in m/s per m position error
- 0
- 2
+ 0.0
+ 2.0
2
- 0.1
Proportional gain for horizontal trajectory position error
0.1
- 1
+ 1.0
1
- 0.1
-
- Overall Horizontal Velocity Limit
+
+ Overall Horizonal 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
20
@@ -5464,63 +5516,56 @@
1
- Differential gain for horizontal velocity error
- Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
+ 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
0.1
- 2
- 2
- 0.02
+ 2.0
+ 3
Integral gain for horizontal velocity error
- 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
+ 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
-
+
Maximum horizontal velocity
- Absolute maximum for all velocity controlled modes. Any higher value is truncated.
- 0
- 20
+ 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
m/s
- 1
+ 2
1
Proportional gain for horizontal velocity error
- Defined as corrective acceleration in m/s^2 per m/s velocity error
+ defined as correction acceleration in m/s^2 per m/s velocity error
1.2
- 5
+ 5.0
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 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 (default) 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 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 (default) 1 Purely cubic input curve
0
1
2
- 0.01
-
+
Proportional gain for vertical position error
- Defined as corrective velocity in m/s per m position error
- 0.1
+ 0.0
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
@@ -5528,65 +5573,41 @@
1
0.5
-
+
Differential gain for vertical velocity error
- Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
- 0
- 2
- 2
- 0.02
+ defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
+ 0.0
+ 2.0
+ 3
-
+
Integral gain for vertical velocity error
- Defined as corrective acceleration in m/s^2 per m velocity integral
+ defined as correction acceleration in m/s^2 per m velocity integral Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
0.2
- 3
- 2
- 0.1
+ 3.0
+ 3
-
- Maximum descent velocity
- 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
+
+ Maximum vertical descent velocity
+ Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
0.5
- 4
+ 4.0
m/s
- 1
- 0.1
-
- Maximum ascent velocity
- 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
+
+ Maximum vertical ascent velocity
+ Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
0.5
- 8
+ 8.0
m/s
1
- 0.1
-
+
Proportional gain for vertical velocity error
- Defined as corrective acceleration in m/s^2 per m/s velocity error
- 2
- 15
+ defined as correction acceleration in m/s^2 per m/s velocity error
+ 2.0
+ 15.0
2
- 0.1
-
-
- Descent velocity in autonomous modes
- For manual modes and offboard, see MPC_Z_VEL_MAX_DN
- 0.5
- 4
- m/s
- 1
- 0.5
-
-
- Ascent velocity in autonomous modes
- For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP
- 0.5
- 8
- m/s
- 1
- 0.5
Responsiveness
@@ -5647,14 +5668,14 @@
Acro mode SuperExpo factor for Roll and Pitch
- SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
0
0.95
2
Acro mode SuperExpo factor for Yaw
- SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
+ SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect
0
0.95
2
@@ -5819,767 +5840,2944 @@
Minimum motor rise time (slew rate limit)
- Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in minimum x seconds. Zero means that slew rate limiting is disabled.
+ Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.
0.0
s/(1000*PWM)
-
- S.BUS out
- Set to 1 to enable S.BUS version 1 output instead of RSSI.
+
+ PWM aux 1 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- Thrust to motor control signal model parameter
- Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.
- 0.0
- 1.0
- 1
- 0.1
+
+ PWM aux 2 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
-
-
- Landing Target Timeout
- Time after which the landing target is considered lost without any new measurements.
- 0.0
- 50
- s
- 1
- 0.5
-
-
- Final approach altitude
- Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
- 0.0
- 10
- m
- 2
- 0.1
+
+ PWM aux 3 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- Horizontal acceptance radius
- Start descending if closer above landing target than this.
- 0.0
- 10
- m
- 2
- 0.1
+
+ PWM aux 4 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- Maximum number of search attempts
- Maximum number of times to search for the landing target if it is lost during the precision landing.
- 0
- 100
+
+ PWM aux 5 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- Search altitude
- Altitude above home to which to climb when searching for the landing target.
- 0.0
- 100
- m
- 1
- 0.1
+
+ PWM aux 6 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- Search timeout
- Time allowed to search for the landing target before falling back to normal landing.
- 0.0
- 100
- s
- 1
- 0.1
+
+ PWM aux 7 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
-
-
- RC channel 10 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 8 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 10 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
+ 0
+ 2200
us
-
- RC channel 10 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 1 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 10 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 2 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- RC channel 10 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux 3 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 11 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 4 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- RC channel 11 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux 5 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 11 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 6 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 11 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 7 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- RC channel 11 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux 8 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 12 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux maximum value
+ Set to 2000 for industry default or 2100 to increase servo travel.
+ 1600
+ 2200
+ us
-
- RC channel 12 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux 1 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
us
-
- RC channel 12 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 2 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
us
-
- RC channel 12 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 3 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
+ us
-
- RC channel 12 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux 4 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
us
-
- RC channel 13 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 5 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
+ us
-
- RC channel 13 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux 6 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
us
-
- RC channel 13 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 7 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
us
-
- RC channel 13 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 8 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used
+ -1
+ 2150
+ us
-
- RC channel 13 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux minimum value
+ Set to 1000 for industry default or 900 to increase servo travel.
+ 800
+ 1400
us
-
- RC channel 14 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 1 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 14 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux 2 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
us
-
- RC channel 14 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 3 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
us
-
- RC channel 14 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 4 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 14 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux 5 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
us
-
- RC channel 15 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 6 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 15 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM aux 7 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
us
-
- RC channel 15 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM aux 8 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used
+ -1
+ 1600
us
-
- RC channel 15 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM channels used as ESC outputs
+ Number representing the channels e.g. 134 - Channel 1, 3 and 4. Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
+ 0
+ 123456789
-
- RC channel 15 trim
- Mid point value
- 800.0
- 2200.0
- us
+
+ PWM aux output frequency
+ Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
+ -1
+ 2000
+ Hz
-
- RC channel 16 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM aux 1 rate
+ Set the default PWM output frequency for the aux outputs
+ 0
+ 400
+ Hz
-
- RC channel 16 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
- us
+
+ PWM aux 1 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
- RC channel 16 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
- us
+
+ PWM aux 2 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
- RC channel 16 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM aux 3 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
-
- RC channel 16 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM aux 4 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM aux 5 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM aux 6 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM aux 7 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM aux 8 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM aux 1 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 2 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 3 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 4 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 5 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 6 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 7 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM aux 8 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 1 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 17 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 2 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 17 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra 3 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 17 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra 4 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 17 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 5 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 17 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 6 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 18 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 7 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 18 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra 8 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 18 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
+ 0
+ 2200
us
-
- RC channel 18 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 1 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
+ us
-
- RC channel 18 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 2 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 1 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 3 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 1 maximum
- Maximum value for RC channel 1
- 1500.0
- 2200.0
+
+ PWM extra 4 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 1 minimum
- Minimum value for RC channel 1
- 800.0
- 1500.0
+
+ PWM extra 5 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 1 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 6 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
+ us
-
- RC channel 1 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 7 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 2 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 8 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ 0
+ 2150
us
-
- RC channel 2 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra maximum value
+ Set to 2000 for industry default or 2100 to increase servo travel.
+ 1600
+ 2200
us
-
- RC channel 2 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra 1 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 2 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 2 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
+ us
-
- RC channel 2 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 3 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 3 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 4 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 3 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra 5 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 3 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra 6 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 3 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 7 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
+ us
-
- RC channel 3 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 8 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used
+ -1
+ 2150
us
-
- RC channel 4 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra minimum value
+ Set to 1000 for industry default or 900 to increase servo travel.
+ 800
+ 1400
us
-
- RC channel 4 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra 1 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
us
-
- RC channel 4 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra 2 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
us
-
- RC channel 4 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 3 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 4 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra 4 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
us
-
- RC channel 5 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM extra 5 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 5 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM extra 6 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
us
-
- RC channel 5 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM extra 7 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
us
-
- RC channel 5 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM extra 8 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used
+ -1
+ 1600
+ us
-
- RC channel 5 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM extra output frequency
+ Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
+ -1
+ 2000
+ Hz
+
+
+ PWM extra 1 rate
+ Set the default PWM output frequency for the main outputs
+ 0
+ 400
+ Hz
+
+
+ PWM extra 1 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 2 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 3 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 4 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 5 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 6 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 7 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 8 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM extra 1 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 2 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 3 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 4 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 5 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 6 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 7 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM extra 8 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 1 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 6 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM main 10 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 6 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM main 11 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 6 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM main 12 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 6 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM main 13 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 6 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM main 14 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 7 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM main 2 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 7 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM main 3 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 7 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM main 4 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 7 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM main 5 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 7 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM main 6 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 8 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM main 7 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
+ us
-
- RC channel 8 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM main 8 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 8 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM main 9 disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_MAIN_DISARM will be used
+ -1
+ 2150
us
-
- RC channel 8 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM main disarmed value
+ This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.
+ 0
+ 2200
+ us
-
- RC channel 8 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM main 1 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 9 dead zone
- The +- range of this value around the trim value will be considered as zero.
- 0.0
- 100.0
+
+ PWM main 10 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- RC channel 9 maximum
- Maximum value for this channel.
