@ -137,57 +137,6 @@
@@ -137,57 +137,6 @@
<min > 0</min>
</parameter>
</group>
<group name= "Attitude EKF estimator" >
<parameter default= "0.0018" name= "ATT_J11" type= "FLOAT" >
<short_desc > Moment of inertia matrix diagonal entry (1, 1)</short_desc>
<unit > kg*m^2</unit>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.0018" name= "ATT_J22" type= "FLOAT" >
<short_desc > Moment of inertia matrix diagonal entry (2, 2)</short_desc>
<unit > kg*m^2</unit>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.0037" name= "ATT_J33" type= "FLOAT" >
<short_desc > Moment of inertia matrix diagonal entry (3, 3)</short_desc>
<unit > kg*m^2</unit>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0" name= "ATT_J_EN" type= "INT32" >
<short_desc > Moment of inertia enabled in estimator</short_desc>
<long_desc > If set to != 0 the moment of inertia will be used in the estimator</long_desc>
<boolean />
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "1e-4" name= "EKF_ATT_V3_Q0" type= "FLOAT" >
<short_desc > Body angular rate process noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.08" name= "EKF_ATT_V3_Q1" type= "FLOAT" >
<short_desc > Body angular acceleration process noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.009" name= "EKF_ATT_V3_Q2" type= "FLOAT" >
<short_desc > Acceleration process noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.005" name= "EKF_ATT_V3_Q3" type= "FLOAT" >
<short_desc > Magnet field vector process noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "0.0008" name= "EKF_ATT_V4_R0" type= "FLOAT" >
<short_desc > Gyro measurement noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "10000.0" name= "EKF_ATT_V4_R1" type= "FLOAT" >
<short_desc > Accel measurement noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
<parameter default= "100.0" name= "EKF_ATT_V4_R2" type= "FLOAT" >
<short_desc > Mag measurement noise</short_desc>
<scope > examples/attitude_estimator_ekf</scope>
</parameter>
</group>
<group name= "Attitude Q estimator" >
<parameter default= "1" name= "ATT_ACC_COMP" type= "INT32" >
<short_desc > Acceleration compensation based on GPS
@ -4367,135 +4316,6 @@ default 1.5 turns per second</short_desc>
@@ -4367,135 +4316,6 @@ default 1.5 turns per second</short_desc>
<increment > 0.01</increment>
<scope > modules/mc_att_control</scope>
</parameter>
<parameter default= "35.0" name= "MPP_MAN_P_MAX" type= "FLOAT" >
<short_desc > Max manual pitch</short_desc>
<min > 0.0</min>
<max > 90.0</max>
<unit > deg</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "35.0" name= "MPP_MAN_R_MAX" type= "FLOAT" >
<short_desc > Max manual roll</short_desc>
<min > 0.0</min>
<max > 90.0</max>
<unit > deg</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "120.0" name= "MPP_MAN_Y_MAX" type= "FLOAT" >
<short_desc > Max manual yaw rate</short_desc>
<min > 0.0</min>
<unit > deg/s</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "35.0" name= "MP_ACRO_P_MAX" type= "FLOAT" >
<short_desc > Max acro pitch rate</short_desc>
<min > 0.0</min>
<max > 360.0</max>
<unit > deg/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "35.0" name= "MP_ACRO_R_MAX" type= "FLOAT" >
<short_desc > Max acro roll rate</short_desc>
<min > 0.0</min>
<max > 360.0</max>
<unit > deg/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "120.0" name= "MP_ACRO_Y_MAX" type= "FLOAT" >
<short_desc > Max acro yaw rate</short_desc>
<min > 0.0</min>
<unit > deg/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.002" name= "MP_PITCHRATE_D" type= "FLOAT" >
<short_desc > Pitch rate D gain</short_desc>
<long_desc > Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.0" name= "MP_PITCHRATE_I" type= "FLOAT" >
<short_desc > Pitch rate I gain</short_desc>
<long_desc > Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.1" name= "MP_PITCHRATE_P" type= "FLOAT" >
<short_desc > Pitch rate P gain</short_desc>
<long_desc > Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "6.0" name= "MP_PITCH_P" type= "FLOAT" >
<short_desc > Pitch P gain</short_desc>
<long_desc > Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min > 0.0</min>
<unit > 1/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.002" name= "MP_ROLLRATE_D" type= "FLOAT" >
<short_desc > Roll rate D gain</short_desc>
