diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml index e8e2ce3..b53a862 100644 --- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml @@ -1,3043 +1,4607 @@ - - - - Empty cell voltage - Defines the voltage where a single cell of the battery is considered empty. - 3.4 - V - - - Full cell voltage - Defines the voltage where a single cell of the battery is considered full. - 4.2 - V - - - Voltage drop per cell on 100% load - This implicitely defines the internal resistance - to maximum current ratio and assumes linearity. - 0.07 - V - - - Number of cells - Defines the number of cells the attached battery consists of. - 3 - S - - - Battery capacity - Defines the capacity of the attached battery. - -1.0 - mA - - - Scaling factor for battery voltage sensor on PX4IO - 10000 - - - Scaling factor for battery voltage sensor on FMU v2 - 0.0082 - - - Scaling factor for battery voltage sensor on AeroCore - For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 - 0.0063 - - - Scaling factor for battery voltage sensor on FMU v1 - FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 - FMUv1 with PX4IO: 0.00459340659 - FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 - 0.00459340659 - - - Scaling factor for battery current sensor - 0.0124 - - - - - 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 - 0 - 0 - 894281 - - - 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 - 0 - 140253 - - - Circuit breaker for IO safety - Setting this parameter to 894281 will disable IO safety. - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 0 - 22027 - - - Circuit breaker for airspeed sensor - Setting this parameter to 162128 will disable the check for an airspeed sensor. - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 0 - 0 - 162128 - - - Circuit breaker for flight termination - Setting this parameter to 121212 will disable the flight termination action. - --> The IO driver will not do flight termination if requested by the FMU - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 121212 - 0 - 121212 - - - 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 enine failure flag will be - set to healthy - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 284953 - 0 - 284953 - - - Circuit breaker for gps failure detection - Setting this parameter to 240024 will disable the gps failure detection. - If the aircraft is in gps failure mode the gps failure flag will be - set to healthy - WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK - 240024 - 0 - 240024 - - - - - Comms hold wait time - The amount of time in seconds the system should wait at the comms hold waypoint - 120.0 - 0.0 - seconds - - - Comms hold Lat - Latitude of comms hold waypoint - -266072120 - 0 - degrees * 1e7 - - - Comms hold Lon - Longitude of comms hold waypoint - 1518453890 - 0 - degrees * 1e7 - - - Comms hold alt - Altitude of comms hold waypoint - 600.0 - 0.0 - m - - - Aifield hole wait time - The amount of time in seconds the system should wait at the airfield home waypoint - 120.0 - 0.0 - seconds - - - Number of allowed Datalink timeouts - After more than this number of data link timeouts the aircraft returns home directly - 2 - 0 - 1000 - timeouts - - - Skip comms hold wp - If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to - airfield home - 0 - 0 - 1 - - - Airfield home Lat - Latitude of airfield home waypoint - -265847810 - 0 - degrees * 1e7 - - - Airfield home Lon - Longitude of airfield home waypoint - 1518423250 - 0 - degrees * 1e7 - - - Airfield home alt - Altitude of airfield home waypoint - 600.0 - 0.0 - m - - - - - Attitude Time Constant - This defines the latency between a 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. - 0.5 - 0.4 - 1.0 - seconds - - - Pitch rate proportional gain - This defines how much the elevator input will be commanded depending on the - current body angular rate error. - 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 - 0.0 - 50.0 - - - Maximum positive / up pitch rate - This limits the maximum pitch up angular rate the controller will output (in - degrees per second). Setting a value of zero disables the limit. - 0.0 - 0.0 - 90.0 - deg/s - - - Maximum negative / down pitch rate - This limits the maximum pitch down up angular rate the controller will - output (in degrees per second). Setting a value of zero disables the limit. - 0.0 - 0.0 - 90.0 - deg/s - - - Pitch rate integrator limit - The portion of the integrator part in the control surface deflection is - limited to this value - 0.2 - 0.0 - 1.0 - - - Roll to Pitch feedforward gain - This compensates during turns and ensures the nose stays level. - 0.0 - 0.0 - 2.0 - - - Roll rate proportional Gain - This defines how much the aileron input will be commanded depending on the - current body angular rate error. - 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. - 0.0 - 0.0 - 100.0 - - - Roll Integrator Anti-Windup - The portion of the integrator part in the control surface deflection is limited to this value. - 0.2 - 0.0 - 1.0 - - - Maximum Roll Rate - This limits the maximum roll rate the controller will output (in degrees per - second). Setting a value of zero disables the limit. - 0.0 - 0.0 - 90.0 - deg/s - - - Yaw rate proportional gain - This defines how much the rudder input will be commanded depending on the - current body angular rate error. - 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 - 0.0 - 50.0 - - - Yaw rate integrator limit - The portion of the integrator part in the control surface deflection is - limited to this value - 0.2 - 0.0 - 1.0 - - - Maximum Yaw Rate - This limits the maximum yaw rate the controller will output (in degrees per - second). Setting a value of zero disables the limit. - 0.0 - 0.0 - 90.0 - deg/s - - - Roll rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.3 - 0.0 - 10.0 - - - Pitch rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.4 - 0.0 - 10.0 - - - Yaw rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.3 - 0.0 - 10.0 - - - Minimal speed for yaw coordination - For airspeeds above this value, the yaw rate is calculated for a coordinated - turn. Set to a very high value to disable. - 1000.0 - m/s - - - Minimum Airspeed - If the airspeed falls below this value, the TECS controller will try to - increase airspeed more aggressively. - 13.0 - 0.0 - 30.0 - m/s - - - Trim Airspeed - The TECS controller tries to fly at this airspeed. - 20.0 - 0.0 - 30.0 - m/s - - - Maximum Airspeed - If the airspeed is above this value, the TECS controller will try to decrease - airspeed more aggressively. - 50.0 - 0.0 - 30.0 - m/s - - - Roll Setpoint Offset - An airframe specific offset of the roll setpoint in degrees, the value is - added to the roll setpoint and should correspond to the typical cruise speed - of the airframe. - 0.0 - -90.0 - 90.0 - deg - - - Pitch Setpoint Offset - An airframe specific offset of the pitch setpoint in degrees, the value is - added to the pitch setpoint and should correspond to the typical cruise - speed of the airframe. - 0.0 - -90.0 - 90.0 - deg - - - Max Manual Roll - Max roll for manual control in attitude stabilized mode - 45.0 - 0.0 - 90.0 - deg - - - Max Manual Pitch - Max pitch for manual control in attitude stabilized mode - 45.0 - 0.0 - 90.0 - deg - - - - - 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. - 2.0 - - - 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. - 5.0 - - - TECS time constant - This is the time constant of the TECS control algorithm (in seconds). - Smaller values make it faster to respond, larger values make it slower - to respond. - 5.0 - - - TECS Throttle time constant - This is the time constant of the TECS throttle control algorithm (in seconds). - Smaller values make it faster to respond, larger values make it slower - to respond. - 8.0 - - - 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. - 0.5 - - - Integrator gain - This is the integrator gain on the control loop. - Increasing this gain increases the speed at which speed - and height offsets are trimmed out, but reduces damping and - increases overshoot. - 0.1 - - - Maximum vertical acceleration - This is the maximum vertical acceleration (in metres/second square) - 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. - 7.0 - - - Complementary filter "omega" parameter for height - This is the cross-over frequency (in radians/second) of the complementary - filter used to fuse vertical acceleration and barometric height to obtain - an estimate of height rate and height. Increasing this frequency weights - the solution more towards use of the barometer, whilst reducing it weights - the solution more towards use of the accelerometer data. - 3.0 - - - 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 arispeed sensor, whilst reducing it weights the - solution more towards use of the accelerometer data. - 2.0 - - - 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. - 10.0 - - - 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). - 1.0 - - - 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 - - - Height rate P factor - 0.05 - - - Height rate FF factor - 0.0 - - - Speed rate P factor - 0.05 - - - - - Loiter time - The amount of time in seconds the system should do open loop loiter and wait for gps recovery - before it goes into flight termination. - 30.0 - 0.0 - seconds - - - Open loop loiter roll - Roll in degrees during the open loop loiter - 15.0 - 0.0 - 30.0 - deg - - - Open loop loiter pitch - Pitch in degrees during the open loop loiter - 0.0 - -30.0 - 30.0 - deg - - - Open loop loiter thrust - Thrust value which is set during the open loop loiter - 0.7 - 0.0 - 1.0 - - - - - Enable geofence - Set to 1 to enable geofence. - Defaults to 1 because geofence is only enabled when the geofence.txt file is present. - 1 - 0 - 1 - - - Geofence altitude mode - Select which altitude reference should be used - 0 = WGS84, 1 = AMSL - 0 - 0 - 1 - - - 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 - 0 - 1 - - - Geofence counter limit - Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered - -1 - -1 - 10 - - - - - L1 period - This is the L1 distance and defines the tracking - point ahead of the aircraft its following. - A value of 25 meters works for most aircraft. Shorten - slowly during tuning until response is sharp without oscillation. - 25.0 - 1.0 - 100.0 - - - L1 damping - Damping factor for L1 control. - 0.75 - 0.6 - 0.9 - - - Cruise throttle - This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. - 0.7 - 0.0 - 1.0 - - - Throttle max slew rate - Maximum slew rate for the commanded throttle - 0.0 - 0.0 - 1.0 - - - Negative pitch limit - The minimum negative pitch the controller will output. - -45.0 - -60.0 - 0.0 - degrees - - - Positive pitch limit - The maximum positive pitch the controller will output. - 45.0 - 0.0 - 60.0 - degrees - - - Controller roll limit - The maximum roll the controller will output. - 45.0 - 0.0 - degrees - - - 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. - 1.0 - - - 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 - - - Throttle limit value before flare - This throttle value will be set as throttle limit at FW_LND_TLALT, - before arcraft will flare. - 1.0 - - - 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 zero to disable climbout mode (not recommended). - 25.0 - - - 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. - 5.0 - - - Landing slope angle - 5.0 - - - FW_LND_HVIRT - 10.0 - - - Landing flare altitude (relative to landing altitude) - 8.0 - meter - - - Landing throttle limit altitude (relative landing altitude) - Default of -1.0f lets the system default to applying throttle - limiting at 2/3 of the flare altitude. - -1.0 - meter - - - Landing heading hold horizontal distance - 15.0 - - - Enable or disable usage of terrain estimate during landing - 0: disabled, 1: enabled - 0 - - - - - Enable launch detection - 0 - 0 - 1 - - - Catapult accelerometer theshold - LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 30.0 - 0 - - - Catapult time theshold - LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. - 0.05 - 0 - - - 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 LAUN_THR_PRE, set to 0 to deactivate - 0.0 - 0 - seconds - - - 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). - 30.0 - 