- 1500.0
- 2200.0
+
+ PWM main 11 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 9 minimum
- Minimum value for this channel.
- 800.0
- 1500.0
+
+ PWM main 12 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel 9 reverse
- Set to -1 to reverse channel.
- -1.0
- 1.0
-
- Reverse
- Normal
-
+
+ PWM main 13 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- RC channel 9 trim
- Mid point value
- 800.0
- 2200.0
+
+ PWM main 14 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- RC channel count
- This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.
- 0
- 18
+
+ PWM main 2 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
-
- Failsafe channel PWM threshold
- Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).
- 0
- 2200
+
+ PWM main 3 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
us
-
- AUX1 Passthrough RC channel
- Default function: Camera pitch
- 0
- 18
-
- Unassigned
+
+ PWM main 4 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main 5 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main 6 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main 7 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main 8 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main 9 failsafe value
+ This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
+ -1
+ 2150
+ us
+
+
+ PWM main maximum value
+ Set to 2000 for industry default or 2100 to increase servo travel.
+ 1600
+ 2200
+ us
+
+
+ PWM main 1 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 10 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 11 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 12 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 13 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 14 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 2 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 3 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 4 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 5 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 6 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 7 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 8 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main 9 maximum value
+ This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MAX will be used
+ -1
+ 2150
+ us
+
+
+ PWM main minimum value
+ Set to 1000 for industry default or 900 to increase servo travel.
+ 800
+ 1400
+ us
+
+
+ PWM main 1 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 10 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 11 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 12 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 13 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 14 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 2 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 3 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 4 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 5 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 6 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 7 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 8 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM main 9 minimum value
+ This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAIN_MIN will be used
+ -1
+ 1600
+ us
+
+
+ PWM channels used as ESC outputs
+ Number representing the channels e.g. 134 - Channel 1, 3 and 4. Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
+ 0
+ 123456789
+
+
+ PWM main output frequency
+ Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.
+ -1
+ 2000
+ Hz
+
+
+ PWM main 1 rate
+ Set the default PWM output frequency for the main outputs
+ 0
+ 400
+ Hz
+
+
+ PWM main 1 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 10 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 11 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 12 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 13 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 14 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 2 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 3 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 4 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 5 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 6 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 7 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 8 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 9 reverse value
+ Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.
+
+
+ PWM main 1 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 10 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 11 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 12 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 13 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 14 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 2 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 3 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 4 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 5 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 6 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 7 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 8 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ PWM main 9 trim value
+ Set to normalized offset
+ -0.2
+ 0.2
+ 2
+
+
+ S.BUS out
+ Set to 1 to enable S.BUS version 1 output instead of RSSI.
+
+
+ Thrust to motor control signal model parameter
+ Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.
+ 0.0
+ 1.0
+
+
+
+
+ Landing Target Timeout
+ Time after which the landing target is considered lost without any new measurements.
+ 0.0
+ 50
+ s
+ 1
+ 0.5
+
+
+ Final approach altitude
+ Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
+ 0.0
+ 10
+ m
+ 2
+ 0.1
+
+
+ Horizontal acceptance radius
+ Start descending if closer above landing target than this.
+ 0.0
+ 10
+ m
+ 2
+ 0.1
+
+
+ Maximum number of search attempts
+ Maximum number of times to search for the landing target if it is lost during the precision landing.
+ 0
+ 100
+
+
+ Search altitude
+ Altitude above home to which to climb when searching for the landing target.
+ 0.0
+ 100
+ m
+ 1
+ 0.1
+
+
+ Search timeout
+ Time allowed to search for the landing target before falling back to normal landing.
+ 0.0
+ 100
+ s
+ 1
+ 0.1
+
+
+
+
+ Serial Configuration for FastRTPS
+ Configure on which serial port to run FastRTPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Serial Configuration for MAVLink + FastRTPS
+ Configure on which serial port to run MAVLink + FastRTPS.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+
+
+ RC channel 10 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 10 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 10 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 10 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 10 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 11 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 11 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 11 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 11 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 11 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 12 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 12 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 12 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 12 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 12 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 13 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 13 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 13 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 13 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 13 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 14 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 14 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 14 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 14 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 14 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 15 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 15 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 15 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 15 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 15 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 16 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 16 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 16 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 16 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 16 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 17 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 17 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 17 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 17 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 17 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 18 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 18 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 18 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 18 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 18 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 1 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+ us
+
+
+ RC channel 1 maximum
+ Maximum value for RC channel 1
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 1 minimum
+ Minimum value for RC channel 1
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 1 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 1 trim
+ Mid point value (same as min for throttle)
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 2 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+ us
+
+
+ RC channel 2 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 2 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 2 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 2 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 3 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+ us
+
+
+ RC channel 3 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 3 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 3 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 3 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 4 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+ us
+
+
+ RC channel 4 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 4 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 4 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 4 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 5 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 5 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 5 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 5 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 5 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 6 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 6 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 6 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 6 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 6 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 7 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 7 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 7 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 7 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 7 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 8 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 8 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 8 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 8 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 8 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel 9 dead zone
+ The +- range of this value around the trim value will be considered as zero.
+ 0.0
+ 100.0
+
+
+ RC channel 9 maximum
+ Maximum value for this channel.
+ 1500.0
+ 2200.0
+ us
+
+
+ RC channel 9 minimum
+ Minimum value for this channel.
+ 800.0
+ 1500.0
+ us
+
+
+ RC channel 9 reverse
+ Set to -1 to reverse channel.
+ -1.0
+ 1.0
+
+ Reverse
+ Normal
+
+
+
+ RC channel 9 trim
+ Mid point value (has to be set to the same as min for throttle channel).
+ 800.0
+ 2200.0
+ us
+
+
+ RC channel count
+ This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.
+ 0
+ 18
+
+
+ Failsafe channel PWM threshold
+ Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation. Use RC_MAP_FAILSAFE to specify which channel is used to check. Note: The default value of 0 is below the epxed range and hence disables the feature.
+ 0
+ 2200
+ us
+
+
+ AUX1 Passthrough RC channel
+ Default function: Camera pitch
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ AUX2 Passthrough RC channel
+ Default function: Camera roll
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ AUX3 Passthrough RC channel
+ Default function: Camera azimuth / yaw
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ AUX4 Passthrough RC channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ AUX5 Passthrough RC channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ AUX6 Passthrough RC channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Failsafe channel mapping
+ Configures which channel is used by the receiver to indicate the signal was lost. Futaba receivers do report that way. If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence diabled.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ PARAM1 tuning channel
+ Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ PARAM2 tuning channel
+ Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ PARAM3 tuning channel
+ Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Pitch control channel mapping
+ The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Roll control channel mapping
+ The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Throttle control channel mapping
+ The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Yaw control channel mapping
+ The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ PWM input channel that provides RSSI
+ 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Max input value for RSSI reading
+ Only used if RC_RSSI_PWM_CHAN > 0
+ 0
+ 2000
+
+
+ Min input value for RSSI reading
+ Only used if RC_RSSI_PWM_CHAN > 0
+ 0
+ 2000
+
+
+ Pitch trim
+ The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Roll trim
+ The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+ Yaw trim
+ The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.
+ -0.25
+ 0.25
+ 2
+ 0.01
+
+
+
+
+ Threshold for selecting acro mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the arm switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for selecting assist mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for selecting auto mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the landing gear switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the kill switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for selecting loiter mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the manual switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Acro switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Arm switch channel
+ Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Flaps channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Single channel flight mode selection
+ If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Landing gear switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Emergency Kill switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Loiter switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Manual switch channel mapping
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Mode switch channel mapping
+ This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Offboard switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Position Control switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Rattitude switch channel (deprecated)
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Return switch channel
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ Stabilize switch channel mapping
+ 0
+ 18
+
+ Unassigned
+ Channel 1
+ Channel 2
+ Channel 3
+ Channel 4
+ Channel 5
+ Channel 6
+ Channel 7
+ Channel 8
+ Channel 9
+ Channel 10
+ Channel 11
+ Channel 12
+ Channel 13
+ Channel 14
+ Channel 15
+ Channel 16
+ Channel 17
+ Channel 18
+
+
+
+ VTOL transition switch channel mapping
+ 0
+ 18
+
+ Unassigned
Channel 1
Channel 2
Channel 3
@@ -6600,1341 +8798,1620 @@
Channel 18
-
- AUX2 Passthrough RC channel
- Default function: Camera roll
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Threshold for selecting offboard mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for selecting posctl mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for selecting return to launch mode
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the stabilize switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+ Threshold for the VTOL transition switch
+ 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+ -1
+ 1
+
+
+
+
+ Half-angle of the return mode altitude cone
+ Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.
+ 0
+ 90
+ deg
+
+ No cone, always climb to RTL_RETURN_ALT above destination.
+ 25 degrees half cone angle.
+ 45 degrees half cone angle.
+ 65 degrees half cone angle.
+ 80 degrees half cone angle.
+ Only climb to at least RTL_DESCEND_ALT above destination.
+
+
+
+ Return mode loiter altitude
+ Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed.