<long_desc > Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.0" name= "MP_ROLLRATE_I" type= "FLOAT" >
<short_desc > Roll rate I gain</short_desc>
<long_desc > Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.1" name= "MP_ROLLRATE_P" type= "FLOAT" >
<short_desc > Roll rate P gain</short_desc>
<long_desc > Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "6.0" name= "MP_ROLL_P" type= "FLOAT" >
<short_desc > Roll P gain</short_desc>
<long_desc > Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.0" name= "MP_YAWRATE_D" type= "FLOAT" >
<short_desc > Yaw rate D gain</short_desc>
<long_desc > Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.0" name= "MP_YAWRATE_I" type= "FLOAT" >
<short_desc > Yaw rate I gain</short_desc>
<long_desc > Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "60.0" name= "MP_YAWRATE_MAX" type= "FLOAT" >
<short_desc > Max yaw rate</short_desc>
<long_desc > Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
<min > 0.0</min>
<max > 360.0</max>
<unit > deg/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.3" name= "MP_YAWRATE_P" type= "FLOAT" >
<short_desc > Yaw rate P gain</short_desc>
<long_desc > Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
<min > 0.0</min>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "0.5" name= "MP_YAW_FF" type= "FLOAT" >
<short_desc > Yaw feed forward</short_desc>
<long_desc > Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
<parameter default= "2.0" name= "MP_YAW_P" type= "FLOAT" >
<short_desc > Yaw P gain</short_desc>
<long_desc > Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
<min > 0.0</min>
<unit > 1/s</unit>
<scope > examples/mc_att_control_multiplatform</scope>
</parameter>
</group>
<group name= "Multicopter Position Control" >
<parameter default= "10.0" name= "MPC_ACC_DOWN_MAX" type= "FLOAT" >
@ -4863,112 +4683,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
@@ -4863,112 +4683,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
<decimal > 2</decimal>
<scope > modules/mc_pos_control</scope>
</parameter>
<parameter default= "1.0" name= "MPP_LAND_SPEED" type= "FLOAT" >
<short_desc > Landing descend rate</short_desc>
<min > 0.0</min>
<unit > m/s</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "1.0" name= "MPP_THR_MAX" type= "FLOAT" >
<short_desc > Maximum thrust</short_desc>
<long_desc > Limit max allowed thrust.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.1" name= "MPP_THR_MIN" type= "FLOAT" >
<short_desc > Minimum thrust</short_desc>
<long_desc > Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "45.0" name= "MPP_TILTMAX_AIR" type= "FLOAT" >
<short_desc > Maximum tilt angle in air</short_desc>
<long_desc > Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
<min > 0.0</min>
<max > 90.0</max>
<unit > deg</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "15.0" name= "MPP_TILTMAX_LND" type= "FLOAT" >
<short_desc > Maximum tilt during landing</short_desc>
<long_desc > Limits maximum tilt angle on landing.</long_desc>
<min > 0.0</min>
<max > 90.0</max>
<unit > deg</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.5" name= "MPP_XY_FF" type= "FLOAT" >
<short_desc > Horizontal velocity feed forward</short_desc>
<long_desc > 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.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "1.0" name= "MPP_XY_P" type= "FLOAT" >
<short_desc > Proportional gain for horizontal position error</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.01" name= "MPP_XY_VEL_D" type= "FLOAT" >
<short_desc > Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.02" name= "MPP_XY_VEL_I" type= "FLOAT" >
<short_desc > Integral gain for horizontal velocity error</short_desc>
<long_desc > Non-zero value allows to resist wind.</long_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "5.0" name= "MPP_XY_VEL_MAX" type= "FLOAT" >
<short_desc > Maximum horizontal velocity</short_desc>
<long_desc > Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
<min > 0.0</min>
<unit > m/s</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.1" name= "MPP_XY_VEL_P" type= "FLOAT" >
<short_desc > Proportional gain for horizontal velocity error</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.5" name= "MPP_Z_FF" type= "FLOAT" >