0 - 45 - deg - - - Throttle setting while detecting launch - The throttle is set to this value while the system is waiting for the take-off. - 0.0 - 0 - 1 - - - - - MAVLink system ID - 1 - - - MAVLink component ID - 50 - - - MAVLink type - MAV_TYPE_FIXED_WING - - - Use/Accept HIL GPS message (even if not in HIL mode) - If set to 1 incomming HIL GPS messages are parsed - 0 - - - Forward external setpoint messages - If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard - control mode - 1 - - - - - Take-off altitude - Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to - MIS_TAKEOFF_ALT on takeoff, then go to waypoint. - 10.0 - meters - - - Enable persistent onboard mission storage - When enabled, missions that have been uploaded by the GCS are stored - and reloaded after reboot persistently. - 1 - 0 - 1 - - - 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_DIS_1WP from the current position. - 500 - 0 - 1000 - - - Altitude setpoint mode - 0: the system will follow a zero order hold altitude setpoint - 1: the system will follow a first order hold altitude setpoint - values follow the definition in enum mission_altitude_mode - 0 - 0 - 1 - - - Loiter radius (FW only) - Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). - 50.0 - 0.0 - meters - - - Acceptance Radius - Default acceptance radius, overridden by acceptance radius of waypoint if set. - 25.0 - 1.0 - meters - - - Set OBC mode for data link loss - If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 - 0 - - - Set OBC mode for rc loss - If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules - 0 - 0 - - - - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 6.0 - 0.0 - - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.1 - 0.0 - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 0.0 - - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.002 - 0.0 - - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 6.0 - 0.0 - 1/s - - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.1 - 0.0 - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 0.0 - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.002 - 0.0 - - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. - 2.0 - 0.0 - 1/s - - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.3 - 0.0 - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 0.0 - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - 0.0 - - - Yaw feed forward - Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 - 0.0 - 1.0 - - - Max yaw rate - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. - 120.0 - 0.0 - 360.0 - deg/s - - - Max manual roll - 35.0 - 0.0 - 90.0 - deg - - - Max manual pitch - 35.0 - 0.0 - 90.0 - deg - - - Max manual yaw rate - 120.0 - 0.0 - deg/s - - - Max acro roll rate - 90.0 - 0.0 - 360.0 - deg/s - - - Max acro pitch rate - 90.0 - 0.0 - 360.0 - deg/s - - - Max acro yaw rate - 120.0 - 0.0 - deg/s - - - - - Minimum thrust - Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. - 0.1 - 0.0 - 1.0 - - - Maximum thrust - Limit max allowed thrust. - 1.0 - 0.0 - 1.0 - - - Proportional gain for vertical position error - 1.0 - 0.0 - - - Proportional gain for vertical velocity error - 0.1 - 0.0 - - - Integral gain for vertical velocity error - Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. - 0.02 - 0.0 - - - Differential gain for vertical velocity error - 0.0 - 0.0 - - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). - 5.0 - 0.0 - m/s - - - Vertical velocity feed forward - Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 - 0.0 - 1.0 - - - Proportional gain for horizontal position error - 1.0 - 0.0 - - - Proportional gain for horizontal velocity error - 0.1 - 0.0 - - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.02 - 0.0 - - - Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again - 0.01 - 0.0 - - - Maximum horizontal velocity - Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). - 5.0 - 0.0 - m/s - - - Horizontal velocity feed forward - Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. - 0.5 - 0.0 - 1.0 - - - Maximum tilt angle in air - Limits maximum tilt in AUTO and POSCTRL modes during flight. - 45.0 - 0.0 - 90.0 - deg - - - Maximum tilt during landing - Limits maximum tilt angle on landing. - 15.0 - 0.0 - 90.0 - deg - - - Landing descend rate - 1.0 - 0.0 - m/s - - - - - Ground drag property - This parameter encodes the ground drag coefficient and the corresponding - decrease in wind speed from the plane altitude to ground altitude. - 0.03 - 0.001 - 0.1 - unknown - - - Plane turn radius - The planes known minimal turn radius - use a higher value - to make the plane maneuver more distant from the actual drop - position. This is to ensure the wings are level during the drop. - 120.0 - 30.0 - 500.0 - meter - - - Drop precision - If the system is closer than this distance on passing over the - drop position, it will release the payload. This is a safeguard - to prevent a drop out of the required accuracy. - 30.0 - 1.0 - 80.0 - meter - - - Payload drag coefficient of the dropped object - The drag coefficient (cd) is the typical drag - constant for air. It is in general object specific, - but the closest primitive shape to the actual object - should give good results: - http://en.wikipedia.org/wiki/Drag_coefficient - 0.1 - 0.08 - 1.5 - meter - - - Payload mass - A typical small toy ball: - 0.025 kg - OBC water bottle: - 0.6 kg - 0.6 - 0.001 - 5.0 - kilogram - - - Payload front surface area - A typical small toy ball: - (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 - OBC water bottle: - (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 - 0.00311724531 - 0.001 - 0.5 - m^2 - - - - - Velocity estimate delay - The delay in milliseconds of the velocity estimate from GPS. - 230 - 0 - 1000 - - - Position estimate delay - The delay in milliseconds of the position estimate from GPS. - 210 - 0 - 1000 - - - Height estimate delay - The delay in milliseconds of the height estimate from the barometer. - 350 - 0 - 1000 - - - Mag estimate delay - The delay in milliseconds of the magnetic field estimate from - the magnetometer. - 30 - 0 - 1000 - - - True airspeeed estimate delay - The delay in milliseconds of the airspeed estimate. - 210 - 0 - 1000 - - - GPS vs. barometric altitude update weight - RE-CHECK this. - 0.9 - 0.0 - 1.0 - - - Airspeed measurement noise - Increasing this value will make the filter trust this sensor - less and trust other sensors more. - 1.4 - 0.5 - 5.0 - - - Velocity measurement noise in north-east (horizontal) direction - Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 - 0.3 - 0.05 - 5.0 - - - Velocity noise in down (vertical) direction - Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 - 0.5 - 0.05 - 5.0 - - - Position noise in north-east (horizontal) direction - Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 - 0.5 - 0.1 - 10.0 - - - Position noise in down (vertical) direction - Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 - 0.5 - 0.1 - 10.0 - - - Magnetometer measurement noise - Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - 0.05 - 0.1 - 10.0 - - - Gyro process noise - Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. - This noise controls how much the filter trusts the gyro measurements. - Increasing it makes the filter trust the gyro less and other sensors more. - 0.015 - 0.001 - 0.05 - - - Accelerometer process noise - Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. - Increasing this value makes the filter trust the accelerometer less - and other sensors more. - 0.25 - 0.05 - 1.0 - - - Gyro bias estimate process noise - Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. - Increasing this value will make the gyro bias converge faster but noisier. - 1e-07 - 0.0000001 - 0.00001 - - - Accelerometer bias estimate process noise - Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. - Increasing this value makes the bias estimation faster and noisier. - 0.00005 - 0.00001 - 0.001 - - - Magnetometer earth frame offsets process noise - Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. - Increasing this value makes the magnetometer earth bias estimate converge - faster but also noisier. - 0.0003 - 0.0001 - 0.01 - - - Magnetometer body frame offsets process noise - Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. - Increasing this value makes the magnetometer body bias estimate converge faster - but also noisier. - 0.0003 - 0.0001 - 0.01 - - - Threshold for filter initialization - If the standard deviation of the GPS position estimate is below this threshold - in meters, the filter will initialize. - 5.0 - 0.3 - 10.0 - - - - - Z axis weight for barometer - Weight (cutoff frequency) for barometer altitude measurements. - 0.5 - 0.0 - 10.0 - - - Z axis weight for GPS - Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. - 0.005 - 0.0 - 10.0 - - - Z axis weight for vision - Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. - 0.5 - 0.0 - 10.0 - - - Z axis weight for sonar - Weight (cutoff frequency) for sonar measurements. - 3.0 - 0.0 - 10.0 - - - XY axis weight for GPS position - Weight (cutoff frequency) for GPS position measurements. - 1.0 - 0.0 - 10.0 - - - XY axis weight for GPS velocity - Weight (cutoff frequency) for GPS velocity measurements. - 2.0 - 0.0 - 10.0 - - - XY axis weight for vision position - Weight (cutoff frequency) for vision position measurements. - 5.0 - 0.0 - 10.0 - - - XY axis weight for vision velocity - Weight (cutoff frequency) for vision velocity measurements. - 0.0 - 0.0 - 10.0 - - - XY axis weight for optical flow - Weight (cutoff frequency) for optical flow (velocity) measurements. - 5.0 - 0.0 - 10.0 - - - XY axis weight for resetting velocity - When velocity sources lost slowly decrease estimated horizontal velocity with this weight. - 0.5 - 0.0 - 10.0 - - - XY axis weight factor for GPS when optical flow available - When optical flow data available, multiply GPS weights (for position and velocity) by this factor. - 0.1 - 0.0 - 1.0 - - - Accelerometer bias estimation weight - Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. - 0.05 - 0.0 - 0.1 - - - Optical flow scale factor - Factor to convert raw optical flow (in pixels) to radians [rad/px]. - 0.15 - 0.0 - 1.0 - rad/px - - - Minimal acceptable optical flow quality - 0 - lowest quality, 1 - best quality. - 0.5 - 0.0 - 1.0 - - - Weight for sonar filter - Sonar filter detects spikes on sonar measurements and used to detect new surface level. - 0.05 - 0.0 - 1.0 - - - Sonar maximal error for new surface - If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). - 0.5 - 0.0 - 1.0 - m - - - Land detector time - Vehicle assumed landed if no altitude changes happened during this time on low throttle. - 3.0 - 0.0 - 10.0 - s - - - Land detector altitude dispersion threshold - Dispersion threshold for triggering land detector. - 0.7 - 0.0 - 10.0 - m - - - Land detector throttle threshold - Value should be lower than minimal hovering thrust. Half of it is good choice. - 0.2 - 0.0 - 1.0 - - - GPS delay - GPS delay compensation - 0.2 - 0.0 - 1.0 - s - - - Disable vision input - Set to the appropriate key (328754) to disable vision input. - 0 - 0 - 1 - - - - - Loiter Time - The amount of time in seconds the system should loiter at current position before termination - Set to -1 to make the system skip loitering - 120.0 - -1.0 - seconds - - - - - Loiter radius after RTL (FW only) - Default value of loiter radius after RTL (fixedwing only). - 50.0 - 0.0 - meters - - - RTL altitude - Altitude to fly back in RTL in meters - 100 - 0 - 1 - meters - - - RTL loiter altitude - Stay at this altitude above home position after RTL descending. - Land (i.e. slowly descend) from this altitude if autolanding allowed. - 20 - 0 - 100 - meters - - - RTL delay - Delay after descend before landing in RTL mode. - If set to -1 the system will not land but loiter at NAV_LAND_ALT. - -1.0 - -1.0 - seconds - - - - - RC Channel 1 Minimum - Minimum value for RC channel 1 - 1000.0 - 800.0 - 1500.0 - - - RC Channel 1 Trim - Mid point value (same as min for throttle) - 1500.0 - 800.0 - 2200.0 - - - RC Channel 1 Maximum - Maximum value for RC channel 1 - 2000.0 - 1500.0 - 2200.0 - - - RC Channel 1 Reverse - Set to -1 to reverse channel. - 1.0 - -1.0 - 1.0 - - - RC Channel 1 dead zone - The +- range of this value around the trim value will be considered as zero. - 10.0 - 0.0 - 100.0 - - - RC Channel 2 Minimum - Minimum value for RC channel 2 - 1000.0 - 800.0 - 1500.0 - - - RC Channel 2 Trim - Mid point value (same as min for throttle) - 1500.0 - 800.0 - 2200.0 - - - RC Channel 2 Maximum - Maximum value for RC channel 2 - 2000.0 - 1500.0 - 2200.0 - - - RC Channel 2 Reverse - Set to -1 to reverse channel. - 1.0 - -1.0 - 1.0 - - - RC Channel 2 dead zone - The +- range of this value around the trim value will be considered as zero. - 10.0 - 0.0 - 100.0 - - - DSM binding trigger - -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind - -1 - - - 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. - 1 - 0 - 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. - 2 - 0 - 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. - 3 - 0 - 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. - 4 - 0 - 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 - 0 - 18 - - - Return switch channel mapping - 0 - 0 - 18 - - - Posctl switch channel mapping - 0 - 0 - 18 - - - Loiter switch channel mapping - 0 - 0 - 18 - - - Acro switch channel mapping - 0 - 0 - 18 - - - Offboard switch channel mapping - 0 - 0 - 18 - - - Flaps channel mapping - 0 - 0 - 18 - - - Auxiliary switch 1 channel mapping - Default function: Camera pitch - 0 - 0 - 18 - - - Auxiliary switch 2 channel mapping - Default function: Camera roll - 0 - 0 - 18 - - - Auxiliary switch 3 channel mapping - Default function: Camera azimuth / yaw - 0 - 0 - 18 - - - Failsafe channel PWM threshold - 0 - 800 - 2200 - - - - - Logging rate - A value of -1 indicates the commandline argument - should be obeyed. A value of 0 sets the minimum rate, - any other value is interpreted as rate in Hertz. This - parameter is only read out before logging starts (which - commonly is before arming). - -1 - -1 - 1 - - - Enable extended logging mode - A value of -1 indicates the commandline argument - should be obeyed. A value of 0 disables extended - logging mode, a value of 1 enables it. This - parameter is only read out before logging starts - (which commonly is before arming). - -1 - -1 - 1 - - - - - Gyro X-axis offset - 0.0 - -10.0 - 10.0 - - - Gyro Y-axis offset - 0.0 - -10.0 - 10.0 - - - Gyro Z-axis offset - 0.0 - -5.0 - 5.0 - - - Gyro X-axis scaling factor - 1.0 - -1.5 - 1.5 - - - Gyro Y-axis scaling factor - 1.0 - -1.5 - 1.5 - - - Gyro Z-axis scaling factor - 1.0 - -1.5 - 1.5 - - - Magnetometer X-axis offset - 0.0 - -500.0 - 500.0 - - - Magnetometer Y-axis offset - 0.0 - -500.0 - 500.0 - - - Magnetometer Z-axis offset - 0.0 - -500.0 - 500.0 - - - Magnetometer X-axis scaling factor - 1.0 - - - Magnetometer Y-axis scaling factor - 1.0 - - - Magnetometer Z-axis scaling factor - 1.0 - - - Accelerometer X-axis offset - 0.0 - - - Accelerometer Y-axis offset - 0.0 - - - Accelerometer Z-axis offset - 0.0 - - - Accelerometer X-axis scaling factor - 1.0 - - - Accelerometer Y-axis scaling factor - 1.0 - - - Accelerometer Z-axis scaling factor - 1.0 - - - Differential pressure sensor offset - The offset (zero-reading) in Pascal - 0.0 - - - Differential pressure sensor analog scaling - Pick the appropriate scaling from the datasheet. - this number defines the (linear) conversion from voltage - to Pascal (pa). For the MPXV7002DP this is 1000. - NOTE: If the sensor always registers zero, try switching - the static and dynamic tubes. - 0 - - - QNH for barometer - 1013.25 - 500 - 1500 - hPa - - - Board rotation - This parameter defines the rotation of the FMU board relative to the platform. - Possible values are: - 0 = No rotation - 1 = Yaw 45° - 2 = Yaw 90° - 3 = Yaw 135° - 4 = Yaw 180° - 5 = Yaw 225° - 6 = Yaw 270° - 7 = Yaw 315° - 8 = Roll 180° - 9 = Roll 180°, Yaw 45° - 10 = Roll 180°, Yaw 90° - 11 = Roll 180°, Yaw 135° - 12 = Pitch 180° - 13 = Roll 180°, Yaw 225° - 14 = Roll 180°, Yaw 270° - 15 = Roll 180°, Yaw 315° - 16 = Roll 90° - 17 = Roll 90°, Yaw 45° - 18 = Roll 90°, Yaw 90° - 19 = Roll 90°, Yaw 135° - 20 = Roll 270° - 21 = Roll 270°, Yaw 45° - 22 = Roll 270°, Yaw 90° - 23 = Roll 270°, Yaw 135° - 24 = Pitch 90° - 25 = Pitch 270° - 0 - - - Board rotation Y (Pitch) offset - This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user - to fine tune the board offset in the event of misalignment. - 0.0 - - - Board rotation X (Roll) offset - This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user - to fine tune the board offset in the event of misalignment. - 0.0 - - - Board rotation Z (YAW) offset - 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. - 0.0 - - - External magnetometer rotation - This parameter defines the rotation of the external magnetometer relative - to the platform (not relative to the FMU). - See SENS_BOARD_ROT for possible values. - 0 - - - Set usage of external magnetometer - * Set to 0 (default) to auto-detect (will try to get the external as primary) - * Set to 1 to force the external magnetometer as primary - * Set to 2 to force the internal magnetometer as primary - 0 - 0 - 2 - - - - - Auto-start script index - Defines the auto-start script used to bootstrap the system. - 0 - - - Automatically configure default values - Set to 1 to set platform-specific parameters to their default - values on next system startup. - 0 - 0 - 1 - - - Set usage of 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. - 1 - 0 - 1 - - - Set restart type - Set by px4io to indicate type of restart - 2 - 0 - 2 - - - - - Enable UAVCAN - Enables support for UAVCAN-interfaced actuators and sensors. - 0 - 0 - 1 - - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 1 - 125 - - - UAVCAN CAN bus bitrate - 1000000 - 20000 - 1000000 - - - - - Body angular rate process noise - 1e-4 - - - Body angular acceleration process noise - 0.08 - - - Acceleration process noise - 0.009 - - - Magnet field vector process noise - 0.005 - - - Gyro measurement noise - 0.0008 - - - Accel measurement noise - 10000.0 - - - Mag measurement noise - 100.0 - - - Moment of inertia matrix diagonal entry (1, 1) - 0.0018 - kg*m^2 - - - Moment of inertia matrix diagonal entry (2, 2) - 0.0018 - kg*m^2 - - - Moment of inertia matrix diagonal entry (3, 3) - 0.0037 - kg*m^2 - - - Moment of inertia enabled in estimator - If set to != 0 the moment of inertia will be used in the estimator - 0 - 0 - 1 - - - - - Datalink loss mode enabled - Set to 1 to enable actions triggered when the datalink is lost. - 0 - 0 - 1 - - - After this amount of seconds without datalink the data link lost mode triggers - 10 - 0 - 30 - second - - - After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' - flag is set back to false - 0 - 0 - 30 - second - - - Engine failure triggers only above this throttle value - 0.5 - 0.0 - 1.0 - - - Engine failure triggers only below this current/throttle value - 5.0 - 0.0 - 7.0 - - - Engine failure triggers only if the throttle threshold and the - current to throttle threshold are violated for this time - 10.0 - 0.0 - 7.0 - second - - - After this amount of seconds without RC connection the rc lost flag is set to true - 0.5 - 0 - 35 - seconds - - - - - mTECS enabled - Set to 1 to enable mTECS - 0 - 0 - 1 - - - Total Energy Rate Control Feedforward - Maps the total energy rate setpoint to the throttle setpoint - 0.7 - 0.0 - 10.0 - - - Total Energy Rate Control P - Maps the total energy rate error to the throttle setpoint - 0.1 - 0.0 - 10.0 - - - Total Energy Rate Control I - Maps the integrated total energy rate to the throttle setpoint - 0.25 - 0.0 - 10.0 - - - Total Energy Rate Control Offset (Cruise throttle sp) - 0.7 - 0.0 - 10.0 - - - Energy Distribution Rate Control Feedforward - Maps the energy distribution rate setpoint to the pitch setpoint - 0.4 - 0.0 - 10.0 - - - Energy Distribution Rate Control P - Maps the energy distribution rate error to the pitch setpoint - 0.03 - 0.0 - 10.0 - - - Energy Distribution Rate Control I - Maps the integrated energy distribution rate error to the pitch setpoint - 0.03 - 0.0 - 10.0 - - - Total Energy Distribution Offset (Cruise pitch sp) - 0.0 - 0.0 - 10.0 - - - Minimal Throttle Setpoint - 0.0 - 0.0 - 1.0 - - - Maximal Throttle Setpoint - 1.0 - 0.0 - 1.0 - - - Minimal Pitch Setpoint in Degrees - -45.0 - -90.0 - 90.0 - deg - - - Maximal Pitch Setpoint in Degrees - 20.0 - -90.0 - 90.0 - deg - - - Lowpass (cutoff freq.) for altitude - 1.0 - - - Lowpass (cutoff freq.) for the flight path angle - 1.0 - - - P gain for the altitude control - Maps the altitude error to the flight path angle setpoint - 0.3 - 0.0 - 10.0 - - - D gain for the altitude control - Maps the change of altitude error to the flight path angle setpoint - 0.0 - 0.0 - 10.0 - - - Lowpass for FPA error derivative calculation (see MT_FPA_D) - 1.0 - - - Minimal flight path angle setpoint - -20.0 - -90.0 - 90.0 - deg - - - Maximal flight path angle setpoint - 30.0 - -90.0 - 90.0 - deg - - - Lowpass (cutoff freq.) for airspeed - 0.5 - - - Airspeed derivative calculation lowpass - 0.5 - - - P gain for the airspeed control - Maps the airspeed error to the acceleration setpoint - 0.3 - 0.0 - 10.0 - - - D gain for the airspeed control - Maps the change of airspeed error to the acceleration setpoint - 0.0 - 0.0 - 10.0 - - - Lowpass for ACC error derivative calculation (see MT_ACC_D) - 0.5 - - - Minimal acceleration (air) - -40.0 - m/s^2 - - - Maximal acceleration (air) - 40.0 - m/s^2 - - - Minimal throttle during takeoff - 1.0 - 0.0 - 1.0 - - - Maximal throttle during takeoff - 1.0 - 0.0 - 1.0 - - - Minimal pitch during takeoff - 0.0 - -90.0 - 90.0 - deg - - - Maximal pitch during takeoff - 45.0 - -90.0 - 90.0 - deg - - - Minimal throttle in underspeed mode - 1.0 - 0.0 - 1.0 - - - Maximal throttle in underspeed mode - 1.0 - 0.0 - 1.0 - - - Minimal pitch in underspeed mode - -45.0 - -90.0 - 90.0 - deg - - - Maximal pitch in underspeed mode - 0.0 - -90.0 - 90.0 - deg - - - Minimal throttle in landing mode (only last phase of landing) - 0.0 - 0.0 - 1.0 - - - Maximal throttle in landing mode (only last phase of landing) - 0.0 - 0.0 - 1.0 - - - Minimal pitch in landing mode - -5.0 - -90.0 - 90.0 - deg - - - Maximal pitch in landing mode - 15.0 - -90.0 - 90.0 - deg - - - Integrator Limit for Total Energy Rate Control - 10.0 - 0.0 - 10.0 - - - Integrator Limit for Energy Distribution Rate Control - 10.0 - 0.0 - 10.0 - - - - - EXFW_HDNG_P - 0.1 - - - EXFW_ROLL_P - 0.2 - - - EXFW_PITCH_P - 0.2 - - - FPE_LO_THRUST - 0.4 - - - FPE_SONAR_LP_U - 0.5 - - - FPE_SONAR_LP_L - 0.2 - - - FPE_DEBUG - 0 - - - FSC_S_P - 0.1 - - - FSC_L_PITCH - 0.4 - - - FSC_L_ROLL - 0.4 - - - ATT_MAG_DECL - 0.0 - - - ATT_ACC_COMP - 2 - - - SO3_COMP_KP - 1.0 - - - SO3_COMP_KI - 0.05 - - - SO3_ROLL_OFFS - 0.0 - - - SO3_PITCH_OFFS - 0.0 - - - SO3_YAW_OFFS - 0.0 - - - TRIM_ROLL - 0.0 - - - TRIM_PITCH - 0.0 - - - TRIM_YAW - 0.0 - - - TEST_MIN - -1.0 - - - TEST_MAX - 1.0 - - - TEST_TRIM - 0.5 - - - TEST_HP - 10.0 - - - TEST_LP - 10.0 - - - TEST_P - 0.2 - - - TEST_I - 0.1 - - - TEST_I_MAX - 1.0 - - - TEST_D - 0.01 - - - TEST_D_LP - 10.0 - - - TEST_MEAN - 1.0 - - - TEST_DEV - 2.0 - - - FWB_P_LP - 300.0 - - - FWB_Q_LP - 300.0 - - - FWB_R_LP - 300.0 - - - FWB_R_HP - 1.0 - - - FWB_P2AIL - 0.3 - - - FWB_Q2ELV - 0.1 - - - FWB_R2RDR - 0.1 - - - FWB_PSI2PHI - 0.5 - - - FWB_PHI2P - 1.0 - - - FWB_PHI_LIM_MAX - 0.3 - - - FWB_V2THE_P - 1.0 - - - FWB_V2THE_I - 0.0 - - - FWB_V2THE_D - 0.0 - - - FWB_V2THE_D_LP - 0.0 - - - FWB_V2THE_I_MAX - 0.0 - - - FWB_THE_MIN - -0.5 - - - FWB_THE_MAX - 0.5 - - - FWB_THE2Q_P - 1.0 - - - FWB_THE2Q_I - 0.0 - - - FWB_THE2Q_D - 0.0 - - - FWB_THE2Q_D_LP - 0.0 - - - FWB_THE2Q_I_MAX - 0.0 - - - FWB_H2THR_P - 0.01 - - - FWB_H2THR_I - 0.0 - - - FWB_H2THR_D - 0.0 - - - FWB_H2THR_D_LP - 0.0 - - - FWB_H2THR_I_MAX - 0.0 - - - FWB_XT2YAW_MAX - 1.57 - - - FWB_XT2YAW - 0.005 - - - FWB_V_MIN - 10.0 - - - FWB_V_CMD - 12.0 - - - FWB_V_MAX - 16.0 - - - FWB_CR_MAX - 1.0 - - - FWB_CR2THR_P - 0.01 - - - FWB_CR2THR_I - 0.0 - - - FWB_CR2THR_D - 0.0 - - - FWB_CR2THR_D_LP - 0.0 - - - FWB_CR2THR_I_MAX - 0.0 - - - FWB_TRIM_THR - 0.8 - - - FWB_TRIM_V - 12.0 - - - Flare, minimum pitch - Minimum pitch during flare, a positive sign means nose up - Applied once FW_LND_TLALT is reached - 2.5 - - - Flare, maximum pitch - Maximum pitch during flare, a positive sign means nose up - Applied once