+ 2
+ 100
+ m
+ 1
+ 0.5
+
+
+ Return mode delay
+ Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
+ -1
+ 300
+ s
+ 1
+ 0.5
+
+
+ Loiter radius for rtl descend
+ Set the radius for loitering to a safe altitude for VTOL transition.
+ 25
+ 1000
+ m
+ 1
+ 0.5
+
+
+ Horizontal radius from return point within which special rules for return mode apply
+ The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.
+ 0.5
+ 100
+ m
+ 1
+ 0.5
+
+
+ Return mode return altitude
+ Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
+ 0
+ 150
+ m
+ 1
+ 0.5
+
+
+ Return type
+ Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
+
+ Return to closest safe point (home or rally point) via direct path.
+ Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path.
+ Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
+ Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
+
+
+
+
+
+ RTL precision land mode
+ Use precision landing when doing an RTL landing phase.
+
+ No precision landing
+ Opportunistic precision landing
+ Required precision landing
+
+
+
+
+
+ Serial Configuration for Roboclaw Driver
+ Configure on which serial port to run Roboclaw Driver.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+
+
+ Address of the Roboclaw
+ The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match this parameter.
+ 128
+ 135
+
+ 0x80
+ 0x81
+ 0x82
+ 0x83
+ 0x84
+ 0x85
+ 0x86
+ 0x87
+
+
+
+ Roboclaw serial baud rate
+ Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
+ 2400
+ 460800
+ true
+
+ 2400 baud
+ 9600 baud
+ 19200 baud
+ 38400 baud
+ 57600 baud
+ 115200 baud
+ 230400 baud
+ 460800 baud
+
+
+
+ Encoder counts per revolution
+ Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047 counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
+ 1
+
+
+ Encoder read period
+ How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw
+ 1
+ 1000
+ ms
+
+
+ Uart write period
+ How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw
+ 1
+ 1000
+ ms
+
+
+
+
+ L1 damping
+ Damping factor for L1 control.
+ 0.6
+ 0.9
+ 2
+ 0.05
+
+
+ L1 distance
+ This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).
+ 1.0
+ 50.0
+ m
+ 1
+ 0.1
+
+
+ L1 period
+ This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.
+ 0.5
+ 50.0
+ m
+ 1
+ 0.5
+
+
+ Max manual yaw rate
+ 0.0
+ 400
+ deg/s
+ 1
+
+
+ Maximum turn angle for Ackerman steering
+ At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.
+ 0.0
+ 3.14159
+ rad
+ 3
+ 0.01
+
+
+ Speed proportional gain
+ This is the derivative gain for the speed closed loop controller
+ 0.00
+ 50.0
+ %m/s
+ 3
+ 0.005
+
+
+ Speed Integral gain
+ This is the integral gain for the speed closed loop controller
+ 0.00
+ 50.0
+ %m/s
+ 3
+ 0.005
+
+
+ Speed integral maximum value
+ This is the maxim value the integral can reach to prevent wind-up.
+ 0.005
+ 50.0
+ %m/s
+ 3
+ 0.005
-
- AUX3 Passthrough RC channel
- Default function: Camera azimuth / yaw
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Maximum ground speed
+ 0.0
+ 40
+ m/s
+ 1
+ 0.5
-
- AUX4 Passthrough RC channel
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Speed proportional gain
+ This is the proportional gain for the speed closed loop controller
+ 0.005
+ 50.0
+ %m/s
+ 3
+ 0.005
-
- AUX5 Passthrough RC channel
+
+ Speed to throttle scaler
+ This is a gain to map the speed control output to the throttle linearly.
+ 0.005
+ 50.0
+ %m/s
+ 3
+ 0.005
+
+
+ Trim ground speed
+ 0.0
+ 40
+ m/s
+ 1
+ 0.5
+
+
+ Control mode for speed
+ This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
0
- 18
+ 1
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ open loop control
+ close the loop with gps speed
-
- AUX6 Passthrough RC channel
+
+ Cruise throttle
+ This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Throttle limit max
+ This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Throttle limit min
+ This is the minimum throttle % that can be used by the controller. Set to 0 for rover
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Distance from front axle to rear axle
+ A value of 0.31 is typical for 1/10 RC cars.
+ 0.0
+ m
+ 3
+ 0.01
+
+
+
+
+ Min airspeed scaling factor for takeoff
+ Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
+ 0.0
+ 2.0
+ norm
+ 2
+ 0.01
+
+
+ Specifies which heading should be held during runnway takeoff
+ 0: airframe heading, 1: heading towards takeoff waypoint
0
- 18
+ 1
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Airframe
+ Waypoint
-
- RC channel to engage the main motor (for helicopters)
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Max pitch during takeoff
+ Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set.
+ 0.0
+ 60.0
+ deg
+ 1
+ 0.5
+
+
+ Max roll during climbout
+ Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height.
+ 0.0
+ 60.0
+ deg
+ 1
+ 0.5
+
+
+ Max throttle during runway takeoff
+ Can be used to test taxi on runway
+ 0.0
+ 1.0
+ norm
+ 2
+ 0.01
+
+
+ Altitude AGL at which we have enough ground clearance to allow some roll
+ Until RWTO_NAV_ALT is reached the plane is held level and only rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0.
+ 0.0
+ 100.0
+ m
+ 1
+ 1
+
+
+ Pitch setpoint during taxi / before takeoff airspeed is reached
+ A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.
+ -10.0
+ 20.0
+ deg
+ 1
+ 0.5
+
+
+ Throttle ramp up time for runway takeoff
+ 1.0
+ 15.0
+ s
+ 2
+ 0.1
+
+
+ Runway takeoff with landing gear
-
- Failsafe channel mapping
- Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.
+
+
+
+ Battery-only Logging
+ When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.
+
+
+ Maximum number of log directories to keep
+ 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. Note: this does not apply to mission log files.
0
- 18
+ 1000
+ true
+
+
+ Mission Log
+ If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Disabled
+ All mission messages
+ Geotagging messages
-
- PARAM1 tuning channel
- Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *
- 0
- 18
+
+ Logging Mode
+ Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ disabled
+ when armed until disarm (default)
+ from boot until disarm
+ from boot until shutdown
+ depending on AUX1 RC channel
-
- PARAM2 tuning channel
- Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *
+
+ Logging topic profile (integer bitmask)
+ This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel)
0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+ 1023
+ true
+
+ Default set (general log analysis)
+ Estimator replay (EKF2)
+ Thermal calibration
+ System identification
+ High rate
+ Debug
+ Sensor comparison
+ Computer Vision and Avoidance
+ Raw FIFO high-rate IMU (Gyro)
+ Raw FIFO high-rate IMU (Accel)
+
-
- PARAM3 tuning channel
- Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *
+
+ UTC offset (unit: min)
+ 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
+ -1000
+ 1000
+ min
+
+
+ Log UUID
+ If set to 1, add an ID to the log, which uniquely identifies the vehicle
+
+
+
+
+ Simulator Battery drain interval
+ 1
+ 86400
+ s
+ 1
+
+
+ Simulator Battery minimal percentage
+ Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.
0
- 18
+ 100
+ %
+ 0.1
+
+
+
+
+ ID of the Accelerometer that the calibration is for
+
+
+ Accelerometer 0 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Pitch control channel mapping
- The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.
- 0
- 18
+
+ Rotation of accelerometer 0 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Roll control channel mapping
- The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Accelerometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Throttle control channel mapping
- The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Accelerometer X-axis offset
-
- Yaw control channel mapping
- The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.
- 0
- 18
+
+ Accelerometer X-axis scaling factor
+
+
+ Accelerometer Y-axis offset
+
+
+ Accelerometer Y-axis scaling factor
+
+
+ Accelerometer Z-axis offset
+
+
+ Accelerometer Z-axis scaling factor
+
+
+ ID of the Accelerometer that the calibration is for
+
+
+ Accelerometer 1 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- PWM input channel that provides RSSI
- 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
- 0
- 18
+
+ Rotation of accelerometer 1 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Max input value for RSSI reading
- Only used if RC_RSSI_PWM_CHAN > 0
- 0
- 2000
+
+ Accelerometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Min input value for RSSI reading
- Only used if RC_RSSI_PWM_CHAN > 0
- 0
- 2000
+
+ Accelerometer X-axis offset
-
- Pitch trim
- The trim value is the actuator control value the system needs for straight and level flight.
- -0.5
- 0.5
- 2
- 0.01
+
+ Accelerometer X-axis scaling factor
-
- Roll trim
- The trim value is the actuator control value the system needs for straight and level flight.
- -0.5
- 0.5
- 2
- 0.01
+
+ Accelerometer Y-axis offset
-
- Yaw trim
- The trim value is the actuator control value the system needs for straight and level flight.
- -0.5
- 0.5
- 2
- 0.01
+
+ Accelerometer Y-axis scaling factor
-
-
-
- Threshold for the arm switch
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Accelerometer Z-axis offset
-
- Threshold for selecting main motor engage
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Accelerometer Z-axis scaling factor
-
- Threshold for the landing gear switch
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ ID of the Accelerometer that the calibration is for
-
- Threshold for the kill switch
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
+
+ Accelerometer 2 priority
+
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
+
+
+
+ Rotation of accelerometer 2 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
- 1
+ 40
+ true
+
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
+
+
+
+ Accelerometer calibration temperature
+ Temperature during last calibration.