<short_desc > Vertical velocity feed forward</short_desc>
<long_desc > Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "1.0" name= "MPP_Z_P" type= "FLOAT" >
<short_desc > Proportional gain for vertical position error</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.0" name= "MPP_Z_VEL_D" type= "FLOAT" >
<short_desc > Differential gain for vertical velocity error</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.02" name= "MPP_Z_VEL_I" type= "FLOAT" >
<short_desc > Integral gain for vertical velocity error</short_desc>
<long_desc > Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "5.0" name= "MPP_Z_VEL_MAX" type= "FLOAT" >
<short_desc > Maximum vertical velocity</short_desc>
<long_desc > Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).</long_desc>
<min > 0.0</min>
<unit > m/s</unit>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
<parameter default= "0.1" name= "MPP_Z_VEL_P" type= "FLOAT" >
<short_desc > Proportional gain for vertical velocity error</short_desc>
<min > 0.0</min>
<scope > examples/mc_pos_control_multiplatform</scope>
</parameter>
</group>
<group name= "PWM Outputs" >
<parameter default= "0.0" name= "MOT_SLEW_MAX" type= "FLOAT" >
@ -5439,167 +5153,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
@@ -5439,167 +5153,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
<scope > examples/bottle_drop</scope>
</parameter>
</group>
<group name= "Position Estimator" >
<parameter default= "1e-05" name= "PE_ABIAS_PNOISE" type= "FLOAT" >
<short_desc > Accelerometer bias estimate process noise</short_desc>
<long_desc > Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. Increasing this value makes the bias estimation faster and noisier.</long_desc>
<min > 0.00001</min>
<max > 0.001</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.125" name= "PE_ACC_PNOISE" type= "FLOAT" >
<short_desc > Accelerometer process noise</short_desc>
<long_desc > 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.</long_desc>
<min > 0.05</min>
<max > 1.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "1.4" name= "PE_EAS_NOISE" type= "FLOAT" >
<short_desc > Airspeed measurement noise</short_desc>
<long_desc > Increasing this value will make the filter trust this sensor less and trust other sensors more.</long_desc>
<min > 0.5</min>
<max > 5.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "1e-07" name= "PE_GBIAS_PNOISE" type= "FLOAT" >
<short_desc > Gyro bias estimate process noise</short_desc>
<long_desc > Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
<min > 0.00000005</min>
<max > 0.00001</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.9" name= "PE_GPS_ALT_WGT" type= "FLOAT" >
<short_desc > GPS vs. barometric altitude update weight</short_desc>
<long_desc > RE-CHECK this.</long_desc>
<min > 0.0</min>
<max > 1.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.015" name= "PE_GYRO_PNOISE" type= "FLOAT" >
<short_desc > Gyro process noise</short_desc>
<long_desc > 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.</long_desc>
<min > 0.001</min>
<max > 0.05</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "350" name= "PE_HGT_DELAY_MS" type= "INT32" >
<short_desc > Height estimate delay</short_desc>
<long_desc > The delay in milliseconds of the height estimate from the barometer.</long_desc>
<min > 0</min>
<max > 1000</max>
<unit > ms</unit>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.0003" name= "PE_MAGB_PNOISE" type= "FLOAT" >
<short_desc > Magnetometer body frame offsets process noise</short_desc>
<long_desc > 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.</long_desc>
<min > 0.0001</min>
<max > 0.01</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.0" name= "PE_MAGB_X" type= "FLOAT" >
<short_desc > Magnetometer X bias</short_desc>
<long_desc > The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
<min > -0.6</min>
<max > 0.6</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.0" name= "PE_MAGB_Y" type= "FLOAT" >
<short_desc > Magnetometer Y bias</short_desc>
<long_desc > The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
<min > -0.6</min>
<max > 0.6</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.0" name= "PE_MAGB_Z" type= "FLOAT" >
<short_desc > Magnetometer Z bias</short_desc>
