From a90bd0f1bfd31cb278495b3d7cab60b41ab9f54b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 19 Oct 2017 22:43:51 -0400 Subject: [PATCH] update PX4 airframe and parameter metadata (#5758) --- src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml | 305 +++--- .../PX4/PX4ParameterFactMetaData.xml | 1128 ++++++++++++++++---- 2 files changed, 1110 insertions(+), 323 deletions(-) diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index f5f460b..eddd43f 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -62,7 +62,7 @@ - + Copter Lorenz Meier <lorenz@px4.io> Hexarotor Coaxial @@ -176,6 +176,19 @@ feed-through of RC FLAPS channel + + + Copter + Blankered + Quadrotor H + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + + Copter @@ -192,7 +205,7 @@ feed-through of RC AUX3 channel feed-through of RC FLAPS channel - + Copter Lorenz Meier <lorenz@px4.io> Quadrotor Wide @@ -200,14 +213,12 @@ motor 2 motor 3 motor 4 - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel feed-through of RC FLAPS channel - + Copter Lorenz Meier <lorenz@px4.io> Quadrotor Wide @@ -215,6 +226,8 @@ motor 2 motor 3 motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel @@ -251,29 +264,44 @@ - + Copter Lorenz Meier <lorenz@px4.io> Quadrotor x + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + feed-through of RC FLAPS channel - - Copter - Blankered - Quadrotor x - - + Copter - Pavel Kirienko <pavel.kirienko@gmail.com> + Leon Mueller <thedevleon> Quadrotor x + motor 1 + motor 2 + motor 3 + motor 4 + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + Mount pitch + Mount roll + Mount yaw + Mount retract - + Copter James Goppert <james.goppert@gmail.com> Quadrotor x - + Copter - Lorenz Meier <lorenz@px4.io> + Leon Mueller <thedevleon> Quadrotor x @@ -281,65 +309,70 @@ Lorenz Meier <lorenz@px4.io> Quadrotor x - + Copter - Leon Mueller <thedevleon> + Lorenz Meier <lorenz@px4.io> Quadrotor x - motor 1 - motor 2 - motor 3 - motor 4 - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - Mount pitch - Mount roll - Mount yaw - Mount retract Copter Lorenz Meier <lorenz@px4.io> Quadrotor x - + Copter - Leon Mueller <thedevleon> + Pavel Kirienko <pavel.kirienko@gmail.com> Quadrotor x - + Copter - Anton Matosov <anton.matosov@gmail.com> + Michael Schaeuble Quadrotor x - + Copter - James Goppert <james.goppert@gmail.com> + Thomas Gubler <thomas@px4.io> Quadrotor x - + Copter - Lorenz Meier <lorenz@px4.io> + Andreas Antener <andreas@uaventure.com> Quadrotor x - + Copter - Andreas Antener <andreas@uaventure.com> + Lorenz Meier <lorenz@px4.io> Quadrotor x - + Copter Lorenz Meier <lorenz@px4.io> Quadrotor x - motor 1 - motor 2 - motor 3 - motor 4 - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - feed-through of RC FLAPS channel + + + Copter + James Goppert <james.goppert@gmail.com> + Quadrotor x + + + Copter + Lucas de Marchi + Quadrotor x + + + Copter + Anton Matosov <anton.matosov@gmail.com> + Quadrotor x + + + Copter + Henry Zhang <zhanghui629@gmail.com> + Quadrotor x + + + Copter + Dennis Shtatov <densht@gmail.com> + Quadrotor x @@ -372,28 +405,16 @@ - + Plane - Simon Wilks <simon@uaventure.com> + Flying Wing - - Plane - Lorenz Meier <lorenz@px4.io> - Flying Wing - https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html - left aileron - right aileron - throttle - feed-through of RC AUX1 channel - feed-through of RC AUX2 channel - feed-through of RC AUX3 channel - - + Plane - Jan Liphardt <JTLiphardt@gmail.com> + Simon Wilks <simon@uaventure.com> Flying Wing - + https://pixhawk.org/platforms/planes/bormatec_camflyer_q left aileron right aileron throttle @@ -413,11 +434,11 @@ feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Plane - Simon Wilks <simon@uaventure.com> + Julian Oes <julian@px4.io> Flying Wing - http://www.sparkletech.hk/ + https://pixhawk.org/platforms/planes/skywalker_x5 left aileron right aileron throttle @@ -425,11 +446,11 @@ feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Plane - Julian Oes <julian@px4.io> + Lorenz Meier <lorenz@px4.io> Flying Wing - https://pixhawk.org/platforms/planes/skywalker_x5 + https://docs.px4.io/en/framebuild_plane/wing_wing_z84.html left aileron right aileron throttle @@ -437,9 +458,9 @@ feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Plane - Lorenz Meier <lorenz@px4.io> + Simon Wilks <simon@uaventure.com> Flying Wing @@ -447,11 +468,23 @@ Simon Wilks <simon@uaventure.com> Flying Wing - + Plane Simon Wilks <simon@uaventure.com> Flying Wing - https://pixhawk.org/platforms/planes/bormatec_camflyer_q + http://www.sparkletech.hk/ + left aileron + right aileron + throttle + feed-through of RC AUX1 channel + feed-through of RC AUX2 channel + feed-through of RC AUX3 