+ celcius
+
+
+ Accelerometer X-axis offset
+
+
+ Accelerometer X-axis scaling factor
+
+
+ Accelerometer Y-axis offset
-
- Threshold for selecting loiter mode
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Accelerometer Y-axis scaling factor
-
- Acro switch channel (deprecated)
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Accelerometer Z-axis offset
-
- Arm switch channel
- Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Accelerometer Z-axis scaling factor
-
- Flaps channel
- 0
- 18
+
+ ID of the Accelerometer that the calibration is for
+
+
+ Accelerometer 3 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Single channel flight mode selection
- If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.
- 0
- 18
+
+ Rotation of accelerometer 3 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Button flight mode selection
- This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.
- 0
- 258048
-
- Mask Channel 1 as a mode button
- Mask Channel 2 as a mode button
- Mask Channel 3 as a mode button
- Mask Channel 4 as a mode button
- Mask Channel 5 as a mode button
- Mask Channel 6 as a mode button
- Mask Channel 7 as a mode button
- Mask Channel 8 as a mode button
- Mask Channel 9 as a mode button
- Mask Channel 10 as a mode button
- Mask Channel 11 as a mode button
- Mask Channel 12 as a mode button
- Mask Channel 13 as a mode button
- Mask Channel 14 as a mode button
- Mask Channel 15 as a mode button
- Mask Channel 16 as a mode button
- Mask Channel 17 as a mode button
- Mask Channel 18 as a mode button
-
+
+ Accelerometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Landing gear switch channel
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Accelerometer X-axis offset
-
- Emergency Kill switch channel
- 0
- 18
+
+ Accelerometer X-axis scaling factor
+
+
+ Accelerometer Y-axis offset
+
+
+ Accelerometer Y-axis scaling factor
+
+
+ Accelerometer Z-axis offset
+
+
+ Accelerometer Z-axis scaling factor
+
+
+ ID of the Gyro that the calibration is for
+
+
+ Gyro 0 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Loiter switch channel
- 0
- 18
+
+ Rotation of gyro 0 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Manual switch channel mapping (deprecated)
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Gyroscope calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Mode switch channel mapping (deprecated)
- This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.
- 0
- 18
-
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
-
+
+ Gyro X-axis offset
-
- Offboard switch channel
- 0
- 18
+
+ Gyro Y-axis offset
+
+
+ Gyro Z-axis offset
+
+
+ ID of the Gyro that the calibration is for
+
+
+ Gyro 1 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Position Control switch channel (deprecated)
- 0
- 18
+
+ Rotation of gyro 1 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Rattitude switch channel (deprecated)
- 0
- 18
+
+ Gyroscope calibration temperature
+ Temperature during last calibration.
+ celcius
+
+
+ Gyro X-axis offset
+
+
+ Gyro Y-axis offset
+
+
+ Gyro Z-axis offset
+
+
+ ID of the Gyro that the calibration is for
+
+
+ Gyro 2 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Return switch channel
- 0
- 18
+
+ Rotation of gyro 2 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Stabilize switch channel mapping (deprecated)
- 0
- 18
+
+ Gyroscope calibration temperature
+ Temperature during last calibration.
+ celcius
+
+
+ Gyro X-axis offset
+
+
+ Gyro Y-axis offset
+
+
+ Gyro Z-axis offset
+
+
+ ID of the Gyro that the calibration is for
+
+
+ Gyro 3 priority
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- VTOL transition switch channel mapping
- 0
- 18
+
+ Rotation of gyro 3 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Unassigned
- Channel 1
- Channel 2
- Channel 3
- Channel 4
- Channel 5
- Channel 6
- Channel 7
- Channel 8
- Channel 9
- Channel 10
- Channel 11
- Channel 12
- Channel 13
- Channel 14
- Channel 15
- Channel 16
- Channel 17
- Channel 18
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Threshold for selecting offboard mode
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Gyroscope calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Threshold for selecting return to launch mode
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Gyro X-axis offset
-
- Threshold for the VTOL transition switch
- 0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th
- -1
- 1
+
+ Gyro Y-axis offset
-
-
-
- Half-angle of the return mode altitude cone
- Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.
- 0
- 90
- deg
-
- No cone, always climb to RTL_RETURN_ALT above destination.
- 25 degrees half cone angle.
- 45 degrees half cone angle.
- 65 degrees half cone angle.
- 80 degrees half cone angle.
- Only climb to at least RTL_DESCEND_ALT above destination.
-
+
+ Gyro Z-axis offset
-
- Return mode loiter altitude
- Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.
- 0
- m
- 1
- 0.5
+
+ ID of Magnetometer the calibration is for
-
- RTL heading mode
- Defines the heading behavior during RTL
+
+ Mag 0 priority
- Towards next waypoint.
- Heading matches destination.
- Use current heading.
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Return mode delay
- Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
+
+ Rotation of magnetometer 0 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
-1
- s
- 1
- 0.5
+ 40
+ true
+
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
+
-
- Loiter radius for rtl descend
- Set the radius for loitering to a safe altitude for VTOL transition.
- 25
- m
- 1
- 0.5
+
+ Magnetometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- Horizontal radius from return point within which special rules for return mode apply
- The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.
- 0.5
- m
- 1
- 0.5
+
+ X Axis throttle compensation for Mag 0
+ Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- RTL precision land mode
- Use precision landing when doing an RTL landing phase.
+
+ Magnetometer X-axis off diagonal factor
+
+
+ Magnetometer X-axis offset
+
+
+ Magnetometer X-axis scaling factor
+
+
+ Y Axis throttle compensation for Mag 0
+ Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
+
+
+ Magnetometer Y-axis off diagonal factor
+
+
+ Magnetometer Y-axis offset
+
+
+ Magnetometer Y-axis scaling factor
+
+
+ Z Axis throttle compensation for Mag 0
+ Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
+
+
+ Magnetometer Z-axis off diagonal factor
+
+
+ Magnetometer Z-axis offset
+
+
+ Magnetometer Z-axis scaling factor
+
+
+ ID of Magnetometer the calibration is for
+
+
+ Mag 1 priority
- No precision landing
- Opportunistic precision landing
- Required precision landing
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Return mode return altitude
- Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
- 0
- m
- 1
- 0.5
-
-
- Return type
- Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)
+
+ Rotation of magnetometer 1 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Return to closest safe point (home or rally point) via direct path.
- Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.
- Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
- Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
-
-
- RTL time estimate safety margin factor
- Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
- 1.0
- 2.0
- 1
- 0.1
+
+ Magnetometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- RTL time estimate safety margin offset
- Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN
- 0
- 3600
- s
- 1
- 1
+
+ X Axis throttle compensation for Mag 1
+ Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
-
-
- L1 damping
- Damping factor for L1 control.
- 0.6
- 0.9
- 2
- 0.05
+
+ Magnetometer X-axis off diagonal factor
-
- L1 distance
- This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).
- 1.0
- 50.0
- m
- 1
- 0.1
+
+ Magnetometer X-axis offset
-
- L1 period
- This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.
- 0.5
- 50.0
- m
- 1
- 0.5
+
+ Magnetometer X-axis scaling factor
-
- Max manual yaw rate
- 0.0
- 400
- deg/s
- 1
+
+ Y Axis throttle compensation for Mag 1
+ Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- Maximum turn angle for Ackerman steering
- At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.
- 0.0
- 3.14159
- rad
- 3
- 0.01
+
+ Magnetometer Y-axis off diagonal factor
-
- Speed proportional gain
- This is the derivative gain for the speed closed loop controller
- 0.00
- 50.0
- %m/s
- 3
- 0.005
+
+ Magnetometer Y-axis offset
-
- Speed Integral gain
- This is the integral gain for the speed closed loop controller
- 0.00
- 50.0
- %m/s
- 3
- 0.005
+
+ Magnetometer Y-axis scaling factor
-
- Speed integral maximum value
- This is the maxim value the integral can reach to prevent wind-up.
- 0.005
- 50.0
- %m/s
- 3
- 0.005
+
+ Z Axis throttle compensation for Mag 1
+ Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- Maximum ground speed
- 0.0
- 40
- m/s
- 1
- 0.5
+
+ Magnetometer Z-axis off diagonal factor
-
- Speed proportional gain
- This is the proportional gain for the speed closed loop controller
- 0.005
- 50.0
- %m/s
- 3
- 0.005
+
+ Magnetometer Z-axis offset
-
- Speed to throttle scaler
- This is a gain to map the speed control output to the throttle linearly.
- 0.005
- 50.0
- %m/s
- 3
- 0.005
+
+ Magnetometer Z-axis scaling factor
-
- Trim ground speed
- 0.0
- 40
- m/s
- 1
- 0.5
+
+ ID of Magnetometer the calibration is for
-
- Control mode for speed
- This allows the user to choose between closed loop gps speed or open loop cruise throttle speed
- 0
- 1
+
+ Mag 2 priority
- open loop control
- close the loop with gps speed
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Cruise throttle
- This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode
- 0.0
- 1.0
- norm
- 2
- 0.01
-
-
- Throttle limit max
- This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough
- 0.0
- 1.0
- norm
- 2
- 0.01
-
-
- Throttle limit min
- This is the minimum throttle % that can be used by the controller. Set to 0 for rover
- 0.0
- 1.0
- norm
- 2
- 0.01
-
-
- Distance from front axle to rear axle
- A value of 0.31 is typical for 1/10 RC cars.