<long_desc > The magnetometer bias. This bias is learnt by the filter over time and persists between boots.</long_desc>
<min > -0.6</min>
<max > 0.6</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.0003" name= "PE_MAGE_PNOISE" type= "FLOAT" >
<short_desc > Magnetometer earth frame offsets process noise</short_desc>
<long_desc > 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.</long_desc>
<min > 0.0001</min>
<max > 0.01</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "30" name= "PE_MAG_DELAY_MS" type= "INT32" >
<short_desc > Mag estimate delay</short_desc>
<long_desc > The delay in milliseconds of the magnetic field estimate from the magnetometer.</long_desc>
<min > 0</min>
<max > 1000</max>
<unit > ms</unit>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.05" name= "PE_MAG_NOISE" type= "FLOAT" >
<short_desc > Magnetometer measurement noise</short_desc>
<long_desc > Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05</long_desc>
<min > 0.01</min>
<max > 1.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "5.0" name= "PE_POSDEV_INIT" type= "FLOAT" >
<short_desc > Threshold for filter initialization</short_desc>
<long_desc > If the standard deviation of the GPS position estimate is below this threshold in meters, the filter will initialize.</long_desc>
<min > 0.3</min>
<max > 10.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "1.25" name= "PE_POSD_NOISE" type= "FLOAT" >
<short_desc > Position noise in down (vertical) direction</short_desc>
<long_desc > Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0</long_desc>
<min > 0.5</min>
<max > 3.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.5" name= "PE_POSNE_NOISE" type= "FLOAT" >
<short_desc > Position noise in north-east (horizontal) direction</short_desc>
<long_desc > Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5</long_desc>
<min > 0.1</min>
<max > 10.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "210" name= "PE_POS_DELAY_MS" type= "INT32" >
<short_desc > Position estimate delay</short_desc>
<long_desc > The delay in milliseconds of the position estimate from GPS.</long_desc>
<min > 0</min>
<max > 1000</max>
<unit > ms</unit>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "210" name= "PE_TAS_DELAY_MS" type= "INT32" >
<short_desc > True airspeeed estimate delay</short_desc>
<long_desc > The delay in milliseconds of the airspeed estimate.</long_desc>
<min > 0</min>
<max > 1000</max>
<unit > ms</unit>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.3" name= "PE_VELD_NOISE" type= "FLOAT" >
<short_desc > Velocity noise in down (vertical) direction</short_desc>
<long_desc > Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7</long_desc>
<min > 0.2</min>
<max > 3.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "0.3" name= "PE_VELNE_NOISE" type= "FLOAT" >
<short_desc > Velocity measurement noise in north-east (horizontal) direction</short_desc>
<long_desc > Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5</long_desc>
<min > 0.05</min>
<max > 5.0</max>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
<parameter default= "230" name= "PE_VEL_DELAY_MS" type= "INT32" >
<short_desc > Velocity estimate delay</short_desc>
<long_desc > The delay in milliseconds of the velocity estimate from GPS.</long_desc>
<min > 0</min>
<max > 1000</max>
<unit > ms</unit>
<scope > examples/ekf_att_pos_estimator</scope>
</parameter>
</group>
<group name= "Position Estimator INAV" >
<parameter default= "0" name= "CBRK_NO_VISION" type= "INT32" >
<short_desc > Disable vision input</short_desc>
@ -8858,13 +8411,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
@@ -8858,13 +8411,6 @@ This is used for gathering replay logs for the ekf2 module</short_desc>
</parameter>
</group>
<group name= "Sensors" >
<parameter default= "0.2" name= "ATT_VIBE_THRESH" type= "FLOAT" >
<short_desc > Threshold (of RMS) to warn about high vibration levels</short_desc>
<min > 0.01</min>
<max > 10</max>
<decimal > 2</decimal>
<scope > modules/sensors</scope>
</parameter>
<parameter default= "63" name= "CAL_MAG_SIDES" type= "INT32" >
<short_desc > Bitfield selecting mag sides for calibration</short_desc>
<long_desc > DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32</long_desc>
PX4 Jenkins
8 years ago