FW_LND_TLALT is reached - 15.0 - - - SEG_TH2V_P - 10.0 - - - SEG_TH2V_I - 0.0 - - - SEG_TH2V_I_MAX - 0.0 - - - SEG_Q2V - 1.0 - - - RC3_MIN - 1000 - - - RC3_TRIM - 1500 - - - RC3_MAX - 2000 - - - RC3_REV - 1.0 - - - RC3_DZ - 10.0 - - - RC4_MIN - 1000 - - - RC4_TRIM - 1500 - - - RC4_MAX - 2000 - - - RC4_REV - 1.0 - - - RC4_DZ - 10.0 - - - RC5_MIN - 1000 - - - RC5_TRIM - 1500 - - - RC5_MAX - 2000 - - - RC5_REV - 1.0 - - - RC5_DZ - 10.0 - - - RC6_MIN - 1000 - - - RC6_TRIM - 1500 - - - RC6_MAX - 2000 - - - RC6_REV - 1.0 - - - RC6_DZ - 10.0 - - - RC7_MIN - 1000 - - - RC7_TRIM - 1500 - - - RC7_MAX - 2000 - - - RC7_REV - 1.0 - - - RC7_DZ - 10.0 - - - RC8_MIN - 1000 - - - RC8_TRIM - 1500 - - - RC8_MAX - 2000 - - - RC8_REV - 1.0 - - - RC8_DZ - 10.0 - - - RC9_MIN - 1000 - - - RC9_TRIM - 1500 - - - RC9_MAX - 2000 - - - RC9_REV - 1.0 - - - RC9_DZ - 0.0 - - - RC10_MIN - 1000 - - - RC10_TRIM - 1500 - - - RC10_MAX - 2000 - - - RC10_REV - 1.0 - - - RC10_DZ - 0.0 - - - RC11_MIN - 1000 - - - RC11_TRIM - 1500 - - - RC11_MAX - 2000 - - - RC11_REV - 1.0 - - - RC11_DZ - 0.0 - - - RC12_MIN - 1000 - - - RC12_TRIM - 1500 - - - RC12_MAX - 2000 - - - RC12_REV - 1.0 - - - RC12_DZ - 0.0 - - - RC13_MIN - 1000 - - - RC13_TRIM - 1500 - - - RC13_MAX - 2000 - - - RC13_REV - 1.0 - - - RC13_DZ - 0.0 - - - RC14_MIN - 1000 - - - RC14_TRIM - 1500 - - - RC14_MAX - 2000 - - - RC14_REV - 1.0 - - - RC14_DZ - 0.0 - - - RC15_MIN - 1000 - - - RC15_TRIM - 1500 - - - RC15_MAX - 2000 - - - RC15_REV - 1.0 - - - RC15_DZ - 0.0 - - - RC16_MIN - 1000 - - - RC16_TRIM - 1500 - - - RC16_MAX - 2000 - - - RC16_REV - 1.0 - - - RC16_DZ - 0.0 - - - RC17_MIN - 1000 - - - RC17_TRIM - 1500 - - - RC17_MAX - 2000 - - - RC17_REV - 1.0 - - - RC17_DZ - 0.0 - - - RC18_MIN - 1000 - - - RC18_TRIM - 1500 - - - RC18_MAX - 2000 - - - RC18_REV - 1.0 - - - RC18_DZ - 0.0 - - - RC_RL1_DSM_VCC - 0 - - - Failsafe channel mapping - The RC mapping index indicates which channel is used for failsafe - If 0, whichever channel is mapped to throttle is used - otherwise the value indicates the specific rc channel to use - 0 - 0 - 18 - - - Threshold for selecting assist mode - min:-1 - max:+1 - 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 - 0.25 - - - Threshold for selecting auto mode - min:-1 - max:+1 - 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 - 0.75 - - - Threshold for selecting posctl mode - min:-1 - max:+1 - 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 - 0.5 - - - Threshold for selecting return to launch mode - min:-1 - max:+1 - 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 - 0.5 - - - Threshold for selecting loiter mode - min:-1 - max:+1 - 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 - 0.5 - - - Threshold for selecting acro mode - min:-1 - max:+1 - 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 - 0.5 - - - Threshold for selecting offboard mode - min:-1 - max:+1 - 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 - 0.5 - - - + + + + BAT_CAPACITY + FLOAT + Battery capacity + Defines the capacity of the attached battery. + -1.0 + mA + + + BAT_C_SCALING + FLOAT + Scaling factor for battery current sensor + 0.0124 + + + BAT_N_CELLS + INT32 + Number of cells + Defines the number of cells the attached battery consists of. + 3 + S + + + BAT_V_CHARGED + FLOAT + Full cell voltage + Defines the voltage where a single cell of the battery is considered full. + 4.2 + V + + + BAT_V_EMPTY + FLOAT + Empty cell voltage + Defines the voltage where a single cell of the battery is considered empty. + 3.4 + V + + + BAT_V_LOAD_DROP + FLOAT + Voltage drop per cell on 100% load + This implicitely defines the internal resistance +to maximum current ratio and assumes linearity. + 0.07 + V + + + BAT_V_SCALE_IO + INT32 + Scaling factor for battery voltage sensor on PX4IO + 10000 + + + BAT_V_SCALING + FLOAT + Scaling factor for battery voltage sensor on FMU v2 + 0.0082 + + + BAT_V_SCALING + FLOAT + Scaling factor for battery voltage sensor on AeroCore + For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063 + 0.0063 + + + BAT_V_SCALING + FLOAT + Scaling factor for battery voltage sensor on FMU v1 + FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 +FMUv1 with PX4IO: 0.00459340659 +FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 + 0.00459340659 + + + + + NAV_AH_ALT + FLOAT + Airfield home alt + Altitude of airfield home waypoint + 600.0 + 0.0 + m + + + NAV_AH_LAT + INT32 + Airfield home Lat + Latitude of airfield home waypoint + -265847810 + 0 + degrees * 1e7 + + + NAV_AH_LON + INT32 + Airfield home Lon + Longitude of airfield home waypoint + 1518423250 + 0 + degrees * 1e7 + + + NAV_DLL_AH_T + FLOAT + Aifield hole wait time + The amount of time in seconds the system should wait at the airfield home waypoint + 120.0 + 0.0 + seconds + + + NAV_DLL_CHSK + INT32 + Skip comms hold wp + If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to +airfield home + 0 + 0 + 1 + + + NAV_DLL_CH_ALT + FLOAT + Comms hold alt + Altitude of comms hold waypoint + 600.0 + 0.0 + m + + + NAV_DLL_CH_LAT + INT32 + Comms hold Lat + Latitude of comms hold waypoint + -266072120 + 0 + degrees * 1e7 + + + NAV_DLL_CH_LON + INT32 + Comms hold Lon + Longitude of comms hold waypoint + 1518453890 + 0 + degrees * 1e7 + + + NAV_DLL_CH_T + FLOAT + Comms hold wait time + The amount of time in seconds the system should wait at the comms hold waypoint + 120.0 + 0.0 + seconds + + + NAV_DLL_N + INT32 + Number of allowed Datalink timeouts + After more than this number of data link timeouts the aircraft returns home directly + 2 + 0 + 1000 + + + + + FW_AIRSPD_MAX + FLOAT + Maximum Airspeed + If the airspeed is above this value, the TECS controller will try to decrease +airspeed more aggressively. + 20.0 + 0.0 + 40 + m/s + + + FW_AIRSPD_MIN + FLOAT + Minimum Airspeed + If the airspeed falls below this value, the TECS controller will try to +increase airspeed more aggressively. + 10.0 + 0.0 + 40 + m/s + + + FW_AIRSPD_TRIM + FLOAT + Trim Airspeed + The TECS controller tries to fly at this airspeed. + 15.0 + 0.0 + 40 + m/s + + + FW_ATT_TC + FLOAT + Attitude Time Constant + This defines the latency between a 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. + 0.5 + 0.4 + 1.0 + seconds + + + FW_MAN_P_MAX + FLOAT + Max Manual Pitch + Max pitch for manual control in attitude stabilized mode + 45.0 + 0.0 + 90.0 + deg + + + FW_MAN_R_MAX + FLOAT + Max Manual Roll + Max roll for manual control in attitude stabilized mode + 45.0 + 0.0 + 90.0 + deg + + + FW_PR_FF + FLOAT + Pitch rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.4 + 0.0 + 10.0 + + + FW_PR_I + FLOAT + 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 + 0.0 + 50.0 + + + FW_PR_IMAX + FLOAT + Pitch rate integrator limit + The portion of the integrator part in the control surface deflection is +limited to this value + 0.2 + 0.0 + 1.0 + + + FW_PR_P + FLOAT + Pitch rate proportional gain + This defines how much the elevator input will be commanded depending on the +current body angular rate error. + 0.05 + + + FW_PSP_OFF + FLOAT + Pitch Setpoint Offset + An airframe specific offset of the pitch setpoint in degrees, the value is +added to the pitch setpoint and should correspond to the typical cruise +speed of the airframe. + 0.0 + -90.0 + 90.0 + deg + + + FW_P_RMAX_NEG + FLOAT + Maximum negative / down pitch rate + This limits the maximum pitch down up angular rate the controller will +output (in degrees per second). Setting a value of zero disables the limit. + 0.0 + 0.0 + 90.0 + deg/s + + + FW_P_RMAX_POS + FLOAT + Maximum positive / up pitch rate + This limits the maximum pitch up angular rate the controller will output (in +degrees per second). Setting a value of zero disables the limit. + 0.0 + 0.0 + 90.0 + deg/s + + + FW_RR_FF + FLOAT + Roll rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.3 + 0.0 + 10.0 + + + FW_RR_I + FLOAT + 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 + 0.0 + 100.0 + + + FW_RR_IMAX + FLOAT + Roll Integrator Anti-Windup + The portion of the integrator part in the control surface deflection is limited to this value. + 0.2 + 0.0 + 1.0 + + + FW_RR_P + FLOAT + Roll rate proportional Gain + This defines how much the aileron input will be commanded depending on the +current body angular rate error. + 0.05 + + + FW_RSP_OFF + FLOAT + Roll Setpoint Offset + An airframe specific offset of the roll setpoint in degrees, the value is +added to the roll setpoint and should correspond to the typical cruise speed +of the airframe. + 0.0 + -90.0 + 90.0 + deg + + + FW_R_RMAX + FLOAT + Maximum Roll Rate + This limits the maximum roll rate the controller will output (in degrees per +second). Setting a value of zero disables the limit. + 0.0 + 0.0 + 90.0 + deg/s + + + FW_YCO_METHOD + INT32 + Method used for yaw coordination + The param value sets the method used to calculate the yaw rate +0: open-loop zero lateral acceleration based on kinematic constraints +1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration + 0 + 0 + 1 + m/s + + + FW_YCO_VMIN + FLOAT + Minimal speed for yaw coordination + For airspeeds above this value, the yaw rate is calculated for a coordinated +turn. Set to a very high value to disable. + 1000.0 + m/s + + + FW_YR_FF + FLOAT + Yaw rate feed forward + Direct feed forward from rate setpoint to control surface output + 0.3 + 0.0 + 10.0 + + + FW_YR_I + FLOAT + 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 + 0.0 + 50.0 + + + FW_YR_IMAX + FLOAT + Yaw rate integrator limit + The portion of the integrator part in the control surface deflection is +limited to this value + 0.2 + 0.0 + 1.0 + + + FW_YR_P + FLOAT + Yaw rate proportional gain + This defines how much the rudder input will be commanded depending on the +current body angular rate error. + 0.05 + + + FW_Y_RMAX + FLOAT + Maximum Yaw Rate + This limits the maximum yaw rate the controller will output (in degrees per +second). Setting a value of zero disables the limit. + 0.0 + 0.0 + 90.0 + deg/s + + + + + FW_T_HGT_OMEGA + FLOAT + Complementary filter "omega" parameter for height + This is the cross-over frequency (in radians/second) of the complementary +filter used to fuse vertical acceleration and barometric height to obtain +an estimate of height rate and height. Increasing this frequency weights +the solution more towards use of the barometer, whilst reducing it weights +the solution more towards use of the accelerometer data. + 3.0 + + + FW_T_HRATE_FF + FLOAT + Height rate FF factor + 0.0 + + + FW_T_HRATE_P + FLOAT + Height rate P factor + 0.05 + + + FW_T_INTEG_GAIN + FLOAT + Integrator gain + This is the integrator gain on the control loop. +Increasing this gain increases the speed at which speed +and height offsets are trimmed out, but reduces damping and +increases overshoot. + 0.1 + + + FW_T_PTCH_DAMP + FLOAT + 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 + + + FW_T_RLL2THR + FLOAT + 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. + 10.0 + + + FW_T_SINK_MAX + FLOAT + 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. + 5.0 + + + FW_T_SINK_MIN + FLOAT + 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. + 2.0 + + + FW_T_SPDWEIGHT + FLOAT + 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). + 1.0 + + + FW_T_SPD_OMEGA + FLOAT + 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 arispeed sensor, whilst reducing it weights the +solution more towards use of the accelerometer data. + 2.0 + + + FW_T_SRATE_P + FLOAT + Speed rate P factor + 0.05 + + + FW_T_THRO_CONST + FLOAT + TECS Throttle time constant + This is the time constant of the TECS throttle control algorithm (in seconds). +Smaller values make it faster to respond, larger values make it slower +to respond. + 8.0 + + + FW_T_THR_DAMP + FLOAT + 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. + 0.5 + + + FW_T_TIME_CONST + FLOAT + TECS time constant + This is the time constant of the TECS control algorithm (in seconds). +Smaller values make it faster to respond, larger values make it slower +to respond. + 5.0 + + + FW_T_VERT_ACC + FLOAT + Maximum vertical acceleration + This is the maximum vertical acceleration (in metres/second square) +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. + 7.0 + + + + + NAV_GPSF_LT + FLOAT + Loiter time + The amount of time in seconds the system should