- 0.0
- m
- 3
- 0.01
-
-
-
-
- Specifies which heading should be held during the runway takeoff ground roll
- 0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)
- 0
- 1
+
+ Rotation of magnetometer 2 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
+ true
- Airframe
- Runway
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Max throttle during runway takeoff
- 0.0
- 1.0
- norm
- 2
- 0.01
+
+ Magnetometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- NPFG period while steering on runway
- 1.0
- 100.0
- s
- 1
- 0.1
+
+ X Axis throttle compensation for Mag 2
+ Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- Enable use of yaw stick for nudging the wheel during runway ground roll
- This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.
+
+ Magnetometer X-axis off diagonal factor
-
- Pitch setpoint during taxi / before takeoff rotation airspeed is reached
- A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.
- -10.0
- 20.0
- deg
- 1
- 0.5
+
+ Magnetometer X-axis offset
-
- Throttle ramp up time for runway takeoff
- 1.0
- 15.0
- s
- 2
- 0.1
+
+ Magnetometer X-axis scaling factor
-
- Takeoff rotation airspeed
- The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)
- -1.0
- m/s
- 1
- 0.1
+
+ Y Axis throttle compensation for Mag 2
+ Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- Takeoff rotation time
- This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation
- 0.1
- s
- 1
- 0.1
+
+ Magnetometer Y-axis off diagonal factor
-
- Runway takeoff with landing gear
+
+ Magnetometer Y-axis offset
-
-
-
- Logfile Encryption algorithm
- Selects the algorithm used for logfile encryption
-
- Disabled
- XChaCha20
- AES
-
+
+ Magnetometer Y-axis scaling factor
-
- Battery-only Logging
- When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.
+
+ Z Axis throttle compensation for Mag 2
+ Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
+
+
+ Magnetometer Z-axis off diagonal factor
-
- Maximum number of log directories to keep
- 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. Note: this does not apply to mission log files.
- 0
- 1000
- true
+
+ Magnetometer Z-axis offset
-
- Logfile Encryption key exchange key
- If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.
- 0
- 255
+
+ Magnetometer Z-axis scaling factor
-
- Logfile Encryption key index
- Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY
- 0
- 255
+
+ ID of Magnetometer the calibration is for
-
- Mission Log
- If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).
- true
+
+ Mag 3 priority
- Disabled
- All mission messages
- Geotagging messages
+ Uninitialized
+ Disabled
+ Min
+ Low
+ Medium (Default)
+ High
+ Max
-
- Logging Mode
- Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.
+
+ Rotation of magnetometer 3 relative to airframe
+ An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
+ -1
+ 40
true
- disabled
- when armed until disarm (default)
- from boot until disarm
- from boot until shutdown
- depending on AUX1 RC channel
- from 1st armed until shutdown
+ Internal
+ No rotation
+ Yaw 45°
+ Yaw 90°
+ Yaw 135°
+ Yaw 180°
+ Yaw 225°
+ Yaw 270°
+ Yaw 315°
+ Roll 180°
+ Roll 180°, Yaw 45°
+ Roll 180°, Yaw 90°
+ Roll 180°, Yaw 135°
+ Pitch 180°
+ Roll 180°, Yaw 225°
+ Roll 180°, Yaw 270°
+ Roll 180°, Yaw 315°
+ Roll 90°
+ Roll 90°, Yaw 45°
+ Roll 90°, Yaw 90°
+ Roll 90°, Yaw 135°
+ Roll 270°
+ Roll 270°, Yaw 45°
+ Roll 270°, Yaw 90°
+ Roll 270°, Yaw 135°
+ Pitch 90°
+ Pitch 270°
+ Pitch 180°, Yaw 90°
+ Pitch 180°, Yaw 270°
+ Roll 90°, Pitch 90°
+ Roll 180°, Pitch 90°
+ Roll 270°, Pitch 90°
+ Roll 90°, Pitch 180°
+ Roll 270°, Pitch 180°
+ Roll 90°, Pitch 270°
+ Roll 180°, Pitch 270°
+ Roll 270°, Pitch 270°
+ Roll 90°, Pitch 180°, Yaw 90°
+ Roll 90°, Yaw 270°
+ Roll 90°, Pitch 68°, Yaw 293°
+ Pitch 315°
+ Roll 90°, Pitch 315°
-
- Logging topic profile (integer bitmask)
- This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)
- 0
- 2047
- true
-
- Default set (general log analysis)
- Estimator replay (EKF2)
- Thermal calibration
- System identification
- High rate
- Debug
- Sensor comparison
- Computer Vision and Avoidance
- Raw FIFO high-rate IMU (Gyro)
- Raw FIFO high-rate IMU (Accel)
- Mavlink tunnel message logging
-
+
+ Magnetometer calibration temperature
+ Temperature during last calibration.
+ celcius
-
- UTC offset (unit: min)
- 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
- -1000
- 1000
- min
+
+ X Axis throttle compensation for Mag 3
+ Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
-
- Log UUID
- If set to 1, add an ID to the log, which uniquely identifies the vehicle
+
+ Magnetometer X-axis off diagonal factor
-
-
-
- Simulator Battery drain interval
- 1
- 86400
- s
- 1
+
+ Magnetometer X-axis offset
-
- Simulator Battery minimal percentage
- Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.
- 0
- 100
- %
- 0.1
+
+ Magnetometer X-axis scaling factor
+
+
+ Y Axis throttle compensation for Mag 3
+ Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
+
+
+ Magnetometer Y-axis off diagonal factor
+
+
+ Magnetometer Y-axis offset
+
+
+ Magnetometer Y-axis scaling factor
+
+
+ Z Axis throttle compensation for Mag 3
+ Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]
+
+
+ Magnetometer Z-axis off diagonal factor
+
+
+ Magnetometer Z-axis offset
+
+
+ Magnetometer Z-axis scaling factor
-
-
Type of magnetometer compensation
@@ -7952,23 +10429,23 @@
Differential pressure sensor offset
The offset (zero-reading) in Pascal
-
+
Maximum height above ground when reliant on optical flow
This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.
1.0
- 100.0
+ 25.0
m
1
0.1
-
+
Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor
Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.
1.0
rad/s
2
-
+
Minimum height above ground when reliant on optical flow
This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
0.0
@@ -7979,11 +10456,6 @@
-
- Enable external ADS1115 ADC
- If enabled, the internal ADC is not used.
- true
-
Capacity/current multiplier for high-current capable SMBUS battery
1
@@ -8038,9 +10510,20 @@
2.00
m
-
- For legacy QGC support only
- Use SENS_MAG_SIDES instead
+
+ Automatically set external rotations
+ During calibration attempt to automatically determine the rotation of external magnetometers.
+
+
+ Bitfield selecting mag sides for calibration
+ If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32
+ 34
+ 63
+
+ Two side calibration
+ Three side calibration
+ Six side calibration
+
Low pass filter cutoff frequency for accel
@@ -8070,14 +10553,7 @@
Hz
true
-
- IMU gyro ESC notch filter bandwidth
- Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.
- 5
- 30
- Hz
-
-
+
IMU gyro dynamic notch filtering
Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).
0
@@ -8087,17 +10563,6 @@
FFT
-
- IMU gyro dynamic notch filter harmonics
- ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.
- 1
- 7
-
-
- IMU gyro dynamic notch filter minimum frequency
- Minimum notch filter frequency in Hz.
- Hz
-
IMU gyro FFT enable
true
@@ -8113,52 +10578,31 @@
4096
-
+
IMU gyro FFT maximum frequency
1
1000
Hz
true
-
+
IMU gyro FFT minimum frequency
1
1000
Hz
true
-
- IMU gyro FFT SNR
- 1
- 30
-
-
+
Notch filter bandwidth for gyro
- The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.
+ The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.
0
100
Hz
true
-
+
Notch filter frequency for gyro
- The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.
- 0
- 1000
- Hz
- true
-
-
- Notch filter 1 bandwidth for gyro
- The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.
- 0
- 100
- Hz
- true
-
-
- Notch filter 2 frequency for gyro
- The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.
+ The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF_BW" to set the bandwidth of the filter. A value of 0 disables the filter.
0
1000
Hz
@@ -8194,41 +10638,6 @@
400 Hz
-
- INA220 Power Monitor Config
- 0
- 65535
- 1
- 1
-
-
- INA220 Power Monitor Battery Max Current
- 0.1
- 500.0
- 2
- 0.1
-
-
- INA220 Power Monitor Regulator Max Current
- 0.1
- 500.0
- 2
- 0.1
-
-
- INA220 Power Monitor Battery Shunt
- 0.000000001
- 0.1
- 10
- .000000001
-
-
- INA220 Power Monitor Regulator Shunt
- 0.000000001
- 0.1
- 10
- .000000001
-
INA226 Power Monitor Config
0
@@ -8271,19 +10680,13 @@
10
.000000001
-
- INA238 Power Monitor Max Current
- 0.1
- 327.68
- 2
- 0.1
-
-
- INA238 Power Monitor Shunt
- 0.000000001
- 0.1
- 10
- .000000001
+
+ PCF8583 rotorfreq (i2c) i2c address
+ true
+
+ Address 0x50 (80)
+ Address 0x51 (81)
+
PCF8583 rotorfreq (i2c) pulse count
@@ -8299,60 +10702,23 @@
PCF8583 rotorfreq (i2c) pulse reset value
- Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.