channel + + + Plane + Jan Liphardt <JTLiphardt@gmail.com> + Flying Wing + left aileron right aileron throttle @@ -459,6 +492,11 @@ feed-through of RC AUX2 channel feed-through of RC AUX3 channel + + Plane + Lorenz Meier <lorenz@px4.io> + Flying Wing + @@ -492,42 +530,41 @@ - + Plane - Andreas Antener <andreas@uaventure.com> + Lorenz Meier <lorenz@px4.io> Standard Plane aileron - aileron - elevator + elevator + throttle rudder - throttle - wheel - flaps + flaps + gear feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Plane - Lorenz Meier <lorenz@px4.io> + Andreas Antener <andreas@uaventure.com> Standard Plane aileron - elevator - throttle + aileron + elevator rudder - flaps - gear + throttle + wheel + flaps feed-through of RC AUX1 channel feed-through of RC AUX2 channel feed-through of RC AUX3 channel - + Rover - Marco Zorzi + Rover - https://traxxas.com/products/models/electric/stampede-vxl-tsm steering throttle @@ -543,31 +580,38 @@ pass-through of control group 0, channel 6 pass-through of control group 0, channel 7 - - - - - VTOL - Sander Smeets <sander@droneslab.com> - Standard VTOL + + Rover + Marco Zorzi + Rover + https://traxxas.com/products/models/electric/stampede-vxl-tsm + steering + throttle - - VTOL - Sander Smeets <sander@droneslab.com> - Standard VTOL + + + + Tool + Julian Oes <julian@oes.ch> +This startup can be used on Pixhawk/Pixfalcon/Pixracer for the +passthrough of RC input and PWM output. + custom - + + + VTOL - Sander Smeets <sander@droneslab.com> + Standard VTOL motor 1 motor 2 motor 3 motor 4 - Right elevon - Left elevon - Pusher motor - Pusher reverse channel + Aileron 1 + Aileron 2 + Elevator + Rudder + Throttle VTOL @@ -595,11 +639,34 @@ Left elevon Motor + + VTOL + Sander Smeets <sander@droneslab.com> + Standard VTOL + + + VTOL + Sander Smeets <sander@droneslab.com> + Standard VTOL + VTOL Andreas Antener <andreas@uaventure.com> Standard VTOL + + VTOL + Sander Smeets <sander@droneslab.com> + Standard VTOL + motor 1 + motor 2 + motor 3 + motor 4 + Right elevon + Left elevon + Pusher motor + Pusher reverse channel + @@ -613,6 +680,11 @@ + + VTOL + Roman Bapst <roman@px4.io> + VTOL Quad Tailsitter + VTOL Roman Bapst <roman@px4.io> @@ -626,18 +698,8 @@ canard surface rudder - - VTOL - Roman Bapst <roman@px4.io> - VTOL Quad Tailsitter - - - VTOL - Samay Siga <samay_s@icloud.com> - VTOL Tiltrotor - VTOL Roman Bapst <roman@uaventure.com> @@ -653,6 +715,11 @@ Elevon 2 Gear + + VTOL + Samay Siga <samay_s@icloud.com> + VTOL Tiltrotor + VTOL Andreas Antener <andreas@uaventure.com> diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 29f28ca..2f48b01 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -137,6 +137,57 @@ 0 + + + Body angular rate process noise + examples/attitude_estimator_ekf + + + Body angular acceleration process noise + examples/attitude_estimator_ekf + + + Acceleration process noise + examples/attitude_estimator_ekf + + + Magnet field vector process noise + examples/attitude_estimator_ekf + + + Gyro measurement noise + examples/attitude_estimator_ekf + + + Accel measurement noise + examples/attitude_estimator_ekf + + + Mag measurement noise + examples/attitude_estimator_ekf + + + Moment of inertia matrix diagonal entry (1, 1) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia matrix diagonal entry (2, 2) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia matrix diagonal entry (3, 3) + kg*m^2 + examples/attitude_estimator_ekf + + + Moment of inertia enabled in estimator + If set to != 0 the moment of inertia will be used in the estimator + + examples/attitude_estimator_ekf + + Complimentary filter accelerometer weight @@ -888,6 +939,15 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action 0.01 modules/commander + + Maximum magnetic field inconsistency between units that will allow arming + 0.05 + 0.5 + Gauss + 2 + 0.05 + modules/commander + Enable RC stick override of auto modes @@ -930,6 +990,12 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action true modules/commander + + Next flight UUID + This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0. + 0 + modules/commander + @@ -1024,6 +1090,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will 10 50 ms + true modules/ekf2 @@ -1032,6 +1099,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will 300 ms 1 + true modules/ekf2 @@ -1040,6 +1108,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will 300 ms 1 + true modules/ekf2 @@ -1048,6 +1117,7 @@ Baro and Magnetometer data will be averaged before downsampling, other data will 300 ms 1 + true modules/ekf2 @@ -1057,6 +1127,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + true modules/ekf2 @@ -1065,6 +1136,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + true modules/ekf2 @@ -1073,6 +1145,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + true modules/ekf2 @@ -1081,6 +1154,7 @@ Assumes measurement is timestamped at trailing edge of integration period300 ms 1 + true modules/ekf2 @@ -1299,6 +1373,7 @@ Assumes measurement is timestamped at trailing edge of integration periodSet bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used. 0 7 + true modules/ekf2 use geo_lookup declination @@ -1309,6 +1384,7 @@ Assumes measurement is timestamped at trailing edge of integration period Type of magnetometer fusion Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer. If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable. + true modules/ekf2 Magnetic heading @@ -1368,6 +1444,7 @@ This parameter is used when the magnetometer fusion method is set automatically Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion 0 63 + true modules/ekf2 use GPS @@ -1381,6 +1458,7 @@ This parameter is used when the magnetometer fusion method is set automatically Determines the primary source of height data used by the EKF The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. + true modules/ekf2 GPS @@ -1613,6 +1691,7 @@ value will determine the minimum airspeed which will still be fused 0.2 rad/sec 2 + true modules/ekf2 @@ -1621,6 +1700,7 @@ value will determine the minimum airspeed which will still be fused 0.5 m/s/s 2 + true modules/ekf2 @@ -1629,6 +1709,7 @@ value will determine the minimum airspeed which will still be fused 0.5 rad 3 + true modules/ekf2 @@ -1646,6 +1727,7 @@ This is the amount of X-axis magnetometer bias learned by the EKF and saved from 0.5 mGauss 3 + true modules/ekf2 @@ -1655,6 +1737,7 @@ This is the amount of Y-axis magnetometer bias learned by the EKF and saved from 0.5 mGauss 3 + true modules/ekf2 @@ -1664,10 +1747,12 @@ This is the amount of Z-axis magnetometer bias learned by the EKF and saved from 0.5 mGauss 3 + true modules/ekf2 ID of Magnetometer the learned bias is for + true modules/ekf2 @@ -1675,6 +1760,7 @@ This is the amount of Z-axis magnetometer bias learned by the EKF and saved from This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value. Smaller values will make the stored bias data adjust more slowly from flight to flight. Larger values will make it adjust faster mGauss**2 8 + true modules/ekf2 @@ -1786,8 +1872,56 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi 2 modules/ekf2 + + Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value + 0.0 + 0.8 + m/s/s + 2 + modules/ekf2 + + + Maximum IMU accel magnitude that allows IMU bias learning. +If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. +This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates + 20.0 + 200.0 + m/s/s + 1 + modules/ekf2 + + + Maximum IMU gyro angular rate magnitude that allows IMU bias learning. +If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. +This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates + 2.0 + 20.0 + rad/s + 1 + modules/ekf2 + + + Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning. +The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. +This parameter controls the time constant of the decay + 0.1 + 1.0 + s + 2 + modules/ekf2 + + + Attitude Wheel Time Constant + This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. + 0.4 + 1.0 + s + 2 + 0.05 + modules/gnd_att_control + Attitude Roll Time Constant This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. @@ -2179,16 +2313,6 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi 0.01 modules/fw_att_control - - Attitude Wheel Time Constant - This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.4 - 1.0 - s - 2 - 0.05 - modules/gnd_att_control - @@ -2437,15 +2561,23 @@ Set to 0 to disable heading hold - - Cruise Airspeed - The fixed wing controller tries to fly at this airspeed. + + Trim ground speed 0.0 40 m/s 1 0.5 - modules/navigator + modules/gnd_pos_control + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control Minimum Airspeed @@ -2616,23 +2748,15 @@ Set to 0 to disable heading hold 0.01 modules/fw_pos_control_l1 - - Trim ground speed - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - - - Maximum ground speed + + Cruise Airspeed + The fixed wing controller tries to fly at this airspeed. 0.0 40 m/s 1 0.5 - modules/gnd_pos_control + modules/navigator @@ -2670,6 +2794,67 @@ but also ignore less noise + + Control mode for speed + This allows the user to choose between closed loop gps speed or open loop cruise throttle speed + 0 + 1 + modules/gnd_pos_control + + close the loop with gps speed + open loop control + + + + Speed proportional gain + This is the proportional gain for the speed closed loop controller + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed Integral gain + This is the integral gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed proportional gain + This is the derivative gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed integral maximum value + This is the maxim value the integral can reach to prevent wind-up. