@ -6,9 +6,9 @@
@@ -6,9 +6,9 @@
<parameter default= "75" name= "ctl_bw" type= "INT32" >
<short_desc > Speed controller bandwidth</short_desc>
<long_desc > Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
<unit > Hertz</unit>
<min > 10</min>
<max > 250</max>
<unit > Hertz</unit>
</parameter>
<parameter default= "1" name= "ctl_dir" type= "INT32" >
<short_desc > Reverse direction</short_desc>
@ -25,32 +25,32 @@
@@ -25,32 +25,32 @@
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.</long_desc>
<unit > amp-seconds per radian</unit>
<decimal > 3</decimal>
<min > 0.00</min>
<max > 1.00</max>
<unit > amp-seconds per radian</unit>
<decimal > 3</decimal>
</parameter>
<parameter default= "3.5" name= "ctl_hz_idle" type= "FLOAT" >
<short_desc > Idle speed (e Hz)</short_desc>
<long_desc > Idle speed (e Hz)</long_desc>
<unit > Hertz</unit>
<decimal > 3</decimal>
<min > 0.0</min>
<max > 100.0</max>
<unit > Hertz</unit>
<decimal > 3</decimal>
</parameter>
<parameter default= "25" name= "ctl_start_rate" type= "INT32" >
<short_desc > Spin-up rate (e Hz/s)</short_desc>
<long_desc > Spin-up rate (e Hz/s)</long_desc>
<unit > Hz/s</unit>
<min > 5</min>
<max > 1000</max>
<unit > Hz/s</unit>
</parameter>
<parameter default= "0" name= "esc_index" type= "INT32" >
<short_desc > Index of this ESC in throttle command messages.</short_desc>
<long_desc > Index of this ESC in throttle command messages.</long_desc>
<unit > Index</unit>
<min > 0</min>
<max > 15</max>
<unit > Index</unit>
</parameter>
<parameter default= "20034" name= "id_ext_status" type= "INT32" >
<short_desc > Extended status ID</short_desc>
@ -61,15 +61,15 @@
@@ -61,15 +61,15 @@
<parameter default= "50000" name= "int_ext_status" type= "INT32" >
<short_desc > Extended status interval (µs)</short_desc>
<long_desc > Extended status interval (µs)</long_desc>
<unit > µs</unit>
<min > 0</min>
<max > 1000000</max>
<unit > µs</unit>
</parameter>
<parameter default= "50000" name= "int_status" type= "INT32" >
<short_desc > ESC status interval (µs)</short_desc>
<long_desc > ESC status interval (µs)</long_desc>
<unit > µs</unit>
<max > 1000000</max>
<unit > µs</unit>
</parameter>
<parameter default= "12" name= "mot_i_max" type= "FLOAT" >
<short_desc > Motor current limit in amps</short_desc>
@ -79,19 +79,19 @@
@@ -79,19 +79,19 @@
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.</long_desc>
<unit > Amps</unit>
<decimal > 3</decimal>
<min > 1</min>
<max > 80</max>
<unit > Amps</unit>
<decimal > 3</decimal>
</parameter>
<parameter default= "2300" name= "mot_kv" type= "INT32" >
<short_desc > Motor Kv in RPM per volt</short_desc>
<long_desc > Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.</long_desc>
<unit > RPM/v</unit>
<min > 0</min>
<max > 4000</max>
<unit > RPM/v</unit>
</parameter>
<parameter default= "0.0" name= "mot_ls" type= "FLOAT" >
<short_desc > READ ONLY: Motor inductance in henries.</short_desc>
@ -104,9 +104,9 @@
@@ -104,9 +104,9 @@
<long_desc > Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.</long_desc>
<unit > Poles</unit>
<min > 2</min>
<max > 40</max>
<unit > Poles</unit>
</parameter>
<parameter default= "0.0" name= "mot_rs" type= "FLOAT" >
<short_desc > READ ONLY: Motor resistance in ohms</short_desc>
@ -119,10 +119,10 @@
@@ -119,10 +119,10 @@
<parameter default= "0.5" name= "mot_v_accel" type= "FLOAT" >
<short_desc > Acceleration limit (V)</short_desc>
<long_desc > Acceleration limit (V)</long_desc>
<unit > Volts</unit>
<decimal > 3</decimal>
<min > 0.01</min>
<max > 1.00</max>
<unit > Volts</unit>
<decimal > 3</decimal>
</parameter>
<parameter default= "14.8" name= "mot_v_max" type= "FLOAT" >
<short_desc > Motor voltage limit in volts</short_desc>
@ -131,35 +131,12 @@
@@ -131,35 +131,12 @@
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc>
<min > 0</min>
<unit > Volts</unit>
<decimal > 3</decimal>
<min > 0</min>
</parameter>
</group>
<group name= "UAVCAN GNSS" no_code_generation= "true" >
<parameter default= "0" name= "gnss.warn_dimens" type= "INT32" >
<short_desc > device health warning</short_desc>
<long_desc > Set the device health to Warning if the dimensionality of
the GNSS solution is less than this value. 3 for the full (3D)
solution, 2 for planar (2D) solution, 1 for time-only solution,
0 disables the feature.
</long_desc>
<min > 0</min>
<max > 3</max>
<values >
<value code= "0" > disables the feature</value>
<value code= "1" > time-only solution</value>
<value code= "2" > planar (2D) solution</value>
<value code= "3" > full (3D) solution</value>
</values>
</parameter>
<parameter default= "0" name= "gnss.warn_sats" type= "INT32" >
<short_desc />
<long_desc > Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
</long_desc>
</parameter>
<parameter default= "2" name= "gnss.dyn_model" type= "INT32" >
<short_desc > GNSS dynamic model</short_desc>
<long_desc > Dynamic model used in the GNSS positioning engine. 0 –
@ -187,15 +164,38 @@
@@ -187,15 +164,38 @@
<value code= "1" > Fix and Fix2</value>
</values>
</parameter>
<parameter default= "0" name= "gnss.warn_dimens" type= "INT32" >
<short_desc > device health warning</short_desc>
<long_desc > Set the device health to Warning if the dimensionality of
the GNSS solution is less than this value. 3 for the full (3D)
solution, 2 for planar (2D) solution, 1 for time-only solution,
0 disables the feature.
</long_desc>
<min > 0</min>
<max > 3</max>
<values >
<value code= "0" > disables the feature</value>
<value code= "1" > time-only solution</value>
<value code= "2" > planar (2D) solution</value>
<value code= "3" > full (3D) solution</value>
</values>
</parameter>
<parameter default= "0" name= "gnss.warn_sats" type= "INT32" >
<short_desc />
<long_desc > Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
</long_desc>
</parameter>
<parameter default= "0" name= "uavcan.pubp-pres" type= "INT32" >
<short_desc />
<long_desc > Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
</long_desc>
<unit > microseconds</unit>
<min > 0</min>
<max > 1000000</max>
<unit > microseconds</unit>
</parameter>
</group>
<group name= "Airspeed Validator" >
PX4BuildBot
5 years ago