diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 178e7e6..9393425 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -998,31 +998,6 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action - - Airfield home Lat - Latitude of airfield home waypoint - -900000000 - 900000000 - deg * 1e7 - modules/navigator - - - Airfield home Lon - Longitude of airfield home waypoint - -1800000000 - 1800000000 - deg * 1e7 - modules/navigator - - - Airfield home alt - Altitude of airfield home waypoint - -50 - m - 1 - 0.5 - modules/navigator - Comms hold wait time The amount of time in seconds the system should wait at the comms hold waypoint @@ -1082,6 +1057,31 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action modules/navigator + + Airfield home Lat + Latitude of airfield home waypoint + -900000000 + 900000000 + deg * 1e7 + modules/navigator + + + Airfield home Lon + Longitude of airfield home waypoint + -1800000000 + 1800000000 + deg * 1e7 + modules/navigator + + + Airfield home alt + Altitude of airfield home waypoint + -50 + m + 1 + 0.5 + modules/navigator + @@ -1912,6 +1912,16 @@ This parameter controls the time constant of the decay + + 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. @@ -2303,16 +2313,6 @@ This parameter controls the time constant of the decay 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 - @@ -2561,6 +2561,24 @@ Set to 0 to disable heading hold + + Trim ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + modules/gnd_pos_control + Minimum Airspeed If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. @@ -2740,24 +2758,6 @@ 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 - 0.0 - 40 - m/s - 1 - 0.5 - modules/gnd_pos_control - @@ -2794,6 +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. @@ -2876,67 +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 - @@ -3651,6 +3651,21 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat + + Enable weather-vane mode takeoff for missions + + modules/vtol_att_control + + + Weather-vane mode for loiter + + modules/vtol_att_control + + + Weather-vane mode landings for missions + + modules/vtol_att_control + Take-off altitude This is the minimum altitude the system will take off to. @@ -3825,30 +3840,15 @@ by initializing the estimator to the LPE_LAT/LON parameters when global informat modules/navigator - - Enable weather-vane mode takeoff for missions - - modules/vtol_att_control - - - Weather-vane mode for loiter - - modules/vtol_att_control - - - Weather-vane mode landings for missions - - modules/vtol_att_control - - - 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 + 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 @@ -4018,6 +4018,135 @@ Does not affect MAVLINK_ROI input + + 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. @@ -4355,137 +4484,114 @@ applied to input of all axis: roll, pitch, yaw 0.05 modules/mc_att_control - - Roll P gain - Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + + + Minimum thrust + Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. 0.0 - examples/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + Maximum thrust + Limit max allowed thrust. 0.0 - examples/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Proportional gain for vertical position error 0.0 - examples/mc_att_control_multiplatform + examples/mc_pos_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. + + Proportional gain for vertical velocity error 0.0 - examples/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Pitch P gain - Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Integral gain for vertical velocity error + Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. 0.0 - 1/s - examples/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + Differential gain for vertical velocity error 0.0 - examples/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Maximum vertical velocity + Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). 0.0 - examples/mc_att_control_multiplatform + m/s + examples/mc_pos_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. + + 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 - examples/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Yaw P gain - Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + + Proportional gain for horizontal position error 0.0 - 1/s - examples/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + + Proportional gain for horizontal velocity error 0.0 - examples/mc_att_control_multiplatform + examples/mc_pos_control_multiplatform - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + + Integral gain for horizontal velocity error + Non-zero value allows to resist wind. 0.0 - examples/mc_att_control_multiplatform + examples/mc_pos_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. + + 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_att_control_multiplatform + examples/mc_pos_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. + + Maximum horizontal velocity + Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). 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 + m/s + examples/mc_pos_control_multiplatform - - Max acro yaw rate + + 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 - deg/s - examples/mc_att_control_multiplatform + 1.0 + examples/mc_pos_control_multiplatform - - Max manual roll + + 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 - - Max manual pitch + + Maximum tilt during landing + Limits maximum tilt angle on landing. 