diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index 2f96ad9..d0ee219 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -283,6 +283,11 @@ throttle steering + + Rover + Rover + https://www.aionrobotics.com/r1 + Rover Katrin Moritz diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index cefab8b..45dd338 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -196,6 +196,155 @@ us + + + 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 @@ -859,7 +1008,7 @@ 0 3 - Disabled + Warning only Hold mode Land mode Return mode @@ -986,15 +1135,7 @@ Allow arming without GPS - - Delay between battery state change and failsafe reaction - Battery state requires action -> wait COM_BAT_ACT_T seconds in Hold mode for the user to realize and take a custom action -> React with failsafe action COM_LOW_BAT_ACT A zero value disables the delay. - 0.0 - 25.0 - s - 3 - - + Maximum allowed CPU load to still arm A negative value disables the check. -1 @@ -1015,14 +1156,22 @@ 2 - Datalink loss time threshold - After this amount of seconds without datalink the data link lost mode triggers + GCS connection loss time threshold + After this amount of seconds without datalink, the GCS connection 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. Afterwards the configured failsafe action is triggered and the user may take over. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed). + 0.0 + 25.0 + s + 3 + Next flight UUID This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0. @@ -1216,7 +1365,7 @@ Timeout for detecting a failure after takeoff - 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. + 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. -1.0 5.0 s @@ -1244,23 +1393,10 @@ 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 + 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 Position mode Altitude mode Manual @@ -1268,7 +1404,7 @@ Land mode Hold mode Terminate - Lockdown + Disarm @@ -1276,7 +1412,7 @@ Time-out to wait when offboard connection is lost before triggering offboard lost action - See COM_OBL_ACT and COM_OBL_RC_ACT to configure action. + See COM_OBL_RC_ACT to configure action. 0 60 s @@ -1287,10 +1423,10 @@ 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/Terminate is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION. + 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. Altitude/Manual - Land/Terminate + Land/Descend @@ -1328,7 +1464,7 @@ Set command after a quadchute - No action: stay in current flight mode + Warning only Return mode Land mode Hold mode @@ -1440,8 +1576,8 @@ 0.1 - 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. + 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. 0 6 @@ -1450,7 +1586,7 @@ Return mode Land mode Terminate - Lockdown + Disarm @@ -1463,7 +1599,7 @@ Return mode Land mode Terminate - Lockdown + Disarm @@ -2574,7 +2710,7 @@ Flaps setting during landing - Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation. + Sets a fraction of full flaps during landing. 0.0 1.0 norm @@ -2583,7 +2719,7 @@ Flaps setting during take-off - Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation. + Sets a fraction of full flaps during take-off. 0.0 1.0 norm @@ -2646,7 +2782,7 @@ Pitch rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 - 10.0 + 1.0 %/rad/s 2 0.05 @@ -2655,7 +2791,7 @@ 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 - 0.5 + 1 %/rad 3 0.005 @@ -2672,7 +2808,7 @@ Pitch rate proportional gain Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - 1.0 + 2.0 %/rad/s 3 0.005 @@ -2733,7 +2869,7 @@ 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 + 1 %/rad/s 2 0.05 @@ -2742,12 +2878,12 @@ Roll rate integrator Gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 0.2 + 1 %/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 @@ -2759,7 +2895,7 @@ Roll rate proportional Gain Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - 1.0 + 2.0 %/rad/s 3 0.005 @@ -2776,7 +2912,7 @@ 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 + 0.2 1.0 s 2 @@ -2811,7 +2947,7 @@ Wheel steering rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 - 10.0 + 1.0 %/rad/s 2 0.05 @@ -2825,7 +2961,7 @@ 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 @@ -2867,7 +3003,7 @@ Yaw rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 - 10.0 + 1.0 %/rad/s 2 0.05 @@ -2876,12 +3012,12 @@ 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 + 1 %/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 @@ -2893,7 +3029,7 @@ Yaw rate proportional gain Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. 0.0 - 1.0 + 2.0 %/rad/s 3 0.005 @@ -7918,6 +8054,7 @@ Bandwidth per notch filter when using dynamic notch filtering with ESC RPM. 5 30 + Hz IMU gyro dynamic notch filtering @@ -7935,6 +8072,11 @@ 1 7 + + IMU gyro dynamic notch filter minimum frequency + Minimum notch filter frequency in Hz. + Hz + IMU gyro FFT enable true @@ -9848,125 +9990,6 @@ - - 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 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 - Sagetech External Configuration Mode Disables auto-configuration mode enabling MXS config through external software.