+ Internal device counter is reset to 0 when overun this value, counter is able to store upto 6 digits reset of counter takes some time - measurement with reset has worse accurancy. 0 means reset counter after every measurement.
true
-
- AFBR Rangefinder Short/Long Range Threshold Hysteresis
- This parameter defines the hysteresis for switching between short and long range mode.
- 1
- 10
- m
-
-
- AFBR Rangefinder Long Range Rate
- This parameter defines measurement rate of the AFBR Rangefinder in long range mode.
- 1
- 100
-
-
- AFBR Rangefinder Mode
- This parameter defines the mode of the AFBR Rangefinder.
- 0
- 3
- true
-
- Short Range Mode
- Long Range Mode
- High Speed Short Range Mode
- High Speed Long Range Mode
-
-
-
- AFBR Rangefinder Short Range Rate
- This parameter defines measurement rate of the AFBR Rangefinder in short range mode.
- 1
- 100
-
-
- AFBR Rangefinder Short/Long Range Threshold
- This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.
- 1
- 50
- m
-
QNH for barometer
500
1500
hPa
+ true
Baro max rate
- Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.
+ Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependant on the sensor.
1
200
Hz
+ true
Board rotation
@@ -8419,36 +10785,39 @@
This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.
deg
-
- Analog Devices ADIS16448 IMU (external SPI)
- 0
- 1
- true
-
- Disabled
- Enabled
-
-
-
- Analog Devices ADIS16507 IMU (external SPI)
- true
-
-
- Enable simulated airspeed sensor instance
- 0
- 1
+
+ Serial Configuration for Lanbao PSK-CM8JL65-CC5
+ Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.
true
Disabled
- Enabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Distance Sensor Rotation
+ Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum
+ True
+
+ ROTATION_FORWARD_FACING
+ ROTATION_RIGHT_FACING
+ ROTATION_LEFT_FACING
+ ROTATION_BACKWARD_FACING
+ ROTATION_UPWARD_FACING
+ ROTATION_DOWNWARD_FACING
-
- ASP5033 differential pressure sensor (external I2C)
- true
-
-
- Enable simulated barometer sensor instance
+
+ Analog Devices ADIS16448 IMU (external SPI)
0
1
true
@@ -8465,21 +10834,6 @@
Eagle Tree airspeed sensor (external I2C)
true
-
- Enable simulated GPS sinstance
- 0
- 1
- true
-
- Disabled
- Enabled
-
-
-
- Enable INA220 Power Monitor
- For systems a INA220 Power Monitor, this should be set to true
- true
-
Enable INA226 Power Monitor
For systems a INA226 Power Monitor, this should be set to true
@@ -8490,15 +10844,6 @@
For systems a INA228 Power Monitor, this should be set to true
true
-
- Enable INA238 Power Monitor
- For systems a INA238 Power Monitor, this should be set to true
- true
-
-
- IR-LOCK Sensor (external I2C)
- true
-
Lidar-Lite (LL40LS)
0
@@ -8506,18 +10851,8 @@
true
Disabled
- PWM
- I2C
-
-
-
- Enable simulated magnetometer sensor instance
- 0
- 1
- true
-
- Disabled
- Enabled
+ PWM
+ I2C
@@ -8534,36 +10869,17 @@
Autodetect
-
- TE MS4515 differential pressure sensor (external I2C)
- true
-
-
- TE MS4525DO differential pressure sensor (external I2C)
- true
-
-
- TE MS5525DSO differential pressure sensor (external I2C)
+
+ TE MS4525 differential pressure sensor (external I2C)
true
-
- PAA3905 Optical Flow
+
+ TE MS5525 differential pressure sensor (external I2C)
true
- PAW3902/PAW3903 Optical Flow
- true
-
-
- PCF8583 eneable driver
- Run PCF8583 driver automatically
- 0
- 1
+ PAW3902 & PAW3903 Optical Flow
true
-
- Disabled
- Eneabled
-
PGA460 Ultrasonic driver (PGA460)
@@ -8590,9 +10906,6 @@
SF10/b
SF10/c
SF11/c
- SF30/b
- SF30/c
- LW20/c
@@ -8608,25 +10921,12 @@
SF11/c
SF/LW20/b
SF/LW20/c
- SF/LW30/d
-
- SHT3x temperature and hygrometer
- true
-
-
- Goertek SPL06 Barometer (external I2C)
- true
-
HY-SRF05 / HC-SR05
true
-
- TF02 Pro Distance Sensor (i2c)
- true
-
Thermal control of sensor temperature
@@ -8649,10 +10949,6 @@
TREvo3m
-
- VL53L0X Distance Sensor
- true
-
VL53L1X Distance Sensor
true
@@ -8661,17 +10957,10 @@
External I2C probe
Probe for optional external I2C devices.
-
- Optical flow max rate
- Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.
- 1
- 200
- Hz
+
+ PX4Flow board rotation
+ This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
true
-
-
- Optical flow rotation
- This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.
No rotation
Yaw 45°
@@ -8683,7 +10972,7 @@
Yaw 315°
-
+
Multi GPS Blending Control Mask
Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy
0
@@ -8708,10 +10997,6 @@
s
1
-
- IMU auto calibration
- Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.
-
Sensors hub IMU mode
true
@@ -8753,13 +11038,23 @@
For systems with an external barometer, this should be set to false to make sure that the external is used.
true
-
- Magnetometer auto calibration
- Automatically initialize magnetometer calibration from bias estimate if available.
-
-
- Automatically set external rotations
- During calibration attempt to automatically determine the rotation of external magnetometers.
+
+ Serial Configuration for LeddarOne Rangefinder
+ Configure on which serial port to run LeddarOne Rangefinder.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
Sensors hub mag mode
@@ -8769,25 +11064,14 @@
Publish primary magnetometer
-
+
Magnetometer max rate
- Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.
+ Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependant on the sensor.
1
200
Hz
true
-
- Bitfield selecting mag sides for calibration
- If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32
- 34
- 63
-
- Two side calibration
- Three side calibration
- Six side calibration
-
-
MaxBotix MB12XX Sensor 0 Rotation
This parameter defines the rotation of the sensor relative to the platform.
@@ -9206,17 +11490,79 @@
ROTATION_YAW_180
+
+ Serial Configuration for Lightware Laser Rangefinder (serial)
+ Configure on which serial port to run Lightware Laser Rangefinder (serial).
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
Target IMU device ID to regulate temperature
-
- Dynamically simulate failure of airspeed sensor instance
- 0
- 1
+
+ Serial Configuration for ThoneFlow-3901U optical flow sensor
+ Configure on which serial port to run ThoneFlow-3901U optical flow sensor.
true
Disabled
- Enabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Serial Configuration for Benewake TFmini Rangefinder
+ Configure on which serial port to run Benewake TFmini Rangefinder.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Serial Configuration for uLanding Radar
+ Configure on which serial port to run uLanding Radar.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
@@ -9237,30 +11583,363 @@
-
- MXS Serial Communication Baud rate
- Baudrate for the Serial Port connected to the MXS Transponder
- 0
- 10
+
+ Serial Configuration for RC Input Driver
+ Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.
true
- 38400
- 600
- 4800
- 9600
- RESERVED
- 57600
- 115200
- 230400
- 19200
- 460800
- 921600
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Baudrate for the GPS 1 Serial Port
+ Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the GPS 2 Serial Port
+ Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the GPS 3 Serial Port
+ Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the Radio Controller Serial Port
+ Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 1 Serial Port
+ Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 2 Serial Port
+ Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM 3 Serial Port
+ Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the TELEM/SERIAL 4 Serial Port
+ Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the UART 6 Serial Port
+ Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+
+
+ Baudrate for the Wifi Port Serial Port
+ Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.
+ true
+
+ Auto
+ 50 8N1
+ 75 8N1
+ 110 8N1
+ 134 8N1
+ 150 8N1
+ 200 8N1
+ 300 8N1
+ 600 8N1
+ 1200 8N1
+ 1800 8N1
+ 2400 8N1
+ 4800 8N1
+ 9600 8N1
+ 19200 8N1
+ 38400 8N1
+ 57600 8N1
+ 115200 8N1
+ 230400 8N1
+ 460800 8N1
+ 500000 8N1
+ 921600 8N1
+ 1000000 8N1
+ 1500000 8N1
+ 2000000 8N1
+ 3000000 8N1
+
+ Barometer offset in meters
+ Absolute value superior to 10000 will disable barometer
+ m
+
- distance sensor maximum range
+ distance sensor maximun range
0.0
1000.0
m
@@ -9268,7 +11947,7 @@
0.01
- distance sensor minimum range
+ distance sensor minimun range
0.0
10.0
m
@@ -9276,13 +11955,18 @@
0.01
- if >= 0 the distance sensor measures will be overridden by this value
+ if >= 0 the distance sensor measures will be overrided by this value
Absolute value superior to 10000 will disable distance sensor
m
+
+ Number of GPS satellites used
+ 0
+ 50
+
Vehicle inertia about X axis
- The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
+ The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg m^2
3
@@ -9290,21 +11974,21 @@
Vehicle cross term inertia xy
- The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
+ The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
kg m^2
3
0.005
Vehicle cross term inertia xz
- The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
+ The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
kg m^2
3
0.005
Vehicle inertia about Y axis
- The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
+ The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg m^2
3
@@ -9312,14 +11996,14 @@
Vehicle cross term inertia yz
- The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
+ The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.
kg m^2
3
0.005
Vehicle inertia about Z axis
- The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
+ The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.