0.0 90.0 deg examples/mc_pos_control_multiplatform - - Max manual yaw rate + + Landing descend rate 0.0 - deg/s + 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. @@ -4851,134 +4957,258 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 1 modules/mc_pos_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 + + + + Invert direction of aux output channel 1 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Proportional gain for vertical position error - 0.0 - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 2 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Proportional gain for vertical velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 3 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - 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 + + Invert direction of aux output channel 4 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Differential gain for vertical velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 5 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - Maximum vertical velocity - Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL). - 0.0 - m/s - examples/mc_pos_control_multiplatform + + Invert direction of aux output channel 6 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 1 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Proportional gain for horizontal position error - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 2 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Proportional gain for horizontal velocity error - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 3 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - Integral gain for horizontal velocity error - Non-zero value allows to resist wind. - 0.0 - examples/mc_pos_control_multiplatform + + Trim value for FMU PWM output channel 4 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 5 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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 + + Trim value for FMU PWM output channel 6 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4fmu - - 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. + + Thrust to PWM model parameter + Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 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 + drivers/px4fmu - - Landing descend rate + + Minimum motor rise time (slew rate limit) + Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. 0.0 - m/s - examples/mc_pos_control_multiplatform + s/(1000*PWM) + drivers/px4fmu - - - - Set the PWM output frequency for the main outputs - Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. - -1 - 2000 - Hz + + Invert direction of main output channel 1 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4io - - Set the minimum PWM for the main outputs - Set to 1000 for industry default or 900 to increase servo travel. - 800 - 1400 - us + + Invert direction of main output channel 2 + Set to 1 to invert the channel, 0 for default direction. + true - modules/sensors + drivers/px4io - - Set the maximum PWM for the main outputs + + Invert direction of main output channel 3 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 4 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 5 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 6 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 7 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Invert direction of main output channel 8 + Set to 1 to invert the channel, 0 for default direction. + + true + drivers/px4io + + + Trim value for main output channel 1 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 2 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 3 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 4 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 5 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 6 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 7 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + Trim value for main output channel 8 + Set to normalized offset + -0.2 + 0.2 + 2 + drivers/px4io + + + S.BUS out + Set to 1 to enable S.BUS version 1 output instead of RSSI. + + drivers/px4io + + + Set the PWM output frequency for the main outputs + Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125. + -1 + 2000 + Hz + true + modules/sensors + + + Set the minimum PWM for the main outputs + Set to 1000 for industry default or 900 to increase servo travel. + 800 + 1400 + us + true + modules/sensors + + + Set the maximum PWM for the main outputs Set to 2000 for industry default or 2100 to increase servo travel. 1600 2200 @@ -5148,236 +5378,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit true modules/sensors - - Invert direction of main output channel 1 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 2 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 3 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 4 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 5 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 6 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 7 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Invert direction of main output channel 8 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4io - - - Trim value for main output channel 1 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 2 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 3 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 4 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 5 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 6 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 7 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - Trim value for main output channel 8 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4io - - - S.BUS out - Set to 1 to enable S.BUS version 1 output instead of RSSI. - - drivers/px4io - - - Invert direction of aux output channel 1 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 2 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 3 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 4 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 5 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Invert direction of aux output channel 6 - Set to 1 to invert the channel, 0 for default direction. - - true - drivers/px4fmu - - - Trim value for FMU PWM output channel 1 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Trim value for FMU PWM output channel 2 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Trim value for FMU PWM output channel 3 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Trim value for FMU PWM output channel 4 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Trim value for FMU PWM output channel 5 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Trim value for FMU PWM output channel 6 - Set to normalized offset - -0.2 - 0.2 - 2 - drivers/px4fmu - - - Thrust to PWM model parameter - Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 - 0.0 - 1.0 - drivers/px4fmu - - - Minimum motor rise time (slew rate limit) - Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled. - 0.0 - s/(1000*PWM) - drivers/px4fmu - @@ -5778,16 +5778,58 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit m modules/position_estimator_inav - - Disable vision input - Set to the appropriate key (328754) to disable vision input. + + Disable vision input + Set to the appropriate key (328754) to disable vision input. + 0 + 328754 + true + modules/position_estimator_inav + + + + + PWM input channel that provides RSSI + 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters. + 0 + 18 + drivers/px4io + + Channel 11 + Channel 10 + Channel 13 + Channel 12 + Channel 15 + Channel 14 + Channel 17 + Channel 16 + Channel 18 + Channel 1 + Unassigned + Channel 3 + Channel 2 + Channel 5 + Channel 4 + Channel 7 + Channel 6 + Channel 9 + Channel 8 + + + + Max input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 0 - 328754 - true - modules/position_estimator_inav + 2000 + drivers/px4io + + + Min input value for RSSI reading + Only used if RC_RSSI_PWM_CHAN > 0 + 0 + 2000 + drivers/px4io - - RC channel 1 minimum Minimum value for RC channel 1 @@ -6910,48 +6952,6 @@ towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit 0.01 modules/commander - - PWM input channel that provides RSSI - 0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters. - 0 - 18 - drivers/px4io - - Channel 11 - Channel 10 - Channel 13 - Channel 12 - Channel 15 - Channel 14 - Channel 17 - Channel 16 - Channel 18 - Channel 1 - Unassigned - Channel 3 - Channel 2 - Channel 5 - Channel 4 - Channel 7 - Channel 6 - Channel 9 - Channel 8 - - - - Max input value for RSSI reading - Only used if RC_RSSI_PWM_CHAN > 0 - 0 - 2000 - drivers/px4io - - - Min input value for RSSI reading - Only used if RC_RSSI_PWM_CHAN > 0 - 0 - 2000 - drivers/px4io - @@ -7599,46 +7599,6 @@ FW_AIRSPD_MIN * RWTO_AIRSPD_SCL - - 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 - 250 - Hz - modules/sdlog2 - - - Extended logging mode - A value of -1 indicates the command line 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 - modules/sdlog2 - - Enable - Disable - Command Line - - - - Use timestamps only if GPS 3D fix is available - Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present. - - modules/sdlog2 - - - Give logging app higher thread priority to avoid data loss. -This is used for gathering replay logs for the ekf2 module - A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. - 0 - 3 - modules/sdlog2 - - Default priority - Low priority - Max priority - Medium priority - - UTC offset (unit: min) the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets @@ -7691,6 +7651,46 @@ This is used for gathering replay logs for the ekf2 module modules/logger + + 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 + 250 + Hz + modules/sdlog2 + + + Extended logging mode + A value of -1 indicates the command line 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 + modules/sdlog2 + + Enable + Disable + Command Line + + + + Use timestamps only if GPS 3D fix is available + Constrain the log folder creation to only use the time stamp if a 3D GPS lock is present. + + modules/sdlog2 + + + Give logging app higher thread priority to avoid data loss. +This is used for gathering replay logs for the ekf2 module + A value of 0 indicates that the default priority is used. Increasing the parameter in steps of one increases the priority. + 0 + 3 + modules/sdlog2 + + Default priority + Low priority + Max priority + Medium priority + + @@ -7707,28 +7707,50 @@ This is used for gathering replay logs for the ekf2 module - - Primary mag ID + + ID of the Accelerometer that the calibration is for modules/sensors - - Bitfield selecting mag sides for calibration - 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 - 34 - 63 + + Accelerometer 1 enabled + modules/sensors - - Two side calibration - Six side calibration - Three side calibration - - + + Accelerometer X-axis offset + modules/sensors + + + Accelerometer Y-axis offset + modules/sensors + + + Accelerometer Z-axis offset + modules/sensors + + + Accelerometer X-axis scaling factor + modules/sensors + + + Accelerometer Y-axis scaling factor + modules/sensors + + + Accelerometer Z-axis scaling factor + modules/sensors + + ID of Magnetometer the calibration is for modules/sensors - - Rotation of magnetometer 0 relative to airframe + + Mag 3 enabled + + modules/sensors + + + 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 