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + + + Speed to throttle scaler + This is a gain to map the speed control output to the throttle linearly. + 0.005 + 50.0 + %m/s + 3 + 0.005 + modules/gnd_pos_control + Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. @@ -2752,67 +2937,6 @@ but also ignore less noise modules/gnd_att_control - - Control mode for speed - This allows the user to choose between closed loop gps speed or open loop cruise throttle speed - 0 - 1 - modules/gnd_pos_control - - close the loop with gps speed - open loop control - - - - Speed proportional gain - This is the proportional gain for the speed closed loop controller - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed Integral gain - This is the integral gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed proportional gain - This is the derivative gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed integral maximum value - This is the maxim value the integral can reach to prevent wind-up. - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - - - Speed to throttle scaler - This is a gain to map the speed control output to the throttle linearly. - 0.005 - 50.0 - %m/s - 3 - 0.005 - modules/gnd_pos_control - @@ -3076,24 +3200,6 @@ but also ignore less noise 2 modules/land_detector - - Manual flight stick down threshold for landing - When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position. - 0 - 1 - norm - 2 - modules/land_detector - - - Manual position flight stick up threshold for taking off - When controlling manually in position mode the throttle stick value (0 to 1) has to get above this threshold after arming in order to take off. - 0 - 1 - norm - 2 - modules/land_detector - Fixedwing max horizontal velocity Maximum horizontal velocity allowed in the landed state (m/s) @@ -3142,10 +3248,10 @@ but also ignore less noise 0 modules/land_detector - + Maximum altitude for multicopters - The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. - 1.5 + The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation. + -1 10000 m 2 @@ -3545,38 +3651,6 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat - - Set offboard loss failsafe mode - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Loiter - Land at current position - Return to Land - - - - Set offboard loss failsafe mode when RC is available - The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. - modules/commander - - Altitude control - Position control - Return to Land - Manual - Loiter - Land at current position - - - - Position control navigation loss response - This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. - modules/commander - - Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. - Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. - - Take-off altitude This is the minimum altitude the system will take off to. @@ -3613,6 +3687,16 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat 100 modules/navigator + + Maximal horizontal distance between waypoint + Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS. + 0 + 10000 + m + 1 + 100 + modules/navigator + 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 @@ -3745,6 +3829,38 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat modules/navigator + + Set offboard loss failsafe mode + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander + + Loiter + Land at current position + Return to Land + + + + Set offboard loss failsafe mode when RC is available + The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds. + modules/commander + + Altitude control + Position control + Return to Land + Manual + Loiter + Land at current position + + + + Position control navigation loss response + This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes. + modules/commander + + Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION. + Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL. + + @@ -3843,6 +3959,135 @@ if required for the gimbal (only in AUX output mode) + + Max manual roll + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Max manual pitch + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Max manual yaw rate + 0.0 + deg/s + examples/mc_pos_control_multiplatform + + + Roll P gain + Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + examples/mc_att_control_multiplatform + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + examples/mc_att_control_multiplatform + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + examples/mc_att_control_multiplatform + + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + examples/mc_att_control_multiplatform + + + Pitch P gain + Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + examples/mc_att_control_multiplatform + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + examples/mc_att_control_multiplatform + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + examples/mc_att_control_multiplatform + + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw P gain + Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + 0.0 + 1/s + examples/mc_att_control_multiplatform + + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + examples/mc_att_control_multiplatform + + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + examples/mc_att_control_multiplatform + + + 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 + examples/mc_att_control_multiplatform + + + Yaw feed forward + Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + examples/mc_att_control_multiplatform + + + Max yaw rate + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + 0.0 + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro roll rate + 0.0 + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro pitch rate + 0.0 + 360.0 + deg/s + examples/mc_att_control_multiplatform + + + Max acro yaw rate + 0.0 + deg/s + examples/mc_att_control_multiplatform + Roll time constant Reduce if the system is too twitchy, increase if the response is too slow and sluggish. @@ -4026,9 +4271,9 @@ if required for the gimbal (only in AUX output mode) Max roll rate - Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. 0.0 - 360.0 + 1800.0 deg/s 1 5 @@ -4036,9 +4281,9 @@ if required for the gimbal (only in AUX output mode) Max pitch rate - Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. 0.0 - 360.0 + 1800.0 deg/s 1 5 @@ -4046,9 +4291,8 @@ if required for the gimbal (only in AUX output mode) Max yaw rate - A value of significantly over 120 degrees per second can already lead to mixer saturation. 0.0 - 360.0 + 1800.0 deg/s 1 5 @@ -4056,16 +4300,17 @@ if required for the gimbal (only in AUX output mode) Max yaw rate in auto mode - Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. A value of significantly over 60 degrees per second can already lead to mixer saturation. A value of 30 degrees / second is recommended to avoid very audible twitches. + Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. 0.0 - 120.0 + 360.0 deg/s 1 5 modules/mc_att_control - - Max acro roll rate + + Max acro roll rate +default: 2 turns per second 0.0 1000.0 deg/s @@ -4073,8 +4318,9 @@ if required for the gimbal (only in AUX output mode) 5 modules/mc_att_control - - Max acro pitch rate + + Max acro pitch rate +default: 2 turns per second 0.0 1000.0 deg/s @@ -4082,8 +4328,9 @@ if required for the gimbal (only in AUX output mode) 5 modules/mc_att_control - - Max acro yaw rate + + Max acro yaw rate +default 1.5 turns per second 0.0 1000.0 deg/s @@ -4091,6 +4338,24 @@ if required for the gimbal (only in AUX output mode) 5 modules/mc_att_control + + Acro Expo factor +applied to input of all axis: roll, pitch, yaw + 0 Purely linear input curve 1 Purely cubic input curve + 0 + 1 + 2 + modules/mc_att_control + + + Acro SuperExpo factor +applied to input of all axis: roll, pitch, yaw + 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect + 0 + 0.95 + 2 + modules/mc_att_control + Threshold for Rattitude mode Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints @@ -4151,17 +4416,123 @@ if required for the gimbal (only in AUX output mode) 0.05 modules/mc_att_control - - TPA Rate D - Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) + + TPA Rate D + Throttle PID Attenuation (TPA) Rate at which to attenuate roll/pitch D gain Attenuation factor is 1.0 when throttle magnitude is below the setpoint Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint)) + 0.0 + 1.0 + 2 + 0.05 + modules/mc_att_control + + + + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Maximum thrust + Limit max allowed thrust. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for vertical position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + 0.0 + examples/mc_pos_control_multiplatform + + + Differential gain for vertical velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform + + + Vertical velocity feed forward + Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for horizontal position error + 0.0 + examples/mc_pos_control_multiplatform + + + Proportional gain for horizontal velocity error + 0.0 + examples/mc_pos_control_multiplatform + + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. + 0.0 + examples/mc_pos_control_multiplatform + + + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again + 0.0 + examples/mc_pos_control_multiplatform + + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). + 0.0 + m/s + examples/mc_pos_control_multiplatform + + + 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. + 0.0 + 1.0 + examples/mc_pos_control_multiplatform + + + Maximum tilt angle in air + Limits maximum tilt in AUTO and POSCTRL modes during flight. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Maximum tilt during landing + Limits maximum tilt angle on landing. + 0.0 + 90.0 + deg + examples/mc_pos_control_multiplatform + + + Landing descend rate 0.0 - 1.0 - 2 - 0.05 - modules/mc_att_control + m/s + examples/mc_pos_control_multiplatform - - Minimum thrust in auto thrust control It's recommended to set it > 0 to avoid free fall with zero thrust. @@ -4365,7 +4736,7 @@ the setpoint will be capped to MPC_XY_VEL_MAX Maximal tilt angle in manual or altitude mode 0.0 - 85.0 + 90.0 deg 1 modules/mc_pos_control @@ -7191,18 +7562,21 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL from boot until shutdown - + Logging Topic Profile - Selects a set of topics appropriate for specific tasks. This parameter is only for the new logger (SYS_LOGGER=1). + This is an integer bitmask controlling the set and rates of logged topics. The default allows for general log analysis and estimator replay, while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits in the following positions to enable: 0 : Set to true to use the default set (used for general log analysis) 1 : Set to true to enable estimator (EKF2) replay topics 2 : Set to true to enable topics for thermal calibration (raw IMU sensor data) 3 : Set to true to enable topics for system identification (high rate actuator control and IMU data) 4 : Set to true to enable full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Set to true to enable debugging topics (debug_*.msg topics, for custom code) 0 - 2 + 63 true modules/logger - - thermal calibration - default - system identification - + + default set (log analysis) + estimator replay (EKF2) + thermal calibration + system identification + high rate + debug + Maximum number of log directories to keep @@ -7259,6 +7633,20 @@ This is used for gathering replay logs for the ekf2 module + + + Simulator UDP port + modules/simulator + + + Simulator Battery drain interval + 1 + 86400 + s + 1 + modules/simulator + + ID of the board this parameter set was calibrated on @@ -7898,6 +8286,24 @@ DEPRECATED, only used on V1 hardware 2 modules/sensors + + Driver level cut frequency for gyro + The cut frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. + 5 + 1000 + Hz + true + modules/sensors + + + Driver level cut frequency for accel + The cut frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter. + 5 + 1000 + Hz + true + modules/sensors + @@ -8578,6 +8984,39 @@ DEPRECATED, only used on V1 hardware modules/sensors + + + Interval of one subscriber in the example in ms + ms + examples/subscriber + + + Float Demonstration Parameter in the Example + examples/subscriber + + + + + Operating channel of the NRF51 + 0 + 125 + modules/syslink + + + Operating datarate of the NRF51 + 0 + 2 + modules/syslink + + + Operating address of the NRF51 (most significant byte) + modules/syslink + + + Operating address of the NRF51 (least significant 4 bytes) + modules/syslink + + Run the FMU as a task to reduce latency @@ -8739,6 +9178,26 @@ DEPRECATED, only used on V1 hardware + + TEST_1 + systemcmds/tests + + + TEST_2 + systemcmds/tests + + + TEST_RC_X + systemcmds/tests + + + TEST_RC2_X + systemcmds/tests + + + TEST_PARAMS + systemcmds/tests + TEST_MIN lib/controllib/controllib_test @@ -8787,28 +9246,34 @@ DEPRECATED, only used on V1 hardware TEST_DEV lib/controllib/controllib_test - - TEST_1 - systemcmds/tests - - - TEST_2 - systemcmds/tests + + + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcanesc - - TEST_RC_X - systemcmds/tests + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcanesc - - TEST_RC2_X - systemcmds/tests + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcannode - - TEST_PARAMS - systemcmds/tests + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcannode - - UAVCAN mode 0 - UAVCAN disabled. 1 - Basic support for UAVCAN actuators and sensors. 2 - Full support for dynamic node ID allocation and firmware update. 