do open loop loiter and wait for gps recovery +before it goes into flight termination. + 30.0 + 0.0 + seconds + + + NAV_GPSF_P + FLOAT + Open loop loiter pitch + Pitch in degrees during the open loop loiter + 0.0 + -30.0 + 30.0 + deg + + + NAV_GPSF_R + FLOAT + Open loop loiter roll + Roll in degrees during the open loop loiter + 15.0 + 0.0 + 30.0 + deg + + + NAV_GPSF_TR + FLOAT + Open loop loiter thrust + Thrust value which is set during the open loop loiter + 0.7 + 0.0 + 1.0 + + + + + GF_ALTMODE + INT32 + Geofence altitude mode + Select which altitude reference should be used +0 = WGS84, 1 = AMSL + 0 + 0 + 1 + + + GF_COUNT + INT32 + Geofence counter limit + Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered + -1 + -1 + 10 + + + GF_ON + INT32 + Enable geofence + Set to 1 to enable geofence. +Defaults to 1 because geofence is only enabled when the geofence.txt file is present. + 1 + 0 + 1 + + + GF_SOURCE + INT32 + 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 + 0 + 1 + + + + + FW_CLMBOUT_DIFF + FLOAT + 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 zero to disable climbout mode (not recommended). + 25.0 + + + FW_L1_DAMPING + FLOAT + L1 damping + Damping factor for L1 control. + 0.75 + 0.6 + 0.9 + + + FW_L1_PERIOD + FLOAT + L1 period + This is the L1 distance and defines the tracking +point ahead of the aircraft its following. +A value of 25 meters works for most aircraft. Shorten +slowly during tuning until response is sharp without oscillation. + 25.0 + 1.0 + 100.0 + + + FW_LND_ANG + FLOAT + Landing slope angle + 5.0 + + + FW_LND_FLALT + FLOAT + Landing flare altitude (relative to landing altitude) + 8.0 + meter + + + FW_LND_HHDIST + FLOAT + Landing heading hold horizontal distance + 15.0 + + + FW_LND_HVIRT + FLOAT + FW_LND_HVIRT + 10.0 + + + FW_LND_TLALT + FLOAT + Landing throttle limit altitude (relative landing altitude) + Default of -1.0f lets the system default to applying throttle +limiting at 2/3 of the flare altitude. + -1.0 + meter + + + FW_LND_USETER + INT32 + Enable or disable usage of terrain estimate during landing + 0: disabled, 1: enabled + 0 + + + FW_P_LIM_MAX + FLOAT + Positive pitch limit + The maximum positive pitch the controller will output. + 45.0 + 0.0 + 60.0 + degrees + + + FW_P_LIM_MIN + FLOAT + Negative pitch limit + The minimum negative pitch the controller will output. + -45.0 + -60.0 + 0.0 + degrees + + + FW_R_LIM + FLOAT + Controller roll limit + The maximum roll the controller will output. + 45.0 + 0.0 + degrees + + + FW_THR_CRUISE + FLOAT + Cruise throttle + This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. + 0.7 + 0.0 + 1.0 + + + FW_THR_LND_MAX + FLOAT + Throttle limit value before flare + This throttle value will be set as throttle limit at FW_LND_TLALT, +before arcraft will flare. + 1.0 + + + FW_THR_MAX + FLOAT + 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. + 1.0 + + + FW_THR_MIN + FLOAT + 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 + + + FW_THR_SLEW_MAX + FLOAT + Throttle max slew rate + Maximum slew rate for the commanded throttle + 0.0 + 0.0 + 1.0 + + + FW_T_CLMB_MAX + FLOAT + 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. + 5.0 + + + + + LNDFW_AIRSPD_MAX + FLOAT + Airspeed max + Maximum airspeed allowed to trigger a land (m/s) + 10.00 + + + LNDFW_VEL_XY_MAX + FLOAT + Fixedwing max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + 0.20 + + + LNDFW_VEL_Z_MAX + FLOAT + Fixedwing max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + 10.00 + + + LNDMC_ROT_MAX + FLOAT + Multicopter max rotation + Maximum allowed around each axis to trigger a land (degrees per second) + 20.0 + + + LNDMC_THR_MAX + FLOAT + Multicopter max throttle + Maximum actuator output on throttle before triggering a land + 0.20 + + + LNDMC_XY_VEL_MAX + FLOAT + Multicopter max horizontal velocity + Maximum horizontal velocity allowed to trigger a land (m/s) + 1.00 + + + LNDMC_Z_VEL_MAX + FLOAT + Multicopter max climb rate + Maximum vertical velocity allowed to trigger a land (m/s up and down) + 0.30 + + + + + LAUN_ALL_ON + INT32 + Enable launch detection + 0 + 0 + 1 + + + LAUN_CAT_A + FLOAT + Catapult accelerometer theshold + LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + 30.0 + 0 + + + LAUN_CAT_MDEL + FLOAT + 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 LAUN_THR_PRE, set to 0 to deactivate + 0.0 + 0 + seconds + + + LAUN_CAT_PMAX + FLOAT + 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). + 30.0 + 0 + 45 + deg + + + LAUN_CAT_T + FLOAT + Catapult time theshold + LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + 0.05 + 0 + + + LAUN_THR_PRE + FLOAT + Throttle setting while detecting launch + The throttle is set to this value while the system is waiting for the take-off. + 0.0 + 0 + 1 + + + + + MAV_COMP_ID + INT32 + MAVLink component ID + 50 + + + MAV_FWDEXTSP + INT32 + Forward external setpoint messages +If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard +control mode + 1 + + + MAV_SYS_ID + INT32 + MAVLink system ID + 1 + + + MAV_TYPE + INT32 + MAVLink type + MAV_TYPE_FIXED_WING + + + MAV_USEHILGPS + INT32 + Use/Accept HIL GPS message (even if not in HIL mode) +If set to 1 incomming HIL GPS messages are parsed + 0 + + + + + MKBLCTRL_TEST + INT32 + Enables testmode (Identify) of MKBLCTRL Driver + 0 + + + + + MIS_ALTMODE + INT32 + Altitude setpoint mode + 0: the system will follow a zero order hold altitude setpoint +1: the system will follow a first order hold altitude setpoint +values follow the definition in enum mission_altitude_mode + 0 + 0 + 1 + + + MIS_DIST_1WP + FLOAT + 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_DIS_1WP from the current position. + 500 + 0 + 1000 + + + MIS_ONBOARD_EN + INT32 + Enable persistent onboard mission storage + When enabled, missions that have been uploaded by the GCS are stored +and reloaded after reboot persistently. + 1 + 0 + 1 + + + MIS_TAKEOFF_ALT + FLOAT + Take-off altitude + Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to +MIS_TAKEOFF_ALT on takeoff, then go to waypoint. + 10.0 + meters + + + MIS_YAWMODE + INT32 + Multirotor only. Yaw setpoint mode + 0: Set the yaw heading to the yaw value specified for the destination waypoint. +1: Maintain a yaw heading pointing towards the next waypoint. +2: Maintain a yaw heading that always points to the home location. +3: Maintain a yaw heading that always points away from the home location (ie: back always faces home). +The values are defined in the enum mission_altitude_mode + 0 + 0 + 3 + + + NAV_ACC_RAD + FLOAT + Acceptance Radius + Default acceptance radius, overridden by acceptance radius of waypoint if set. + 10.0 + 0.05 + 200 + meters + + + NAV_DLL_OBC + INT32 + Set OBC mode for data link loss + If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + 0 + 0 + + + NAV_LOITER_RAD + FLOAT + Loiter radius (FW only) + Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only). + 50.0 + 20 + 200 + meters + + + NAV_RCL_OBC + INT32 + Set OBC mode for rc loss + If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules + 0 + 0 + + + + + MC_ACRO_P_MAX + FLOAT + Max acro pitch rate + 90.0 + 0.0 + 360.0 + deg/s + + + MC_ACRO_R_MAX + FLOAT + Max acro roll rate + 90.0 + 0.0 + 360.0 + deg/s + + + MC_ACRO_Y_MAX + FLOAT + Max acro yaw rate + 120.0 + 0.0 + deg/s + + + MC_PITCHRATE_D + FLOAT + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.002 + 0.0 + + + MC_PITCHRATE_FF + FLOAT + Pitch rate feedforward + Improves tracking performance. + 0.0 + 0.0 + + + MC_PITCHRATE_I + FLOAT + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 0.0 + + + MC_PITCHRATE_MAX + FLOAT + Max pitch rate + Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 360.0 + 0.0 + 360.0 + deg/s + + + MC_PITCHRATE_P + FLOAT + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.1 + 0.0 + + + MC_PITCH_P + FLOAT + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 6.0 + 0.0 + 1/s + + + MC_ROLLRATE_D + FLOAT + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.002 + 0.0 + + + MC_ROLLRATE_FF + FLOAT + Roll rate feedforward + Improves tracking performance. + 0.0 + 0.0 + + + MC_ROLLRATE_I + FLOAT + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 0.0 + + + MC_ROLLRATE_MAX + FLOAT + Max roll rate + Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 360.0 + 0.0 + 360.0 + deg/s + + + MC_ROLLRATE_P + FLOAT + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.1 + 0.0 + + + MC_ROLL_P + FLOAT + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 6.0 + 0.0 + + + MC_YAWRATE_D + FLOAT + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + 0.0 + + + MC_YAWRATE_FF + FLOAT + Yaw rate feedforward + Improves tracking performance. + 0.0 + 0.0 + + + MC_YAWRATE_I + FLOAT + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 0.0 + + + MC_YAWRATE_MAX + FLOAT + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 120.0 + 0.0 + 360.0 + deg/s + + + MC_YAWRATE_P + FLOAT + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.3 + 0.0 + + + MC_YAW_FF + FLOAT + Yaw feed forward + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.5 + 0.0 + 1.0 + + + MC_YAW_P + FLOAT + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 2.0 + 0.0 + 1/s + + + + + MPC_LAND_SPEED + FLOAT + Landing descend rate + 1.0 + 0.0 + m/s + + + MPC_MAN_P_MAX + FLOAT + Max manual pitch + 35.0 + 0.0 + 90.0 + deg + + + MPC_MAN_R_MAX + FLOAT + Max manual roll + 35.0 + 0.0 + 90.0 + deg + + + MPC_MAN_Y_MAX + FLOAT + Max manual yaw rate + 120.0 + 0.0 + deg/s + + + MPC_THR_MAX + FLOAT + Maximum thrust + Limit max allowed thrust. + 1.0 + 0.0 + 1.0 + + + MPC_THR_MIN + FLOAT + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.1 + 0.0 + 1.0 + + + MPC_TILTMAX_AIR + FLOAT + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 45.0 + 0.0 + 90.0 + deg + + + MPC_TILTMAX_LND + FLOAT + Maximum tilt during landing + Limits maximum tilt angle on landing. + 15.0 + 0.0 + 90.0 + deg + + + MPC_XY_FF + FLOAT + Horizontal velocity feed forward + Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.5 + 0.0 + 1.0 + + + MPC_XY_P + FLOAT + Proportional gain for horizontal position error + 1.0 + 0.0 + + + MPC_XY_VEL_D + FLOAT + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.01 + 0.0 + + + MPC_XY_VEL_I + FLOAT + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.02 + 0.0 + + + MPC_XY_VEL_MAX + FLOAT + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 5.0 + 0.0 + m/s + + + MPC_XY_VEL_P + FLOAT + Proportional gain for horizontal velocity error + 0.1 + 0.0 + + + MPC_Z_FF + FLOAT + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.5 + 0.0 + 1.0 + + + MPC_Z_P + FLOAT + Proportional gain for vertical position error + 1.0 + 0.0 + + + MPC_Z_VEL_D + FLOAT + Differential gain for vertical velocity error + 0.0 + 0.0 + + + MPC_Z_VEL_I + FLOAT + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.02 + 0.0 + + + MPC_Z_VEL_MAX + FLOAT + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). + 5.0 + 0.0 + m/s + + + MPC_Z_VEL_P + FLOAT + Proportional gain for vertical velocity error + 0.1 + 0.0 + + + + + BD_GPROPERTIES + FLOAT + Ground drag property + This parameter encodes the ground drag coefficient and the corresponding +decrease in wind speed from the plane altitude to ground altitude. + 0.03 + 0.001 + 0.1 + unknown + + + BD_OBJ_CD + FLOAT + Payload drag coefficient of the dropped object + The drag coefficient (cd) is the typical drag +constant for air. It is in general object specific, +but the closest primitive shape to the actual object +should give good results: +http://en.wikipedia.org/wiki/Drag_coefficient + 0.1 + 0.08 + 1.5 + meter + + + BD_OBJ_MASS + FLOAT + Payload mass + A typical small toy ball: +0.025 kg +OBC water bottle: +0.6 kg + 0.6 + 0.001 + 5.0 + kilogram + + + BD_OBJ_SURFACE + FLOAT + Payload front surface area + A typical small toy ball: +(0.045 * 0.045) / 4.0 * pi = 0.001590 m^2 +OBC water bottle: +(0.063 * 0.063) / 4.0 * pi = 0.003117 m^2 + 0.00311724531 + 0.001 + 0.5 + m^2 + + + BD_PRECISION + FLOAT + Drop precision + If the system is closer than this distance on passing over the +drop position, it will release the payload. This is a safeguard +to prevent a drop out of the required accuracy. + 30.0 + 1.0 + 80.0 + meter + + + BD_TURNRADIUS + FLOAT + Plane turn radius + The planes known minimal turn radius - use a higher value +to make the plane maneuver