0.0
kg m^2
3
@@ -9364,6 +12048,33 @@
1800000000
deg*1e7
+
+ North magnetic field at the initial location
+ This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.
+ -1.0
+ 1.0
+ gauss
+ 2
+ 0.001
+
+
+ East magnetic field at the initial location
+ This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.
+ -1.0
+ 1.0
+ gauss
+ 2
+ 0.001
+
+
+ Down magnetic field at the initial location
+ This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.
+ -1.0
+ 1.0
+ gauss
+ 2
+ 0.001
+
Pitch arm length
This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.
@@ -9380,6 +12091,21 @@
2
0.05
+
+ magnetometer X offset in Gauss
+ Absolute value superior to 10000 will disable magnetometer
+ gauss
+
+
+ magnetometer Y offset in Gauss
+ Absolute value superior to 10000 will disable magnetometer
+ gauss
+
+
+ magnetometer Z offset in Gauss
+ Absolute value superior to 10000 will disable magnetometer
+ gauss
+
Vehicle mass
This value can be measured by weighting the quad on a scale.
@@ -9413,51 +12139,24 @@
Vehicle type
true
- Multicopter
- Fixed-Wing
- Tailsitter
+ MC
+ FW
-
-
- simulated barometer pressure offset
-
-
- simulated barometer temperature offset
- celcius
-
-
- simulated GPS number of satellites used
+
+
+ RGB Led brightness limit
+ Set to 0 to disable, 1 for minimum brightness up to 31 (max)
0
- 50
-
-
- simulator origin altitude
- m
-
-
- simulator origin latitude
- deg
-
-
- simulator origin longitude
- deg
-
-
- simulated magnetometer X offset
- gauss
-
-
- simulated magnetometer Y offset
- gauss
+ 31
-
- simulated magnetometer Z offset
- gauss
+
+ RGB Led brightness limit
+ Set to 0 to disable, 1 for minimum brightness up to 15 (max)
+ 0
+ 15
-
-
Automatically configure default values
Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.
@@ -9498,7 +12197,7 @@
Required temperature rise during thermal calibration
- A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
+ A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
10
celcius
@@ -9512,23 +12211,9 @@
Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
celcius
-
- Dataman storage backend
- true
-
- Disabled
- default (SD card)
- RAM (not persistent)
-
-
-
+
Enable factory calibration mode
If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.
-
- Disabled
- All sensors
- All sensors except mag
-
Enable failure injection
@@ -9544,17 +12229,11 @@
Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.
true
-
+
Control if the vehicle has a magnetometer
- Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.
+ Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.
true
-
- Number of distance sensors to check being available
- The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.
- 0
- 4
-
Enable HITL/SIH mode on next boot
While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).
@@ -9576,22 +12255,26 @@
Q attitude estimator (no position)
-
- RGB Led brightness limit
- Set to 0 to disable, 1 for maximum brightness
- %
+
+ Set restart type
+ Set by px4io to indicate type of restart
+ 0
+ 2
+
+ Data survives resets
+ Data survives in-flight resets only
+ Data does not survive reset
+
Enable stack checking
-
+
Set usage of IO board
- Can be used to use a configure the use of the IO board.
+ Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
+ 0
+ 1
true
-
- IO PWM disabled (RC only)
- IO enabled (RC & PWM)
-
@@ -9600,6 +12283,42 @@
If true, the FMU will try to connect to Blacksheep telemetry on start up
true
+
+ Serial Configuration for FrSky Telemetry
+ Configure on which serial port to run FrSky Telemetry.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
+
+ Serial Configuration for HoTT Telemetry
+ Configure on which serial port to run HoTT Telemetry.
+ true
+
+ Disabled
+ UART 6
+ TELEM 1
+ TELEM 2
+ TELEM 3
+ TELEM/SERIAL 4
+ GPS 1
+ GPS 2
+ GPS 3
+ Radio Controller
+ Wifi Port
+
+
@@ -10159,249 +12878,21 @@
Gyro rate offset temperature ^2 polynomial coefficient - Y axis
- Gyro rate offset temperature ^2 polynomial coefficient - Z axis
-
-
- Gyro rate offset temperature ^3 polynomial coefficient - X axis
-
-
- Gyro rate offset temperature ^3 polynomial coefficient - Y axis
-
-
- Gyro rate offset temperature ^3 polynomial coefficient - Z axis
-
-
- Thermal compensation for rate gyro sensors
- true
-
-
- ID of Magnetometer that the calibration is for
-
-
- Magnetometer calibration maximum temperature
-
-
- Magnetometer calibration minimum temperature
-
-
- Magnetometer calibration reference temperature
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Z axis
-
-
- ID of Magnetometer that the calibration is for
-
-
- Magnetometer calibration maximum temperature
-
-
- Magnetometer calibration minimum temperature
-
-
- Magnetometer calibration reference temperature
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Z axis
-
-
- ID of Magnetometer that the calibration is for
-
-
- Magnetometer calibration maximum temperature
-
-
- Magnetometer calibration minimum temperature
-
-
- Magnetometer calibration reference temperature
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - Z axis
-
-
- ID of Magnetometer that the calibration is for
-
-
- Magnetometer calibration maximum temperature
-
-
- Magnetometer calibration minimum temperature
-
-
- Magnetometer calibration reference temperature
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^0 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^1 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - X axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Y axis
-
-
- Magnetometer offset temperature ^2 polynomial coefficient - Z axis
-
-
- Magnetometer offset temperature ^3 polynomial coefficient - X axis
+ Gyro rate offset temperature ^2 polynomial coefficient - Z axis
-
- Magnetometer offset temperature ^3 polynomial coefficient - Y axis
+
+ Gyro rate offset temperature ^3 polynomial coefficient - X axis
-
- Magnetometer offset temperature ^3 polynomial coefficient - Z axis
+
+ Gyro rate offset temperature ^3 polynomial coefficient - Y axis
-
- Thermal compensation for magnetometer sensors
- true
+
+ Gyro rate offset temperature ^3 polynomial coefficient - Z axis
-
-
-
- Sagetech External Configuration Mode
- Disables auto-configuration mode enabling MXS config through external software.
+
+ Thermal compensation for rate gyro sensors
true
-
- Sagetech MXS mode configuration
- This parameter defines the operating mode of the MXS
- 0
- 3
- false
-
- Off
- On
- Standby
- Alt
-
-
-
- Sagetech MXS Participant Configuration
- The MXS communication port to receive Target data from
- 0
- 2
- false
-
- Auto
- COM0
- COM1
-
-
@@ -10409,26 +12900,22 @@
20000
1000000
-
- Enable MovingBaselineData publication
- true
-
-
- Enable MovingBaselineData subscription
- 1
- true
-
-
- Enable RTCM subscription
- true
+
+ UAVCAN Node ID
+ Read the specs at http://uavcan.org to learn more about Node ID.
+ 1
+ 125
-
- CAN built-in bus termination
+
+ UAVCAN BATTERY_MONITOR battery monitor selection
+ This parameter defines that the system will select the battery monitor under the following conditions 0 - default battery monitor 1 - CUAV battery monitor
+ 0
1
-
-
- Simulator Gazebo bridge enable
true
+
+ default battery monitor
+ CUAV battery monitor
+
UAVCAN CAN bus bitrate
@@ -10450,6 +12937,10 @@
Sensors and Actuators (ESCs) Automatic Config
+
+ UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints
+ true
+
UAVCAN ANTI_COLLISION light operating mode
This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on
@@ -10509,21 +13000,6 @@
125
true
-
- publish Arming Status stream
- Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus
- true
-
-
- publish moving baseline data RTCM stream
- Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData
- true
-
-
- publish RTCM stream
- Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream
- true
-
UAVCAN rangefinder maximum range
This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
@@ -10534,71 +13010,87 @@
This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
m
-
- subscription airspeed
- Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature
+
+
+
+ UAVCAN/CAN v1 bus bitrate
+ 20000
+ 1000000
+ bit/s
true
-
- subscription barometer
- Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature
+
+ UAVCAN v1
+ 0 - UAVCAN disabled. 1 - Enables UAVCANv1
true
-
- subscription battery
- Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library
- 0
- 2
- true
-
- Disable
- Raw data
- Filter data
-
+
+ actuator_outputs uORB over UAVCAN v1 publication port ID
+ -1
+ 6143
-
- subscription button
- Enable UAVCAN button subscription. ardupilot::indication::Button
- true
+
+ DS-015 battery parameters subscription port ID
+ -1
+ 6143
-
- subscription differential pressure
- Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData
- true
+
+ DS-015 battery status subscription port ID
+ -1
+ 6143
-
- subscription flow
- Enable UAVCAN optical flow subscription.