3 - Sets the motor control outputs to UAVCAN and enables support for dynamic node ID allocation and firmware update. @@ -9186,10 +9651,273 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV modules/vtol_att_control + + + mTECS enabled + + modules/fw_pos_control_l1/mtecs + + + Total Energy Rate Control Feedforward +Maps the total energy rate setpoint to the throttle setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Total Energy Rate Control P +Maps the total energy rate error to the throttle setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Total Energy Rate Control I +Maps the integrated total energy rate to the throttle setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Total Energy Rate Control Offset (Cruise throttle sp) + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Energy Distribution Rate Control Feedforward +Maps the energy distribution rate setpoint to the pitch setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Energy Distribution Rate Control P +Maps the energy distribution rate error to the pitch setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Energy Distribution Rate Control I +Maps the integrated energy distribution rate error to the pitch setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Total Energy Distribution Offset (Cruise pitch sp) + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Minimal Throttle Setpoint + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Maximal Throttle Setpoint + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Minimal Pitch Setpoint in Degrees + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Maximal Pitch Setpoint in Degrees + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Lowpass (cutoff freq.) for altitude + Hz + modules/fw_pos_control_l1/mtecs + + + Lowpass (cutoff freq.) for the flight path angle + Hz + modules/fw_pos_control_l1/mtecs + + + P gain for the altitude control +Maps the altitude error to the flight path angle setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + D gain for the altitude control +Maps the change of altitude error to the flight path angle setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Lowpass for FPA error derivative calculation (see MT_FPA_D) + modules/fw_pos_control_l1/mtecs + + + Minimal flight path angle setpoint + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Maximal flight path angle setpoint + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Lowpass (cutoff freq.) for airspeed + modules/fw_pos_control_l1/mtecs + + + Airspeed derivative calculation lowpass + modules/fw_pos_control_l1/mtecs + + + P gain for the airspeed control +Maps the airspeed error to the acceleration setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + D gain for the airspeed control +Maps the change of airspeed error to the acceleration setpoint + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Lowpass for ACC error derivative calculation (see MT_ACC_D) + modules/fw_pos_control_l1/mtecs + + + Minimal acceleration (air) + m/s/s + modules/fw_pos_control_l1/mtecs + + + Maximal acceleration (air) + m/s/s + modules/fw_pos_control_l1/mtecs + + + Minimal throttle during takeoff + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Maximal throttle during takeoff + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Minimal pitch during takeoff + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Maximal pitch during takeoff + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Minimal throttle in underspeed mode + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Maximal throttle in underspeed mode + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Minimal pitch in underspeed mode + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Maximal pitch in underspeed mode + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Minimal throttle in landing mode (only last phase of landing) + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Maximal throttle in landing mode (only last phase of landing) + 0.0 + 1.0 + modules/fw_pos_control_l1/mtecs + + + Minimal pitch in landing mode + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Maximal pitch in landing mode + -90.0 + 90.0 + deg + modules/fw_pos_control_l1/mtecs + + + Integrator Limit for Total Energy Rate Control + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + + Integrator Limit for Energy Distribution Rate Control + 0.0 + 10.0 + modules/fw_pos_control_l1/mtecs + + - - RV_YAW_P - examples/rover_steering_control + + EXFW_HDNG_P + examples/fixedwing_control + + + EXFW_ROLL_P + examples/fixedwing_control + + + EXFW_PITCH_P + examples/fixedwing_control SEG_TH2V_P @@ -9207,17 +9935,9 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV SEG_Q2V examples/segway - - EXFW_HDNG_P - examples/fixedwing_control - - - EXFW_ROLL_P - examples/fixedwing_control - - - EXFW_PITCH_P - examples/fixedwing_control + + RV_YAW_P + examples/rover_steering_control