more distant from the actual drop +position. This is to ensure the wings are level during the drop. + 120.0 + 30.0 + 500.0 + meter + + + + + PE_ABIAS_PNOISE + FLOAT + Accelerometer bias estimate process noise + Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. +Increasing this value makes the bias estimation faster and noisier. + 0.0002 + 0.00001 + 0.001 + + + PE_ACC_PNOISE + FLOAT + Accelerometer process noise + Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. +Increasing this value makes the filter trust the accelerometer less +and other sensors more. + 0.25 + 0.05 + 1.0 + + + PE_EAS_NOISE + FLOAT + Airspeed measurement noise + Increasing this value will make the filter trust this sensor +less and trust other sensors more. + 1.4 + 0.5 + 5.0 + + + PE_GBIAS_PNOISE + FLOAT + Gyro bias estimate process noise + Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. +Increasing this value will make the gyro bias converge faster but noisier. + 1e-06 + 0.0000001 + 0.00001 + + + PE_GPS_ALT_WGT + FLOAT + GPS vs. barometric altitude update weight + RE-CHECK this. + 0.9 + 0.0 + 1.0 + + + PE_GYRO_PNOISE + FLOAT + Gyro process noise + Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. +This noise controls how much the filter trusts the gyro measurements. +Increasing it makes the filter trust the gyro less and other sensors more. + 0.015 + 0.001 + 0.05 + + + PE_HGT_DELAY_MS + INT32 + Height estimate delay + The delay in milliseconds of the height estimate from the barometer. + 350 + 0 + 1000 + + + PE_MAGB_PNOISE + FLOAT + Magnetometer body frame offsets process noise + Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. +Increasing this value makes the magnetometer body bias estimate converge faster +but also noisier. + 0.0003 + 0.0001 + 0.01 + + + PE_MAGE_PNOISE + FLOAT + Magnetometer earth frame offsets process noise + Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. +Increasing this value makes the magnetometer earth bias estimate converge +faster but also noisier. + 0.0003 + 0.0001 + 0.01 + + + PE_MAG_DELAY_MS + INT32 + Mag estimate delay + The delay in milliseconds of the magnetic field estimate from +the magnetometer. + 30 + 0 + 1000 + + + PE_MAG_NOISE + FLOAT + Magnetometer measurement noise + Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 + 0.05 + 0.1 + 10.0 + + + PE_POSDEV_INIT + FLOAT + Threshold for filter initialization + If the standard deviation of the GPS position estimate is below this threshold +in meters, the filter will initialize. + 5.0 + 0.3 + 10.0 + + + PE_POSD_NOISE + FLOAT + Position noise in down (vertical) direction + Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + 0.5 + 0.1 + 10.0 + + + PE_POSNE_NOISE + FLOAT + Position noise in north-east (horizontal) direction + Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 + 0.5 + 0.1 + 10.0 + + + PE_POS_DELAY_MS + INT32 + Position estimate delay + The delay in milliseconds of the position estimate from GPS. + 210 + 0 + 1000 + + + PE_TAS_DELAY_MS + INT32 + True airspeeed estimate delay + The delay in milliseconds of the airspeed estimate. + 210 + 0 + 1000 + + + PE_VELD_NOISE + FLOAT + Velocity noise in down (vertical) direction + Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + 0.5 + 0.05 + 5.0 + + + PE_VELNE_NOISE + FLOAT + Velocity measurement noise in north-east (horizontal) direction + Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 + 0.3 + 0.05 + 5.0 + + + PE_VEL_DELAY_MS + INT32 + Velocity estimate delay + The delay in milliseconds of the velocity estimate from GPS. + 230 + 0 + 1000 + + + + + CBRK_NO_VISION + INT32 + Disable vision input + Set to the appropriate key (328754) to disable vision input. + 0 + 0 + 1 + + + INAV_DELAY_GPS + FLOAT + GPS delay + GPS delay compensation + 0.2 + 0.0 + 1.0 + s + + + INAV_ENABLED + INT32 + INAV enabled + If set to 1, use INAV for position estimation +the system uses the combined attitude / position +filter framework. + 1 + 0 + 1 + + + INAV_FLOW_K + FLOAT + Optical flow scale factor + Factor to convert raw optical flow (in pixels) to radians [rad/px]. + 0.15 + 0.0 + 1.0 + rad/px + + + INAV_FLOW_Q_MIN + FLOAT + Minimal acceptable optical flow quality + 0 - lowest quality, 1 - best quality. + 0.5 + 0.0 + 1.0 + + + INAV_LAND_DISP + FLOAT + Land detector altitude dispersion threshold + Dispersion threshold for triggering land detector. + 0.7 + 0.0 + 10.0 + m + + + INAV_LAND_T + FLOAT + Land detector time + Vehicle assumed landed if no altitude changes happened during this time on low throttle. + 3.0 + 0.0 + 10.0 + s + + + INAV_LAND_THR + FLOAT + Land detector throttle threshold + Value should be lower than minimal hovering thrust. Half of it is good choice. + 0.2 + 0.0 + 1.0 + + + INAV_SONAR_ERR + FLOAT + Sonar maximal error for new surface + If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable). + 0.5 + 0.0 + 1.0 + m + + + INAV_SONAR_FILT + FLOAT + Weight for sonar filter + Sonar filter detects spikes on sonar measurements and used to detect new surface level. + 0.05 + 0.0 + 1.0 + + + INAV_W_ACC_BIAS + FLOAT + Accelerometer bias estimation weight + Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable. + 0.05 + 0.0 + 0.1 + + + INAV_W_GPS_FLOW + FLOAT + XY axis weight factor for GPS when optical flow available + When optical flow data available, multiply GPS weights (for position and velocity) by this factor. + 0.1 + 0.0 + 1.0 + + + INAV_W_XY_FLOW + FLOAT + XY axis weight for optical flow + Weight (cutoff frequency) for optical flow (velocity) measurements. + 5.0 + 0.0 + 10.0 + + + INAV_W_XY_GPS_P + FLOAT + XY axis weight for GPS position + Weight (cutoff frequency) for GPS position measurements. + 1.0 + 0.0 + 10.0 + + + INAV_W_XY_GPS_V + FLOAT + XY axis weight for GPS velocity + Weight (cutoff frequency) for GPS velocity measurements. + 2.0 + 0.0 + 10.0 + + + INAV_W_XY_RES_V + FLOAT + XY axis weight for resetting velocity + When velocity sources lost slowly decrease estimated horizontal velocity with this weight. + 0.5 + 0.0 + 10.0 + + + INAV_W_XY_VIS_P + FLOAT + XY axis weight for vision position + Weight (cutoff frequency) for vision position measurements. + 7.0 + 0.0 + 10.0 + + + INAV_W_XY_VIS_V + FLOAT + XY axis weight for vision velocity + Weight (cutoff frequency) for vision velocity measurements. + 0.0 + 0.0 + 10.0 + + + INAV_W_Z_BARO + FLOAT + Z axis weight for barometer + Weight (cutoff frequency) for barometer altitude measurements. + 0.5 + 0.0 + 10.0 + + + INAV_W_Z_GPS_P + FLOAT + Z axis weight for GPS + Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset. + 0.005 + 0.0 + 10.0 + + + INAV_W_Z_GPS_V + FLOAT + Z velocity weight for GPS + Weight (cutoff frequency) for GPS altitude velocity measurements. + 0.0 + 0.0 + 10.0 + + + INAV_W_Z_SONAR + FLOAT + Z axis weight for sonar + Weight (cutoff frequency) for sonar measurements. + 3.0 + 0.0 + 10.0 + + + INAV_W_Z_VIS_P + FLOAT + Z axis weight for vision + Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset. + 0.5 + 0.0 + 10.0 + + + + + NAV_RCL_LT + FLOAT + Loiter Time + The amount of time in seconds the system should loiter at current position before termination +Set to -1 to make the system skip loitering + 120.0 + -1.0 + seconds + + + + + RTL_DESCEND_ALT + FLOAT + RTL loiter altitude + Stay at this altitude above home position after RTL descending. +Land (i.e. slowly descend) from this altitude if autolanding allowed. + 30 + 2 + 100 + meters + + + RTL_LAND_DELAY + FLOAT + RTL delay + Delay after descend before landing in RTL mode. +If set to -1 the system will not land but loiter at NAV_LAND_ALT. + -1.0 + -1 + 300 + seconds + + + RTL_LOITER_RAD + FLOAT + Loiter radius after RTL (FW only) + Default value of loiter radius after RTL (fixedwing only). + 50.0 + 20 + 200 + meters + + + RTL_RETURN_ALT + FLOAT + RTL altitude + Altitude to fly back in RTL in meters + 60 + 0 + 150 + meters + + + + + RC1_DZ + FLOAT + RC Channel 1 dead zone + The +- range of this value around the trim value will be considered as zero. + 10.0 + 0.0 + 100.0 + + + RC1_MAX + FLOAT + RC Channel 1 Maximum + Maximum value for RC channel 1 + 2000.0 + 1500.0 + 2200.0 + + + RC1_MIN + FLOAT + RC Channel 1 Minimum + Minimum value for RC channel 1 + 1000.0 + 800.0 + 1500.0 + + + RC1_REV + FLOAT + RC Channel 1 Reverse + Set to -1 to reverse channel. + 1.0 + -1.0 + 1.0 + + + RC1_TRIM + FLOAT + RC Channel 1 Trim + Mid point value (same as min for throttle) + 1500.0 + 800.0 + 2200.0 + + + RC2_DZ + FLOAT + RC Channel 2 dead zone + The +- range of this value around the trim value will be considered as zero. + 10.0 + 0.0 + 100.0 + + + RC2_MAX + FLOAT + RC Channel 2 Maximum + Maximum value for RC channel 2 + 2000.0 + 1500.0 + 2200.0 + + + RC2_MIN + FLOAT + RC Channel 2 Minimum + Minimum value for RC channel 2 + 1000.0 + 800.0 + 1500.0 + + + RC2_REV + FLOAT + RC Channel 2 Reverse + Set to -1 to reverse channel. + 1.0 + -1.0 + 1.0 + + + RC2_TRIM + FLOAT + RC Channel 2 Trim + Mid point value (same as min for throttle) + 1500.0 + 800.0 + 2200.0 + + + RC_CHAN_CNT + INT32 + 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 + 0 + 18 + + + RC_DSM_BIND + INT32 + DSM binding trigger + -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + -1 + + + RC_FAILS_THR + INT32 + Failsafe channel PWM threshold + 0 + 800 + 2200 + + + RC_MAP_ACRO_SW + INT32 + Acro switch channel mapping + 0 + 0 + 18 + + + RC_MAP_AUX1 + INT32 + Auxiliary switch 1 channel mapping + Default function: Camera pitch + 0 + 0 + 18 + + + RC_MAP_AUX2 + INT32 + Auxiliary switch 2 channel mapping + Default function: Camera roll + 0 + 0 + 18 + + + RC_MAP_AUX3 + INT32 + Auxiliary switch 3 channel mapping + Default function: Camera azimuth / yaw + 0 + 0 + 18 + + + RC_MAP_FLAPS + INT32 + Flaps channel mapping + 0 + 0 + 18 + + + RC_MAP_LOITER_SW + INT32 + Loiter switch channel mapping + 0 + 0 + 18 + + + RC_MAP_MODE_SW + INT32 + 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 + 0 + 18 + + + RC_MAP_OFFB_SW + INT32 + Offboard switch channel mapping + 0 + 0 + 18 + + + RC_MAP_PARAM1 + INT32 + Channel which changes a parameter + 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 + 0 + 18 + + + RC_MAP_PARAM2 + INT32 + Channel which changes a parameter + 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 + 0 + 18 + + + RC_MAP_PARAM3 + INT32 + Channel which changes a parameter + 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 + 0 + 18 + + + RC_MAP_PITCH + INT32 + 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. + 2 + 0 + 18 + + + RC_MAP_POSCTL_SW + INT32 + Posctl switch channel mapping + 0 + 0 + 18 + + + RC_MAP_RETURN_SW + INT32 + Return switch channel mapping + 0 + 0 + 18 + + + RC_MAP_ROLL + INT32 + 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. + 1 + 0 + 18 + + + RC_MAP_THROTTLE + INT32 + 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. + 3 + 0 + 18 + + + RC_MAP_YAW + INT32 + 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. + 4 + 0 + 18 + + + RC_TH_USER + INT32 + RC mode switch threshold automaic distribution + This parameter is used by Ground Station software to specify whether +the threshold values for flight mode switches were automatically calculated. +0 indicates that the threshold values were set by the user. Any other value +indicates that the threshold value where automatically set by the ground +station software. It is only meant for ground station use. + 1 + 0 + 1 + + + + + SDLOG_EXT + INT32 + Enable extended logging mode + A value of -1 indicates the commandline argument +should be obeyed. A value of 0 disables extended +logging mode, a value of 1 enables it. This +parameter is only read out before logging starts +(which commonly is before arming). + -1 + -1 + 1 + + + SDLOG_RATE + INT32 + Logging rate + A value of -1 indicates the commandline argument +should be obeyed. A value of 0 sets the minimum rate, +any other value is interpreted as rate in Hertz. This +parameter is only read out before logging starts (which +commonly is before arming). + -1 + -1 + 1 + + + + + CAL_ACC0_ID + INT32 + ID of the Accelerometer that the calibration is for + 0 + + + CAL_ACC0_XOFF + FLOAT + Accelerometer X-axis offset + 0.0 + + + CAL_ACC0_XSCALE + FLOAT + Accelerometer X-axis scaling factor + 1.0 + + + CAL_ACC0_YOFF + FLOAT + Accelerometer Y-axis offset + 0.0 + + + CAL_ACC0_YSCALE + FLOAT + Accelerometer Y-axis