- true
+
+ DS-015 battery energy source subscription port ID
+ -1
+ 6143
-
- subscription GPS
- Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary
- true
+
+ ESC 0 subscription port ID
+ -1
+ 6143
-
- subscription hygrometer
- Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer
- true
+
+ UAVCAN v1 ESC publication port ID
+ -1
+ 6143
-
- subscription ICE
- Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status
- true
+
+ GPS 0 subscription port ID
+ -1
+ 6143
-
- subscription IMU
- Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU
- true
+
+ GPS 1 subscription port ID
+ -1
+ 6143
-
- subscription magnetometer
- Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2
- true
+
+ UAVCAN v1 GPS publication port ID
+ -1
+ 6143
+
+
+ UAVCAN v1 leagcy battery port ID
+ -1
+ 6143
+
+
+ UAVCAN v1 Servo publication port ID
+ -1
+ 6143
+
+
+ sensor_gps uORB over UAVCAN v1 subscription port ID
+ -1
+ 6143
-
- subscription range finder
- Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement
+
+
+
+ UAVCAN v1 Node ID
+ Read the specs at http://uavcan.org to learn more about Node ID.
+ 1
+ 125
true
@@ -10693,36 +13185,51 @@
2
1
-
- Duration motor tilt up in backtransition
- Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
- 0.1
- 10
- s
+
+ Backtransition deceleration setpoint to pitch feedforward gain
+ 0
+ 0.2
+ rad s^2/m
1
- 0.1
+ 0.05
Backtransition deceleration setpoint to pitch I gain
0
0.3
rad s/m
- 2
+ 1
0.05
Approximate deceleration during back transition
- Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.
+ The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. For standard vtol and tiltrotors a controller is used to track this value during the transition.
0.5
10
m/s^2
2
0.1
-
- Maximum duration of a back transition
- Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.
- 0.1
+
+ Delay in seconds before applying back transition throttle
+ Set this to a value greater than 0 to give the motor time to spin down. unit s
+ 0
+ 10
+ 2
+ 1
+
+
+ Output on airbrakes channel during back transition
+ Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel Airbrakes need to be enables for your selected model/mixer
+ 0
+ 1
+ 2
+ 0.01
+
+
+ Duration of a back transition
+ Time in seconds used for a back transition
+ 0.00
20.00
s
2
@@ -10734,192 +13241,168 @@
0.0
20.0
s
- 1
- 0.1
+
+
+ Target throttle value for the transition to hover flight
+ standard vtol: pusher tailsitter, tiltrotor: main throttle Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking
+ -1
+ 1
+ 2
+ 0.01
+
+
+ Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
+ When fixed-wing forward actuation is active (see VT_FW_TRHUST_EN). If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
+ 0.0
+ 45.0
- Lock control surfaces in hover
- If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.
+ Lock elevons in multicopter mode
+ If set to 1 the elevons are locked in multicopter mode
- Use fixed-wing actuation in hover to accelerate forward
- This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.
+ Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down)
+ This technique can be used to avoid the plane having to pitch down in order to move forward. This prevents large, negative lift values being created when facing strong winds. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from demanded down pitch to fixed-wing actuation.
- Disabled
- Enabled (except LANDING)
- Enabled if distance to ground above MPC_LAND_ALT1
- Enabled if distance to ground above MPC_LAND_ALT2
- Enabled constantly
- Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)
- Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)
+ Disable FW forward actuation in hover.
+ Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
+ Enable FW forward actuation in hover in altitude, position and auto modes.
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).
- Fixed-wing actuation thrust scale for hover forward flight
- Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.
+ Fixed-wing actuator thrust scale for hover forward flight
+ Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Only active if demaded down pitch is above VT_DWN_PITCH_MAX. Enabled via VT_FWD_THRUST_EN.
0.0
2.0
- 2
- 0.01
+
+
+ Adaptive QuadChute
+ Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL.
+ 0.0
+ 200.0
Differential thrust in forwards flight
- Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.
+ Set to 1 to enable differential thrust in fixed-wing flight.
0
- 7
-
- Yaw
- Roll
- Pitch
-
-
-
- Pitch differential thrust factor in forward flight
- Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
- 0.0
- 2.0
- 2
- 0.1
-
-
- Roll differential thrust factor in forward flight
- Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
- 0.0
- 2.0
- 2
- 0.1
+ 1
+ 0
-
- Yaw differential thrust factor in forward flight
- Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
+
+ Differential thrust scaling factor
+ This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
0.0
- 2.0
+ 1.0
2
0.1
- Quad-chute altitude
- Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
+ QuadChute Altitude
+ 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
0.0
200.0
- m
- 1
- 1
-
- Quad-chute maximum height
- Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
+
+ The channel number of motors that must be turned off in fixed wing mode
0
- m
+ 12345678
+ 0
1
+
+ Permanent stabilization in fw mode
+ If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.
+
- Quad-chute max pitch threshold
- Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.
+ QuadChute Max Pitch
+ Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL
0
180
- deg
- Quad-chute max roll threshold
- Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.
+ QuadChute Max Roll
+ Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL
0
180
- deg
Duration of a front transition
Time in seconds used for a transition
- 0.1
+ 0.00
20.00
s
2
1
- Target throttle value for the transition to fixed-wing flight
+ Target throttle value for the transition to fixed wing flight
+ standard vtol: pusher tailsitter, tiltrotor: main throttle
0.0
1.0
3
0.01
- Airspeed-less front transition time (open loop)
+ Airspeed less front transition time (open loop)
The duration of the front transition when there is no airspeed feedback available.
1.0
30.0
s
- 1
- 0.5
-
-
- Minimum pitch angle during hover landing
- Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings generating too much lift and preventing the vehicle from sinking at the desired rate.
- -10.0
- 45.0
- deg
- 1
- 0.1
-
-
- Minimum pitch angle during hover
- Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.
- -10.0
- 45.0
- deg
- 1
- 0.1
-
-
- Pusher throttle ramp up slew rate
- Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.
- 0
- 1/s
- 2
- 0.01
-
- Quad-chute uncommanded descent threshold
- Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.
- 0.0
- 200.0
- m
- 1
+
+ Idle speed of VTOL when in multicopter mode
+ 900
+ 2000
+ us
+ 0
1
-
- Quad-chute transition altitude loss threshold
- Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. Active until 5s after completing transition to fixed-wing. Only active if altitude estimate is valid and in altitude-controlled mode. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.
+
+ Enable the usage of AUX outputs for hover motors
+ Set this parameter to true if the vehicle's hover motors are connected to the FMU (AUX) port. Not required for boards that only have a FMU, and no IO. Only applies for standard VTOL and tiltrotor.
+
+
+ The channel number of motors which provide lift during hover
0
- 50
- m
- 1
+ 12345678
+ 0
1
-
- Spoiler setting while landing (hover)
- -1
- 1
- norm
- 1
- 0.1
+
+ Pusher throttle ramp up window
+ Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
+ 20
+ 2
+ 0.01
- Normalized tilt in FW
+ Position of tilt servo in fw mode
0.0
1.0
3
0.01
- Normalized tilt in Hover
+ Position of tilt servo in mc mode
+ 0.0
+ 1.0
+ 3
+ 0.01
+
+
+ Tilt actuator control value commanded when disarmed and during the first second after arming
+ This specific tilt during spin-up is necessary for some systems whose motors otherwise don't spin-up freely.
0.0
1.0
3
0.01
-
- Normalized tilt in transition to FW
+
+ Position of tilt servo in transition mode
0.0
1.0
3
@@ -10931,12 +13414,10 @@
0.0
20.0
s
- 1
- 0.1
Duration of front transition phase 2
- Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.
+ Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
0.1
5.0
s
@@ -10946,7 +13427,7 @@
Front transition timeout
Time in seconds after which transition will be cancelled. Disabled if set to 0.
- 0.1
+ 0.00
30.00
s
2
@@ -10956,6 +13437,7 @@
VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
0
2
+ 0
true
Tailsitter
@@ -10973,18 +13455,73 @@
0.01
-
-
- VTOL Takeoff relative loiter altitude
- Altitude relative to home at which vehicle will loiter after front transition.
- 20
- 300
- m
- 1
- 1
+
+
+ Inertia matrix, XX component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Inertia matrix, XY component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Inertia matrix, XZ component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Inertia matrix, YY component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Inertia matrix, YZ component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Inertia matrix, ZZ component
+ kg m^2
+ 5
+ 0.00001
+
+
+ Mass
+ kg
+ 5
+ 0.00001
+
+ EXFW_HDNG_P
+
+
+ EXFW_PITCH_P
+
+
+ EXFW_ROLL_P
+
+
+ Enable user assisted descent speed 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
+ 0
+ 1
+
+ Fixed descent speed of MPC_LAND_SPEED
+ User assisted descent speed
+
+
+
+ RV_YAW_P
+
Skip the controller