<short_desc>Enable checks on airspeed sensors</short_desc>
<long_desc>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0. Note that the data missing check is enabled if any of the options is set.</long_desc>
<long_desc>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.</long_desc>
<short_desc>Wind estimator true airspeed scale process noise spectral density</short_desc>
<long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.</long_desc>
<short_desc>Horizontal wind uncertainty threshold for synthetic airspeed</short_desc>
<long_desc>The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty drops below this value.</long_desc>
<long_desc>The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.</long_desc>
<short_desc>Airspeed Selector: Wind estimator wind process noise noise spectral density</short_desc>
<short_desc>Wind estimator wind process noise spectral density</short_desc>
<long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</long_desc>
<long_desc>A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion. Note: side slip fusion is currently not supported for tailsitters.</long_desc>
<long_desc>Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).</long_desc>
<short_desc>Boolean determining if synthetic sideslip measurements should fused</short_desc>
<long_desc>A value of 1 indicates that fusion is active Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.</long_desc>
<long_desc>For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.</long_desc>
<long_desc>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it. This is an absolute value, which is applied symmetrically to the negative and positive side.</long_desc>
<long_desc>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.</long_desc>
<short_desc>Attitude pitch time constant</short_desc>
<long_desc>This defines the latency between a pitch 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.</long_desc>
<long_desc>This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</long_desc>
<short_desc>Attitude Roll Time Constant</short_desc>
<long_desc>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.</long_desc>
<long_desc>This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</long_desc>
<long_desc>When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.</long_desc>
<long_desc>When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach.</long_desc>
<long_desc>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Only available for fixed-wing vehicles. Not compatible with runway takeoff.</long_desc>
<long_desc>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.</long_desc>
<long_desc>Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.</long_desc>
<long_desc>Direct feed forward from rate setpoint to control surface output.</long_desc>
<long_desc>The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</long_desc>
<long_desc>The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Should be set (with some margin) above the vehicle stall speed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adapated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</long_desc>
<long_desc>This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.</long_desc>
<long_desc>Maximum throttle limit in altitude controlled modes. Should be set accordingly to achieve FW_T_CLMB_MAX.</long_desc>
<long_desc>This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</long_desc>
<long_desc>Minimum throttle limit in altitude controlled modes. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</long_desc>
<long_desc>Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode. airspeed_min_adjusted = FW_AIRSPD_MIN + FW_WIND_ARSP_SC * wind.length()</long_desc>
<long_desc>Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode.</long_desc>
<short_desc>Minimum pitch angle during hover landing</short_desc>
<long_desc>Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings generating too much lift and preventing the vehicle from sinking at the desired rate.</long_desc>
<long_desc>Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.</long_desc>
<short_desc>Quad-chute transition altitude loss threshold</short_desc>
<long_desc>Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight. Active until 5s after completing transition to fixed-wing. Only active if altitude estimate is valid and in altitude-controlled mode. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.</long_desc>
<long_desc>Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.</long_desc>
PX4BuildBot
2 years ago