30 @@ -7764,34 +7786,133 @@ This is used for gathering replay logs for the ekf2 module Internal mag - - Magnetometer X-axis offset + + Magnetometer X-axis offset + modules/sensors + + + Magnetometer Y-axis offset + modules/sensors + + + Magnetometer Z-axis offset + modules/sensors + + + Magnetometer X-axis scaling factor + modules/sensors + + + Magnetometer Y-axis scaling factor + modules/sensors + + + Magnetometer Z-axis scaling factor + modules/sensors + + + ID of the Accelerometer that the calibration is for + modules/sensors + + + Accelerometer 2 enabled + + modules/sensors + + + Accelerometer X-axis offset + modules/sensors + + + Accelerometer Y-axis offset + modules/sensors + + + Accelerometer Z-axis offset + modules/sensors + + + Accelerometer X-axis scaling factor + modules/sensors + + + Accelerometer Y-axis scaling factor + modules/sensors + + + Accelerometer Z-axis scaling factor + modules/sensors + + + ID of the Gyro that the calibration is for + modules/sensors + + + Gyro 0 enabled + + modules/sensors + + + Gyro X-axis offset modules/sensors - - Magnetometer Y-axis offset + + Gyro Y-axis offset modules/sensors - - Magnetometer Z-axis offset + + Gyro Z-axis offset modules/sensors - - Magnetometer X-axis scaling factor + + Gyro X-axis scaling factor modules/sensors - - Magnetometer Y-axis scaling factor + + Gyro Y-axis scaling factor modules/sensors - - Magnetometer Z-axis scaling factor + + Gyro Z-axis scaling factor + modules/sensors + + + Primary baro ID + modules/sensors + + + Airspeed sensor pitot model + modules/sensors + + HB Pitot + + + + Airspeed sensor tube length + 0.01 + 0.5 + meter + modules/sensors + + + Differential pressure sensor offset + The offset (zero-reading) in Pascal + modules/sensors + + + 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. modules/sensors ID of Magnetometer the calibration is for modules/sensors + + Mag 1 enabled + + modules/sensors + 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. @@ -7857,6 +7978,11 @@ This is used for gathering replay logs for the ekf2 module ID of Magnetometer the calibration is for modules/sensors + + Mag 2 enabled + + modules/sensors + 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. @@ -7904,8 +8030,6 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis offset - -500.0 - 500.0 modules/sensors @@ -7920,12 +8044,54 @@ This is used for gathering replay logs for the ekf2 module Magnetometer Z-axis scaling factor modules/sensors - + + Primary mag ID + modules/sensors + + + ID of the Gyro that the calibration is for + modules/sensors + + + Gyro 2 enabled + + modules/sensors + + + Gyro X-axis offset + modules/sensors + + + Gyro Y-axis offset + modules/sensors + + + Gyro Z-axis offset + modules/sensors + + + Gyro X-axis scaling factor + modules/sensors + + + Gyro Y-axis scaling factor + modules/sensors + + + Gyro Z-axis scaling factor + modules/sensors + + ID of Magnetometer the calibration is for modules/sensors - - Rotation of magnetometer 2 relative to airframe + + Mag 0 enabled + + modules/sensors + + + 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 30 @@ -7961,70 +8127,37 @@ This is used for gathering replay logs for the ekf2 module Internal mag - + Magnetometer X-axis offset - -500.0 - 500.0 modules/sensors - + Magnetometer Y-axis offset - -500.0 - 500.0 modules/sensors - + Magnetometer Z-axis offset - -500.0 - 500.0 modules/sensors - + Magnetometer X-axis scaling factor modules/sensors - + Magnetometer Y-axis scaling factor modules/sensors - + Magnetometer Z-axis scaling factor modules/sensors - - Primary gyro ID - modules/sensors - - + ID of the Gyro that the calibration is for modules/sensors - - Gyro X-axis offset - modules/sensors - - - Gyro Y-axis offset - modules/sensors - - - Gyro Z-axis offset - modules/sensors - - - Gyro X-axis scaling factor - modules/sensors - - - Gyro Y-axis scaling factor - modules/sensors - - - Gyro Z-axis scaling factor - modules/sensors - - - ID of the Gyro that the calibration is for + + Gyro 1 enabled + modules/sensors @@ -8048,150 +8181,47 @@ This is used for gathering replay logs for the ekf2 module modules/sensors - Gyro Z-axis scaling factor - modules/sensors - - - ID of the Gyro that the calibration is for - modules/sensors - - - Gyro X-axis offset - modules/sensors - - - Gyro Y-axis offset - modules/sensors - - - Gyro Z-axis offset - modules/sensors - - - Gyro X-axis scaling factor - modules/sensors - - - Gyro Y-axis scaling factor - modules/sensors - - - Gyro Z-axis scaling factor - modules/sensors - - - Primary baro ID - modules/sensors - - - Airspeed sensor pitot model - modules/sensors - - HB Pitot - - - - Airspeed sensor tube length - 0.01 - 0.5 - meter - modules/sensors - - - Differential pressure sensor offset - The offset (zero-reading) in Pascal - modules/sensors - - - 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. - modules/sensors - - - Primary accel ID - modules/sensors - - - ID of the Accelerometer that the calibration is for - modules/sensors - - - Accelerometer X-axis offset - modules/sensors - - - Accelerometer Y-axis offset - modules/sensors - - - Accelerometer Z-axis offset - modules/sensors - - - Accelerometer X-axis scaling factor - modules/sensors - - - Accelerometer Y-axis scaling factor - modules/sensors - - - Accelerometer Z-axis scaling factor - modules/sensors - - - ID of the Accelerometer that the calibration is for - modules/sensors - - - Accelerometer X-axis offset - modules/sensors - - - Accelerometer Y-axis offset - modules/sensors - - - Accelerometer Z-axis offset + Gyro Z-axis scaling factor modules/sensors - - Accelerometer X-axis scaling factor + + Primary accel ID modules/sensors - - Accelerometer Y-axis scaling factor + + Primary gyro ID modules/sensors - - Accelerometer Z-axis scaling factor + + ID of the Accelerometer that the calibration is for modules/sensors - - ID of the Accelerometer that the calibration is for + + Accelerometer 0 enabled + modules/sensors - + Accelerometer X-axis offset modules/sensors - + Accelerometer Y-axis offset modules/sensors - + Accelerometer Z-axis offset modules/sensors - + Accelerometer X-axis scaling factor modules/sensors - + Accelerometer Y-axis scaling factor modules/sensors - + Accelerometer Z-axis scaling factor modules/sensors @@ -8431,376 +8461,376 @@ This is used for gathering replay logs for the ekf2 module Accelerometer calibration maximum temperature modules/sensors - - Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + + Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable 0 1 modules/sensors - - ID of Barometer that the calibration is for + + ID of Gyro that the calibration is for modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Barometer scale factor - X axis + + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Barometer calibration reference temperature + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Barometer calibration maximum temperature + + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - - ID of Barometer that the calibration is for + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Gyro scale factor - X axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro scale factor - Y axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro scale factor - Z axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro calibration reference temperature modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro calibration minimum temperature modules/sensors - - Barometer scale factor - X axis + + Gyro calibration maximum temperature modules/sensors - - Barometer calibration reference temperature + + ID of Gyro that the calibration is for modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - - Barometer calibration maximum temperature + + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - - ID of Barometer that the calibration is for + + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^5 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^4 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^3 polynomial coefficient + + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - - Barometer offset temperature ^2 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - - Barometer offset temperature ^1 polynomial coefficients + + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - - Barometer offset temperature ^0 polynomial coefficient + + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - - Barometer scale factor - X axis + + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - - Barometer calibration reference temperature + + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - - Barometer calibration minimum temperature + + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - - Barometer calibration maximum temperature + + Gyro scale factor - X axis modules/sensors - - Set to 1 to enable thermal compensation for rate gyro sensors. Set to 0 to disable - 0 - 1 + + Gyro scale factor - Y axis modules/sensors - + + Gyro scale factor - Z axis + modules/sensors + + + Gyro calibration reference temperature + modules/sensors + + + Gyro calibration minimum temperature + modules/sensors + + + Gyro calibration maximum temperature + modules/sensors + + ID of Gyro that the calibration is for modules/sensors - + Gyro rate offset temperature ^3 polynomial coefficient - X axis modules/sensors - + Gyro rate offset temperature ^3 polynomial coefficient - Y axis modules/sensors - + Gyro rate offset temperature ^3 polynomial coefficient - Z axis modules/sensors - + Gyro rate offset temperature ^2 polynomial coefficient - X axis modules/sensors - + Gyro rate offset temperature ^2 polynomial coefficient - Y axis modules/sensors - + Gyro rate offset temperature ^2 polynomial coefficient - Z axis modules/sensors - + Gyro rate offset temperature ^1 polynomial coefficient - X axis modules/sensors - + Gyro rate offset temperature ^1 polynomial coefficient - Y axis modules/sensors - + Gyro rate offset temperature ^1 polynomial coefficient - Z axis modules/sensors - + Gyro rate offset temperature ^0 polynomial coefficient - X axis modules/sensors - + Gyro rate offset temperature ^0 polynomial coefficient - Y axis modules/sensors - + Gyro rate offset temperature ^0 polynomial coefficient - Z axis modules/sensors - + Gyro scale factor - X axis modules/sensors - + Gyro scale factor - Y axis modules/sensors - + Gyro scale factor - Z axis modules/sensors - + Gyro calibration reference temperature modules/sensors - + Gyro calibration minimum temperature modules/sensors - + Gyro calibration maximum temperature modules/sensors - - ID of Gyro that the calibration is for - modules/sensors - - - Gyro rate offset temperature ^3 polynomial coefficient - X axis - modules/sensors - - - Gyro rate offset temperature ^3 polynomial coefficient - Y axis - modules/sensors - - - Gyro rate offset temperature ^3 polynomial coefficient - Z axis - modules/sensors - - - Gyro rate offset temperature ^2 polynomial coefficient - X axis + + Set to 1 to enable thermal compensation for barometric pressure sensors. Set to 0 to disable + 0 + 1 modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Y axis + + ID of Barometer that the calibration is for modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Z axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - X axis + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Y axis + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Z axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - X axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Y axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Z axis + + Barometer scale factor - X axis modules/sensors - - Gyro scale factor - X axis + + Barometer calibration reference temperature modules/sensors - - Gyro scale factor - Y axis + + Barometer calibration minimum temperature modules/sensors - - Gyro scale factor - Z axis + + Barometer calibration maximum temperature modules/sensors - - Gyro calibration reference temperature + + ID of Barometer that the calibration is for modules/sensors - - Gyro calibration minimum temperature + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Gyro calibration maximum temperature + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - ID of Gyro that the calibration is for + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - X axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Y axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Gyro rate offset temperature ^3 polynomial coefficient - Z axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - X axis + + Barometer scale factor - X axis modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Y axis + + Barometer calibration reference temperature modules/sensors - - Gyro rate offset temperature ^2 polynomial coefficient - Z axis + + Barometer calibration minimum temperature modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - X axis + + Barometer calibration maximum temperature modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Y axis + + ID of Barometer that the calibration is for modules/sensors - - Gyro rate offset temperature ^1 polynomial coefficient - Z axis + + Barometer offset temperature ^5 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - X axis + + Barometer offset temperature ^4 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Y axis + + Barometer offset temperature ^3 polynomial coefficient modules/sensors - - Gyro rate offset temperature ^0 polynomial coefficient - Z axis + + Barometer offset temperature ^2 polynomial coefficient modules/sensors - - Gyro scale factor - X axis + + Barometer offset temperature ^1 polynomial coefficients modules/sensors - - Gyro scale factor - Y axis + + Barometer offset temperature ^0 polynomial coefficient modules/sensors - - Gyro scale factor - Z axis + + Barometer scale factor - X axis modules/sensors - - Gyro calibration reference temperature + + Barometer calibration reference temperature modules/sensors - - Gyro calibration minimum temperature + + Barometer calibration minimum temperature modules/sensors - - Gyro calibration maximum temperature + + Barometer calibration maximum temperature modules/sensors @@ -8974,6 +9004,18 @@ This is used for gathering replay logs for the ekf2 module true modules/sensors + + Bitfield selecting mag sides for calibration + 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 + 34 + 63 + modules/sensors + + Two side calibration + Six side calibration + Three side calibration + + @@ -9009,6 +9051,29 @@ This is used for gathering replay logs for the ekf2 module + + Run the FMU as a task to reduce latency + If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. + + true + drivers/px4fmu + + + 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. + 0 + 1 + + true + drivers/px4io + + + RGB Led brightness limit + Set to 0 to disable, 1 for minimum brightness up to 15 (max) + 0 + 15 + drivers/rgbled + Auto-start script index CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system. @@ -9144,29 +9209,6 @@ This is used for gathering replay logs for the ekf2 module deg C modules/systemlib - - 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. - 0 - 1 - - true - drivers/px4io - - - RGB Led brightness limit - Set to 0 to disable, 1 for minimum brightness up to 15 (max) - 0 - 15 - drivers/rgbled - - - Run the FMU as a task to reduce latency - If true, the FMU will run in a separate task instead of on the work queue. Set this if low latency is required, for example for racing. This is a trade-off between RAM usage and latency: running as a task, it requires a separate stack and directly polls on the control topics, whereas running on the work queue, it runs at a fixed update rate. - - true - drivers/px4fmu - @@ -9239,6 +9281,32 @@ This is used for gathering replay logs for the ekf2 module + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcanesc + + + UAVCAN CAN bus bitrate + 20000 + 1000000 + modules/uavcanesc + + + UAVCAN Node ID + Read the specs at http://uavcan.org to learn more about Node ID. + 1 + 125 + modules/uavcannode + + + 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. @@ -9274,32 +9342,6 @@ This is used for gathering replay logs for the ekf2 module true modules/uavcan - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - modules/uavcannode - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - modules/uavcannode - - - UAVCAN Node ID - Read the specs at http://uavcan.org to learn more about Node ID. - 1 - 125 - modules/uavcanesc - - - UAVCAN CAN bus bitrate - 20000 - 1000000 - modules/uavcanesc - @@ -9650,6 +9692,18 @@ For ESCs that support thrust reversal with a control channel please set VT_B_REV + + EXFW_HDNG_P + examples/fixedwing_control + + + EXFW_ROLL_P + examples/fixedwing_control + + + EXFW_PITCH_P + examples/fixedwing_control + SEG_TH2V_P examples/segway @@ -9666,18 +9720,6 @@ 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