scaling factor + 1.0 + + + CAL_ACC0_ZOFF + FLOAT + Accelerometer Z-axis offset + 0.0 + + + CAL_ACC0_ZSCALE + FLOAT + Accelerometer Z-axis scaling factor + 1.0 + + + CAL_ACC1_ID + INT32 + ID of the Accelerometer that the calibration is for + 0 + + + CAL_ACC1_XOFF + FLOAT + Accelerometer X-axis offset + 0.0 + + + CAL_ACC1_XSCALE + FLOAT + Accelerometer X-axis scaling factor + 1.0 + + + CAL_ACC1_YOFF + FLOAT + Accelerometer Y-axis offset + 0.0 + + + CAL_ACC1_YSCALE + FLOAT + Accelerometer Y-axis scaling factor + 1.0 + + + CAL_ACC1_ZOFF + FLOAT + Accelerometer Z-axis offset + 0.0 + + + CAL_ACC1_ZSCALE + FLOAT + Accelerometer Z-axis scaling factor + 1.0 + + + CAL_ACC2_ID + INT32 + ID of the Accelerometer that the calibration is for + 0 + + + CAL_ACC2_XOFF + FLOAT + Accelerometer X-axis offset + 0.0 + + + CAL_ACC2_XSCALE + FLOAT + Accelerometer X-axis scaling factor + 1.0 + + + CAL_ACC2_YOFF + FLOAT + Accelerometer Y-axis offset + 0.0 + + + CAL_ACC2_YSCALE + FLOAT + Accelerometer Y-axis scaling factor + 1.0 + + + CAL_ACC2_ZOFF + FLOAT + Accelerometer Z-axis offset + 0.0 + + + CAL_ACC2_ZSCALE + FLOAT + Accelerometer Z-axis scaling factor + 1.0 + + + CAL_BOARD_ID + INT32 + ID of the board this parameter set was calibrated on + 0 + + + CAL_GYRO0_ID + INT32 + ID of the Gyro that the calibration is for + 0 + + + CAL_GYRO0_XOFF + FLOAT + Gyro X-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO0_XSCALE + FLOAT + Gyro X-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO0_YOFF + FLOAT + Gyro Y-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO0_YSCALE + FLOAT + Gyro Y-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO0_ZOFF + FLOAT + Gyro Z-axis offset + 0.0 + -5.0 + 5.0 + + + CAL_GYRO0_ZSCALE + FLOAT + Gyro Z-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO1_ID + INT32 + ID of the Gyro that the calibration is for + 0 + + + CAL_GYRO1_XOFF + FLOAT + Gyro X-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO1_XSCALE + FLOAT + Gyro X-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO1_YOFF + FLOAT + Gyro Y-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO1_YSCALE + FLOAT + Gyro Y-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO1_ZOFF + FLOAT + Gyro Z-axis offset + 0.0 + -5.0 + 5.0 + + + CAL_GYRO1_ZSCALE + FLOAT + Gyro Z-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO2_ID + INT32 + ID of the Gyro that the calibration is for + 0 + + + CAL_GYRO2_XOFF + FLOAT + Gyro X-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO2_XSCALE + FLOAT + Gyro X-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO2_YOFF + FLOAT + Gyro Y-axis offset + 0.0 + -10.0 + 10.0 + + + CAL_GYRO2_YSCALE + FLOAT + Gyro Y-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_GYRO2_ZOFF + FLOAT + Gyro Z-axis offset + 0.0 + -5.0 + 5.0 + + + CAL_GYRO2_ZSCALE + FLOAT + Gyro Z-axis scaling factor + 1.0 + -1.5 + 1.5 + + + CAL_MAG0_ID + INT32 + ID of Magnetometer the calibration is for + 0 + + + CAL_MAG0_ROT + INT32 + Rotation of magnetometer 0 relative to airframe + An internal magnetometer 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 + 30 + + + CAL_MAG0_XOFF + FLOAT + Magnetometer X-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG0_XSCALE + FLOAT + Magnetometer X-axis scaling factor + 1.0 + + + CAL_MAG0_YOFF + FLOAT + Magnetometer Y-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG0_YSCALE + FLOAT + Magnetometer Y-axis scaling factor + 1.0 + + + CAL_MAG0_ZOFF + FLOAT + Magnetometer Z-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG0_ZSCALE + FLOAT + Magnetometer Z-axis scaling factor + 1.0 + + + CAL_MAG1_ID + INT32 + ID of Magnetometer the calibration is for + 0 + + + CAL_MAG1_ROT + INT32 + Rotation of magnetometer 1 relative to airframe + An internal magnetometer 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 + 30 + + + CAL_MAG1_XOFF + FLOAT + Magnetometer X-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG1_XSCALE + FLOAT + Magnetometer X-axis scaling factor + 1.0 + + + CAL_MAG1_YOFF + FLOAT + Magnetometer Y-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG1_YSCALE + FLOAT + Magnetometer Y-axis scaling factor + 1.0 + + + CAL_MAG1_ZOFF + FLOAT + Magnetometer Z-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG1_ZSCALE + FLOAT + Magnetometer Z-axis scaling factor + 1.0 + + + CAL_MAG2_ID + INT32 + ID of Magnetometer the calibration is for + 0 + + + CAL_MAG2_ROT + INT32 + Rotation of magnetometer 2 relative to airframe + An internal magnetometer 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 + 30 + + + CAL_MAG2_XOFF + FLOAT + Magnetometer X-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG2_XSCALE + FLOAT + Magnetometer X-axis scaling factor + 1.0 + + + CAL_MAG2_YOFF + FLOAT + Magnetometer Y-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG2_YSCALE + FLOAT + Magnetometer Y-axis scaling factor + 1.0 + + + CAL_MAG2_ZOFF + FLOAT + Magnetometer Z-axis offset + 0.0 + -500.0 + 500.0 + + + CAL_MAG2_ZSCALE + FLOAT + Magnetometer Z-axis scaling factor + 1.0 + + + SENS_BARO_QNH + FLOAT + QNH for barometer + 1013.25 + 500 + 1500 + hPa + + + SENS_BOARD_ROT + INT32 + Board rotation + This parameter defines the rotation of the FMU board relative to the platform. +Possible values are: +0 = No rotation +1 = Yaw 45° +2 = Yaw 90° +3 = Yaw 135° +4 = Yaw 180° +5 = Yaw 225° +6 = Yaw 270° +7 = Yaw 315° +8 = Roll 180° +9 = Roll 180°, Yaw 45° +10 = Roll 180°, Yaw 90° +11 = Roll 180°, Yaw 135° +12 = Pitch 180° +13 = Roll 180°, Yaw 225° +14 = Roll 180°, Yaw 270° +15 = Roll 180°, Yaw 315° +16 = Roll 90° +17 = Roll 90°, Yaw 45° +18 = Roll 90°, Yaw 90° +19 = Roll 90°, Yaw 135° +20 = Roll 270° +21 = Roll 270°, Yaw 45° +22 = Roll 270°, Yaw 90° +23 = Roll 270°, Yaw 135° +24 = Pitch 90° +25 = Pitch 270° + 0 + + + SENS_BOARD_X_OFF + FLOAT + Board rotation X (Roll) offset + This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user +to fine tune the board offset in the event of misalignment. + 0.0 + + + SENS_BOARD_Y_OFF + FLOAT + Board rotation Y (Pitch) offset + This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user +to fine tune the board offset in the event of misalignment. + 0.0 + + + SENS_BOARD_Z_OFF + FLOAT + Board rotation Z (YAW) offset + 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. + 0.0 + + + SENS_DPRES_ANSC + FLOAT + Differential pressure sensor analog scaling + Pick the appropriate scaling from the datasheet. +this number defines the (linear) conversion from voltage +to Pascal (pa). For the MPXV7002DP this is 1000. +NOTE: If the sensor always registers zero, try switching +the static and dynamic tubes. + 0 + + + SENS_DPRES_OFF + FLOAT + Differential pressure sensor offset + The offset (zero-reading) in Pascal + 0.0 + + + SENS_EXT_MAG + INT32 + Set usage of external magnetometer + * Set to 0 (default) to auto-detect (will try to get the external as primary) +* Set to 1 to force the external magnetometer as primary +* Set to 2 to force the internal magnetometer as primary + 0 + 0 + 2 + + + SENS_EXT_MAG_ROT + INT32 + External magnetometer rotation + This parameter defines the rotation of the external magnetometer relative +to the platform (not relative to the FMU). +See SENS_BOARD_ROT for possible values. + 0 + + + SENS_FLOW_ROT + INT32 + PX4Flow board rotation + This parameter defines the rotation of the PX4FLOW board relative to the platform. +Zero rotation is defined as Y on flow board pointing towards front of vehicle +Possible values are: +0 = No rotation +1 = Yaw 45° +2 = Yaw 90° +3 = Yaw 135° +4 = Yaw 180° +5 = Yaw 225° +6 = Yaw 270° +7 = Yaw 315° + 0 + + + + + SYS_AUTOCONFIG + INT32 + 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. + 0 + 0 + 1 + + + SYS_AUTOSTART + INT32 + Auto-start script index + Defines the auto-start script used to bootstrap the system. + 0 + + + SYS_COMPANION + INT32 + Companion computer interface + Configures the baud rate of the companion computer interface. +Set to zero to disable, set to 921600 to enable. +CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for +other baud rates. + 0 + 0 + 921600 + + + SYS_PARAM_VER + INT32 + Parameter version + This monotonically increasing number encodes the parameter compatibility set. +whenever it increases parameters might not be backwards compatible and +ground control stations should suggest a fresh configuration. + 1 + 0 + + + SYS_RESTART_TYPE + INT32 + Set restart type + Set by px4io to indicate type of restart + 2 + 0 + 2 + + + SYS_USE_IO + INT32 + Set usage of 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. + 1 + 0 + 1 + + + + + UAVCAN_BITRATE + INT32 + UAVCAN CAN bus bitrate + 1000000 + 20000 + 1000000 + + + UAVCAN_ENABLE + INT32 + Enable UAVCAN + Enables support for UAVCAN-interfaced actuators and sensors. + 0 + 0 + 1 + + + UAVCAN_NODE_ID + INT32 + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 1 + 125 + + + + + VT_ARSP_LP_GAIN + FLOAT + Total airspeed estimate low-pass filter gain + Gain for tuning the low-pass filter for the total airspeed estimate + 0.3 + 0.0 + 0.99 + + + VT_FW_PERM_STAB + INT32 + 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. + 0 + 0 + 1 + + + VT_FW_PITCH_TRIM + FLOAT + Fixed wing pitch trim + This parameter allows to adjust the neutral elevon position in fixed wing mode. + 0.0 + -1 + 1 + + + VT_IDLE_PWM_MC + INT32 + Idle speed of VTOL when in multicopter mode + 900 + 900 + + + VT_MC_ARSPD_MAX + FLOAT + Maximum airspeed in multicopter mode + This is the maximum speed of the air flowing over the control surfaces. + 30.0 + 0.0 + + + VT_MC_ARSPD_MIN + FLOAT + Minimum airspeed in multicopter mode + This is the minimum speed of the air flowing over the control surfaces. + 10.0 + 0.0 + + + VT_MC_ARSPD_TRIM + FLOAT + Trim airspeed when in multicopter mode + This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + 10.0 + 0.0 + + + VT_MOT_COUNT + INT32 + VTOL number of engines + 0 + 1 + + + VT_POWER_MAX + FLOAT + Motor max power + Indicates the maximum power the motor is able to produce. Used to calculate +propeller efficiency map. + 120.0 + 1 + + + VT_PROP_EFF + FLOAT + Propeller efficiency parameter + Influences propeller efficiency at different power settings. Should be tuned beforehand. + 0.0 + 0.5 + 0.9 + + + + + ATT_J11 + FLOAT + Moment of inertia matrix diagonal entry (1, 1) + 0.0018 + kg*m^2 + + + ATT_J22 + FLOAT + Moment of inertia matrix diagonal entry (2, 2) + 0.0018 + kg*m^2 + + + ATT_J33 + FLOAT + Moment of inertia matrix diagonal entry (3, 3) + 0.0037 + kg*m^2 + + + ATT_J_EN + INT32 + Moment of inertia enabled in estimator + If set to != 0 the moment of inertia will be used in the estimator + 0 + 0 + 1 + + + EKF_ATT_V3_Q0 + FLOAT + Body angular rate process noise + 1e-4 + + + EKF_ATT_V3_Q1 + FLOAT + Body angular acceleration process noise + 0.08 + + + EKF_ATT_V3_Q2 + FLOAT + Acceleration process noise + 0.009 + + + EKF_ATT_V3_Q3 + FLOAT + Magnet field vector process noise + 0.005 + + + EKF_ATT_V4_R0 + FLOAT + Gyro measurement noise + 0.0008 + + + EKF_ATT_V4_R1 + FLOAT + Accel measurement noise + 10000.0 + + + EKF_ATT_V4_R2 + FLOAT + Mag measurement noise + 100.0 + + + + + COM_AUTOS_PAR + INT32 + If not equal to zero the commander will automatically save parameters to persistent storage once changed. +Default is on, as the interoperability with currently deployed GCS solutions depends on parameters +being sticky. Developers can default it to off + 1 + 0 + 1 + + + COM_DL_LOSS_EN + INT32 + Datalink loss mode enabled + Set to 1 to enable actions triggered when the datalink is lost. + 0 + 0 + 1 + + + COM_DL_LOSS_T + INT32 + After this amount of seconds without datalink the data link lost mode triggers + 10 + 0 + 30 + second + + + COM_DL_REG_T + INT32 + After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' +flag is set back to false + 0 + 0 + 30 + second + + + COM_EF_C2T + FLOAT + Engine failure triggers only below this current/throttle value + 5.0 + 0.0 + 7.0 + + + COM_EF_THROT + FLOAT + Engine failure triggers only above this throttle value + 0.5 + 0.0 + 1.0 + + + COM_EF_TIME + FLOAT + Engine failure triggers only if the throttle threshold and the +current to throttle threshold are violated for this time + 10.0 + 0.0 + 7.0 + second + + + COM_RC_LOSS_T + FLOAT + After this amount of seconds without RC connection the rc lost flag is set to true + 0.5 + 0 + 35 + second + + + + + MT_ACC_D + FLOAT + D gain for the airspeed control +Maps the change of airspeed error to the acceleration setpoint + 0.0 + 0.0 + 10.0 + + + MT_ACC_D_LP + FLOAT + Lowpass for ACC error derivative calculation (see MT_ACC_D) + 0.5 + + + MT_ACC_MAX + FLOAT + Maximal acceleration (air) + 40.0 + m/s^2 + + + MT_ACC_MIN + FLOAT + Minimal acceleration (air) + -40.0 + m/s^2 + + + MT_ACC_P + FLOAT + P gain for the airspeed control +Maps the airspeed error to the acceleration setpoint + 0.3 + 0.0 + 10.0 + + + MT_AD_LP + FLOAT + Airspeed derivative calculation lowpass + 0.5 + + + MT_ALT_LP + FLOAT + Lowpass (cutoff freq.) for altitude + 1.0 + + + MT_A_LP + FLOAT + Lowpass (cutoff freq.) for airspeed + 0.5 + + + MT_ENABLED + INT32 + mTECS enabled + Set to 1 to enable mTECS + 0 + 0 + 1 + + + MT_FPA_D + FLOAT + D gain for the altitude control +Maps the change of altitude error to the flight path angle setpoint + 0.0 + 0.0 + 10.0 + + + MT_FPA_D_LP + FLOAT + Lowpass for FPA error derivative calculation (see MT_FPA_D) + 1.0 + + + MT_FPA_LP + FLOAT + Lowpass (cutoff freq.) for the flight path angle + 1.0 + + + MT_FPA_MAX + FLOAT + Maximal flight path angle setpoint + 30.0 + -90.0 + 90.0 + deg + + + MT_FPA_MIN + FLOAT + Minimal flight path angle setpoint + -20.0 + -90.0 + 90.0 + deg + + + MT_FPA_P + FLOAT + P gain for the altitude control +Maps the altitude error to the flight path angle setpoint + 0.3 + 0.0 + 10.0 + + + MT_LND_PIT_MAX + FLOAT + Maximal pitch in landing mode + 15.0 + -90.0 + 90.0 + deg + + + MT_LND_PIT_MIN + FLOAT + Minimal pitch in landing mode + -5.0 + -90.0 + 90.0 + deg + + + MT_LND_THR_MAX + FLOAT + Maximal throttle in landing mode (only last phase of landing) + 0.0 + 0.0 + 1.0 + + + MT_LND_THR_MIN + FLOAT + Minimal throttle in landing mode (only last phase of landing) + 0.0 + 0.0 + 1.0 + + + MT_PIT_FF + FLOAT + Energy Distribution Rate Control Feedforward +Maps the energy distribution rate setpoint to the pitch setpoint + 0.4 + 0.0 + 10.0 + + + MT_PIT_I + FLOAT + Energy Distribution Rate Control I +Maps the integrated energy distribution rate error to the pitch setpoint + 0.03 + 0.0 + 10.0 + + + MT_PIT_I_MAX + FLOAT + Integrator Limit for Energy Distribution Rate Control + 10.0 + 0.0 + 10.0 + + + MT_PIT_MAX + FLOAT + Maximal Pitch Setpoint in Degrees + 20.0 + -90.0 + 90.0 + deg + + + MT_PIT_MIN + FLOAT + Minimal Pitch Setpoint in Degrees + -45.0 + -90.0 + 90.0 + deg + + + MT_PIT_OFF + FLOAT + Total Energy Distribution Offset (Cruise pitch sp) + 0.0 + 0.0 + 10.0 + + + MT_PIT_P + FLOAT + Energy Distribution Rate Control P +Maps the energy distribution rate error to the pitch setpoint + 0.03 + 0.0 + 10.0 + + + MT_THR_FF + FLOAT + Total Energy Rate Control Feedforward +Maps the total energy rate setpoint to the throttle setpoint + 0.7 + 0.0 + 10.0 + + + MT_THR_I + FLOAT + Total Energy Rate Control I +Maps the integrated total energy rate to the throttle setpoint + 0.25 + 0.0 + 10.0 + + + MT_THR_I_MAX + FLOAT + Integrator Limit for Total Energy Rate Control + 10.0 + 0.0 + 10.0 + + + MT_THR_MAX + FLOAT + Maximal Throttle Setpoint + 1.0 + 0.0 + 1.0 + + + MT_THR_MIN + FLOAT + Minimal Throttle Setpoint + 0.0 + 0.0 + 1.0 + + + MT_THR_OFF + FLOAT + Total Energy Rate Control Offset (Cruise throttle sp) + 0.7 + 0.0 + 10.0 + + + MT_THR_P + FLOAT + Total Energy Rate Control P +Maps the total energy rate error to the throttle setpoint + 0.1 + 0.0 + 10.0 + + + MT_TKF_PIT_MAX + FLOAT + Maximal pitch during takeoff + 45.0 + -90.0 + 90.0 + deg + + + MT_TKF_PIT_MIN + FLOAT + Minimal pitch during takeoff + 0.0 + -90.0 + 90.0 + deg + + + MT_TKF_THR_MAX + FLOAT + Maximal throttle during takeoff + 1.0 + 0.0 + 1.0 + + + MT_TKF_THR_MIN + FLOAT + Minimal throttle during takeoff + 1.0 + 0.0 + 1.0 + + + MT_USP_PIT_MAX + FLOAT + Maximal pitch in underspeed mode + 0.0 + -90.0 + 90.0 + deg + + + MT_USP_PIT_MIN + FLOAT + Minimal pitch in underspeed mode + -45.0 + -90.0 + 90.0 + deg + + + MT_USP_THR_MAX + FLOAT + Maximal throttle in underspeed mode + 1.0 + 0.0 + 1.0 + + + MT_USP_THR_MIN + FLOAT + Minimal throttle in underspeed mode + 1.0 + 0.0 + 1.0 + + + + + ATT_ACC_COMP + INT32 + ATT_ACC_COMP + 2 + + + ATT_MAG_DECL + FLOAT + ATT_MAG_DECL + 0.0 + + + EXFW_HDNG_P + FLOAT + EXFW_HDNG_P + 0.1 + + + EXFW_PITCH_P + FLOAT + EXFW_PITCH_P + 0.2 + + + EXFW_ROLL_P + FLOAT + EXFW_ROLL_P + 0.2 + + + FPE_DEBUG + INT32 + FPE_DEBUG + 0 + + + FPE_LO_THRUST + FLOAT + FPE_LO_THRUST + 0.4 + + + FPE_SONAR_LP_L + FLOAT + FPE_SONAR_LP_L + 0.2 + + + FPE_SONAR_LP_U + FLOAT + FPE_SONAR_LP_U + 0.5 + + + FWB_CR2THR_D + FLOAT + FWB_CR2THR_D + 0.0 + + + FWB_CR2THR_D_LP + FLOAT + FWB_CR2THR_D_LP + 0.0 + + + FWB_CR2THR_I + FLOAT + FWB_CR2THR_I + 0.0 + + + FWB_CR2THR_I_MAX + FLOAT + FWB_CR2THR_I_MAX + 0.0 + + + FWB_CR2THR_P + FLOAT + FWB_CR2THR_P + 0.01 + + + FWB_CR_MAX + FLOAT + FWB_CR_MAX + 1.0 + + + FWB_H2THR_D + FLOAT + FWB_H2THR_D + 0.0 + + + FWB_H2THR_D_LP + FLOAT + FWB_H2THR_D_LP + 0.0 + + + FWB_H2THR_I + FLOAT + FWB_H2THR_I + 0.0 + + + FWB_H2THR_I_MAX + FLOAT + FWB_H2THR_I_MAX + 0.0 + + + FWB_H2THR_P + FLOAT + FWB_H2THR_P + 0.01 + + + FWB_P2AIL + FLOAT + FWB_P2AIL + 0.3 + + + FWB_PHI2P + FLOAT + FWB_PHI2P + 1.0 + + + FWB_PHI_LIM_MAX + FLOAT + FWB_PHI_LIM_MAX + 0.3 + + + FWB_PSI2PHI + FLOAT + FWB_PSI2PHI + 0.5 + + + FWB_P_LP + FLOAT + FWB_P_LP + 300.0 + + + FWB_Q2ELV + FLOAT + FWB_Q2ELV + 0.1 + + + FWB_Q_LP + FLOAT + FWB_Q_LP + 300.0 + + + FWB_R2RDR + FLOAT + FWB_R2RDR + 0.1 + + + FWB_R_HP + FLOAT + FWB_R_HP + 1.0 + + + FWB_R_LP + FLOAT + FWB_R_LP + 300.0 + + + FWB_THE2Q_D + FLOAT + FWB_THE2Q_D + 0.0 + + + FWB_THE2Q_D_LP + FLOAT + FWB_THE2Q_D_LP + 0.0 + + + FWB_THE2Q_I + FLOAT + FWB_THE2Q_I + 0.0 + + + FWB_THE2Q_I_MAX + FLOAT + FWB_THE2Q_I_MAX + 0.0 + + + FWB_THE2Q_P + FLOAT + FWB_THE2Q_P + 1.0 + + + FWB_THE_MAX + FLOAT + FWB_THE_MAX + 0.5 + + + FWB_THE_MIN + FLOAT + FWB_THE_MIN + -0.5 + + + FWB_TRIM_THR + FLOAT + FWB_TRIM_THR + 0.8 + + + FWB_TRIM_V + FLOAT + FWB_TRIM_V + 12.0 + + + FWB_V2THE_D + FLOAT + FWB_V2THE_D + 0.0 + + + FWB_V2THE_D_LP + FLOAT + FWB_V2THE_D_LP + 0.0 + + + FWB_V2THE_I + FLOAT + FWB_V2THE_I + 0.0 + + + FWB_V2THE_I_MAX + FLOAT + FWB_V2THE_I_MAX + 0.0 + + + FWB_V2THE_P + FLOAT + FWB_V2THE_P + 1.0 + + + FWB_V_CMD + FLOAT + FWB_V_CMD + 12.0 + + + FWB_V_MAX + FLOAT + FWB_V_MAX + 16.0 + + + FWB_V_MIN + FLOAT + FWB_V_MIN + 10.0 + + + FWB_XT2YAW + FLOAT + FWB_XT2YAW + 0.005 + + + FWB_XT2YAW_MAX + FLOAT + FWB_XT2YAW_MAX + 1.57 + + + FW_FLARE_PMAX + FLOAT + Flare, maximum pitch + Maximum pitch during flare, a positive sign means nose up +Applied once FW_LND_TLALT is reached + 15.0 + + + FW_FLARE_PMIN + FLOAT + Flare, minimum pitch + Minimum pitch during flare, a positive sign means nose up +Applied once FW_LND_TLALT is reached + 2.5 + + + RC10_DZ + FLOAT + RC10_DZ + 0.0 + + + RC10_MAX + FLOAT + RC10_MAX + 2000 + + + RC10_MIN + FLOAT + RC10_MIN + 1000 + + + RC10_REV + FLOAT + RC10_REV + 1.0 + + + RC10_TRIM + FLOAT + RC10_TRIM + 1500 + + + RC11_DZ + FLOAT + RC11_DZ + 0.0 + + + RC11_MAX + FLOAT + RC11_MAX + 2000 + + + RC11_MIN + FLOAT + RC11_MIN + 1000 + + + RC11_REV + FLOAT + RC11_REV + 1.0 + + + RC11_TRIM + FLOAT + RC11_TRIM + 1500 + + + RC12_DZ + FLOAT + RC12_DZ + 0.0 + + + RC12_MAX + FLOAT + RC12_MAX + 2000 + + + RC12_MIN + FLOAT + RC12_MIN + 1000 + + + RC12_REV + FLOAT + RC12_REV + 1.0 + + + RC12_TRIM + FLOAT + RC12_TRIM + 1500 + + + RC13_DZ + FLOAT + RC13_DZ + 0.0 + + + RC13_MAX + FLOAT + RC13_MAX + 2000 + + + RC13_MIN + FLOAT + RC13_MIN + 1000 + + + RC13_REV + FLOAT + RC13_REV + 1.0 + + + RC13_TRIM + FLOAT + RC13_TRIM + 1500 + + + RC14_DZ + FLOAT + RC14_DZ + 0.0 + + + RC14_MAX + FLOAT + RC14_MAX + 2000 + + + RC14_MIN + FLOAT + RC14_MIN + 1000 + + + RC14_REV + FLOAT + RC14_REV + 1.0 + + + RC14_TRIM + FLOAT + RC14_TRIM + 1500 + + + RC15_DZ + FLOAT + RC15_DZ + 0.0 + + + RC15_MAX + FLOAT + RC15_MAX + 2000 + + + RC15_MIN + FLOAT + RC15_MIN + 1000 + + + RC15_REV + FLOAT + RC15_REV + 1.0 + + + RC15_TRIM + FLOAT + RC15_TRIM + 1500 + + + RC16_DZ + FLOAT + RC16_DZ + 0.0 + + + RC16_MAX + FLOAT + RC16_MAX + 2000 + + + RC16_MIN + FLOAT + RC16_MIN + 1000 + + + RC16_REV + FLOAT + RC16_REV + 1.0 + + + RC16_TRIM + FLOAT + RC16_TRIM + 1500 + + + RC17_DZ + FLOAT + RC17_DZ + 0.0 + + + RC17_MAX + FLOAT + RC17_MAX + 2000 + + + RC17_MIN + FLOAT + RC17_MIN + 1000 + + + RC17_REV + FLOAT + RC17_REV + 1.0 + + + RC17_TRIM + FLOAT + RC17_TRIM + 1500 + + + RC18_DZ + FLOAT + RC18_DZ + 0.0 + + + RC18_MAX + FLOAT + RC18_MAX + 2000 + + + RC18_MIN + FLOAT + RC18_MIN + 1000 + + + RC18_REV + FLOAT + RC18_REV + 1.0 + + + RC18_TRIM + FLOAT + RC18_TRIM + 1500 + + + RC3_DZ + FLOAT + RC3_DZ + 10.0 + + + RC3_MAX + FLOAT + RC3_MAX + 2000 + + + RC3_MIN + FLOAT + RC3_MIN + 1000 + + + RC3_REV + FLOAT + RC3_REV + 1.0 + + + RC3_TRIM + FLOAT + RC3_TRIM + 1500 + + + RC4_DZ + FLOAT + RC4_DZ + 10.0 + + + RC4_MAX + FLOAT + RC4_MAX + 2000 + + + RC4_MIN + FLOAT + RC4_MIN + 1000 + + + RC4_REV + FLOAT + RC4_REV + 1.0 + + + RC4_TRIM + FLOAT + RC4_TRIM + 1500 + + + RC5_DZ + FLOAT + RC5_DZ + 10.0 + + + RC5_MAX + FLOAT + RC5_MAX + 2000 + + + RC5_MIN + FLOAT + RC5_MIN + 1000 + + + RC5_REV + FLOAT + RC5_REV + 1.0 + + + RC5_TRIM + FLOAT + RC5_TRIM + 1500 + + + RC6_DZ + FLOAT + RC6_DZ + 10.0 + + + RC6_MAX + FLOAT + RC6_MAX + 2000 + + + RC6_MIN + FLOAT + RC6_MIN + 1000 + + + RC6_REV + FLOAT + RC6_REV + 1.0 + + + RC6_TRIM + FLOAT + RC6_TRIM + 1500 + + + RC7_DZ + FLOAT + RC7_DZ + 10.0 + + + RC7_MAX + FLOAT + RC7_MAX + 2000 + + + RC7_MIN + FLOAT + RC7_MIN + 1000 + + + RC7_REV + FLOAT + RC7_REV + 1.0 + + + RC7_TRIM + FLOAT + RC7_TRIM + 1500 + + + RC8_DZ + FLOAT + RC8_DZ + 10.0 + + + RC8_MAX + FLOAT + RC8_MAX + 2000 + + + RC8_MIN + FLOAT + RC8_MIN + 1000 + + + RC8_REV + FLOAT + RC8_REV + 1.0 + + + RC8_TRIM + FLOAT + RC8_TRIM + 1500 + + + RC9_DZ + FLOAT + RC9_DZ + 0.0 + + + RC9_MAX + FLOAT + RC9_MAX + 2000 + + + RC9_MIN + FLOAT + RC9_MIN + 1000 + + + RC9_REV + FLOAT + RC9_REV + 1.0 + + + RC9_TRIM + FLOAT + RC9_TRIM + 1500 + + + RC_ACRO_TH + FLOAT + Threshold for selecting acro mode + min:-1 +max:+1 +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 + 0.5 + + + RC_ASSIST_TH + FLOAT + Threshold for selecting assist mode + min:-1 +max:+1 +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 + 0.25 + + + RC_AUTO_TH + FLOAT + Threshold for selecting auto mode + min:-1 +max:+1 +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 + 0.75 + + + RC_LOITER_TH + FLOAT + Threshold for selecting loiter mode + min:-1 +max:+1 +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 + 0.5 + + + RC_MAP_FAILSAFE + INT32 + Failsafe channel mapping + The RC mapping index indicates which channel is used for failsafe +If 0, whichever channel is mapped to throttle is used +otherwise the value indicates the specific rc channel to use + 0 + 0 + 18 + + + RC_OFFB_TH + FLOAT + Threshold for selecting offboard mode + min:-1 +max:+1 +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 + 0.5 + + + RC_POSCTL_TH + FLOAT + Threshold for selecting posctl mode + min:-1 +max:+1 +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 + 0.5 + + + RC_RETURN_TH + FLOAT + Threshold for selecting return to launch mode + min:-1 +max:+1 +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 + 0.5 + + + RC_RL1_DSM_VCC + INT32 + RC_RL1_DSM_VCC + 0 + + + RV_YAW_P + FLOAT + RV_YAW_P + 0.1 + + + SEG_Q2V + FLOAT + SEG_Q2V + 1.0 + + + SEG_TH2V_I + FLOAT + SEG_TH2V_I + 0.0 + + + SEG_TH2V_I_MAX + FLOAT + SEG_TH2V_I_MAX + 0.0 + + + SEG_TH2V_P + FLOAT + SEG_TH2V_P + 10.0 + + + SO3_COMP_KI + FLOAT + SO3_COMP_KI + 0.05 + + + SO3_COMP_KP + FLOAT + SO3_COMP_KP + 1.0 + + + SO3_PITCH_OFFS + FLOAT + SO3_PITCH_OFFS + 0.0 + + + SO3_ROLL_OFFS + FLOAT + SO3_ROLL_OFFS + 0.0 + + + SO3_YAW_OFFS + FLOAT + SO3_YAW_OFFS + 0.0 + + + TEST_D + FLOAT + TEST_D + 0.01 + + + TEST_DEV + FLOAT + TEST_DEV + 2.0 + + + TEST_D_LP + FLOAT + TEST_D_LP + 10.0 + + + TEST_HP + FLOAT + TEST_HP + 10.0 + + + TEST_I + FLOAT + TEST_I + 0.1 + + + TEST_I_MAX + FLOAT + TEST_I_MAX + 1.0 + + + TEST_LP + FLOAT + TEST_LP + 10.0 + + + TEST_MAX + FLOAT + TEST_MAX + 1.0 + + + TEST_MEAN + FLOAT + TEST_MEAN + 1.0 + + + TEST_MIN + FLOAT + TEST_MIN + -1.0 + + + TEST_P + FLOAT + TEST_P + 0.2 + + + TEST_TRIM + FLOAT + TEST_TRIM + 0.5 + + + TRIM_PITCH + FLOAT + TRIM_PITCH + 0.0 + + + TRIM_ROLL + FLOAT + TRIM_ROLL + 0.0 + + + TRIM_YAW + FLOAT + TRIM_YAW + 0.0 + + +